阅读说明：本技术 飞行器 (Aircraft ) 是由 户所信二 于 2017-09-08 设计创作，主要内容包括：一种飞行器,其具备：可旋转地支撑第一旋转翼的固定转子；可旋转地支撑第二旋转翼的可动转子；以及通过转动可动转子来切换第二旋转翼的第二旋转面(Pr)相对于第一旋转翼的第一旋转面(Pf)的角度的驱动部。该飞行器的驱动部对以下三种模式进行切换：将第一旋转面(Pf)和第二旋转面(Pr)设为平行的正常移动模式；相对于第一旋转面(Pf)将第二旋转面(Pr)朝向第一旋转翼侧倾斜的高速飞行模式；以及相对于第一旋转面(Pf)将第二旋转面(Pr)比高速飞行模式更向第一旋转翼倾斜的高速行驶模式。(A kind of aircraft, has: being pivotably supported the fixed rotor of the first rotary wings；It is pivotably supported the movable rotor of the second rotary wings；And switch the driving portion of second surfacess of revolution (Pr) of the second rotary wings relative to the angle of first surfaces of revolution (Pf) of the first rotary wings by rotation movable rotor.The driving portion of the aircraft switches over following Three models: first surfaces of revolution (Pf) is set as parallel normal movement mode with second surfaces of revolution (Pr)；Relative to first surfaces of revolution (Pf) by second surfaces of revolution (Pr) towards the inclined high-speed flight mode in the first rotary wings side；And relative to first surfaces of revolution (Pf) by second surfaces of revolution (Pr) than high-speed flight mode more to the inclined mode of running at high speed of the first rotary wings.)

1. a kind of aircraft, which is characterized in that have:

Fixed rotor is pivotably supported the first rotary wings；

Movable rotor is pivotably supported the second rotary wings；

Driving portion switches second surfaces of revolution of second rotary wings by rotating the movable rotor relative to described the The angle of first surfaces of revolution of one rotary wings.

2. aircraft according to claim 1, which is characterized in that

Multiple fixed rotors are formed at left and right sides of front,

Multiple movable rotors are formed at left and right sides of rear.

3. according to claim 1 or aircraft according to claim 2, which is characterized in that

The driving portion includes:

Motor is used to rotate first connecting rod component；

Rotation axis is fixed with second connecting rod component and the movable rotor；

Link mechanism is connected to the first connecting rod component and the second connecting rod component.

4. aircraft according to claim 3, which is characterized in that have:

Back support rod is extended and parallel with the link mechanism from the main body for being fixed with the motor；

Support column is erect from the back support rod and is arranged and rotatably supports the rotation axis.

5. aircraft described in any one of -4 according to claim 1, which is characterized in that

The driving portion switches over following Three models:

First surfaces of revolution is set as parallel normal movement mode with second surfaces of revolution；

By second surfaces of revolution relative to first surfaces of revolution, towards the inclined high-speed flight mould in first rotary wings side Formula；And

By second surfaces of revolution relative to first surfaces of revolution, than the high-speed flight mode more to first rotary wings Inclined mode of running at high speed.

Technical field

The present invention relates to a kind of aircraft for having multiple rotary wings.

Background technique

All the time, a kind of aircraft with multiple rotary wings for being referred to as unmanned plane is disclosed.For example, Japan Patent In bulletin special open 2016-222031, a kind of electrodynamic type aviation powered from multiple battery components to motor control part is disclosed Device.

In the unmanned aircraft of such as electrodynamic type aircraft, the defeated of motor is controlled by the control circuit of motor Out, to realize desired navigation.For example, being filled in the sky in the state of static hovering using the gyroscope being installed on fuselage Detection inclination is set, the output of the motor of fuselage decline side is increased, the output that fuselage rises the motor of side is reduced, thus keeps The horizontality of fuselage.In addition, reducing the output of the motor of driving direction, and increase the defeated of reversed motor when advancing Out, it thus takes the posture to turn forward and generates the thrust in driving direction.

Summary of the invention

However, working as forward movement in the electrodynamic type aircraft disclosed in Japanese patent gazette special open 2016-222031 When, the problem of needing to carry out the preliminary activities of a tilting body in the direction of travel, deposit bad response when moving.

The object of the present invention is to provide a kind of aircraft of responsiveness of raising when mobile.

Aircraft of the present invention, which is characterized in that have: it is pivotably supported the fixed rotor of the first rotary wings； It is pivotably supported the movable rotor of the second rotary wings；And switch second rotary wings by rotating the movable rotor Second surfaces of revolution relative to first rotary wings first surfaces of revolution angle driving portion.

The present invention can provide a kind of aircraft of responsiveness of raising when mobile.

Detailed description of the invention

Fig. 1 is the floor map of aircraft and controller involved in embodiments of the present invention.

Fig. 2 is the side schematic view of aircraft involved in embodiments of the present invention.

Fig. 3 is the circuit structure diagram of controller involved in embodiments of the present invention.

Fig. 4 is the circuit structure diagram of aircraft involved in embodiments of the present invention.

Fig. 5 is the side schematic view for indicating the high-speed flight mode of aircraft involved in embodiments of the present invention.

Fig. 6 is the side schematic view for indicating the mode of running at high speed of aircraft involved in embodiments of the present invention.

Specific embodiment

Hereinafter, being illustrated with regard to embodiment according to the present invention.Fig. 1 is the plane signal of aircraft 1 and controller 2 Figure.In addition, Fig. 2 is the side schematic view of aircraft 1.The aircraft 1 of present embodiment is a kind of aircraft of unmanned type, should The aircraft of unmanned type is first rotary wings 50a, 50b and second rotary wings 50c, 50d by four pieces of rotary wings 50 of control Revolving speed and the surfaces of revolution direction, movement and hovering all around can be carried out.In the following description, consolidating aircraft 1 Side where rotor 20 is known as front, and the side where movable rotor 30 is known as rear portion.In addition, will be from aircraft 1 The right side that rear is observed is known as right side, and side corresponding thereto is known as left side, by one where the rotary wings 50 of aircraft 1 Side is known as upside, its opposite side is known as downside.

Aircraft 1 has: base main body 10；Fixed rotor 20a, 20b (20) at left and right sides of front；At left and right sides of rear Movable rotor 30c, 30d (30).The fixed rotor 20a on base main body 10 and right side is by from the diagonally forward to the right of base main body 10 Extended rodlike front support rod 41 and be connected.The fixed rotor 20b in base main body 10 and left side is by from substrate master Body 10 to the left the extended rodlike front support rod 42 of diagonally forward and be connected.Being extended from the rear side of base main body 10 has Rodlike back support rod 43 is simultaneously substantially parallel with aftermentioned link mechanism 46.

As shown in Fig. 2, support column 44 is erect from the rear end of back support rod 43 upward and is arranged.In the upper end of support column 44 It is formed with the bearing 441 of perforative general cylindrical shape in the lateral direction, referring to Fig. 1.Edge is rotationally interspersed in bearing 441 The extended section of left and right directions is columnar rotation axis 45.Movable rotor 30c, 30d of left and right is fixed on rotation axis 45 Both ends.Therefore, base main body 10 and movable rotor 30c, 30d are connected by back support rod 43, support column 44 and rotation axis 45 It connects.

Base main body 10 is formed as plate.Base main body 10 has aftermentioned control circuit in Fig. 4, has motor above 11.The rotary shaft 111 of motor 11 upwardly extends setting.The first connecting rod component 112 rotated with the rotation of rotary shaft 111 is solid Due in rotary shaft 111.First connecting rod component 112 is formed as long plate shape, and the width of front end T1 becomes narrow gradually, and to rotation The left direction of axis 111 is extended.

In addition, second connecting rod component 451 is fixed in rotation axis 45.The connection of second connecting rod component 451 and rotation axis 45 The section in portion is general square shape.The bearing of second connecting rod component 451 at the interconnecting piece is again formed as the perforation of general square shape Hole.Second connecting rod component 451 is formed as long plate shape, and the width of front end T2 becomes narrow gradually, and extends downward.This Outside, second connecting rod component 451 is set in the leftward position of support column 44, referring to Fig. 1.

The front end T1 of first connecting rod component 112 and the front end T2 of second connecting rod component 451 pass through rodlike link mechanism 46 Connection.For example, link mechanism 46 is connected with front end T1 and front end T2 respectively by globe joint.Alternatively, being configured to, In Through hole is formed in front end T1 and front end T2, and the curved both ends of link mechanism 46 can be punctured into front end T1 and front end In each through hole of T2.Therefore, link mechanism 46 is rotatably connected at first connecting rod component in the plane of front and back and left and right On 112.In addition, link mechanism 46 is rotatably connected on second connecting rod component 451 up and down and in the plane of front and back.Cause This, the second connecting rod component 451 of first connecting rod component 112 is connected to via link mechanism 46, can be existed with first connecting rod component 112 Rotation on front-rear direction is corresponding and rotates in the longitudinal direction.Driving portion includes motor 11, first connecting rod component 112, rotation Axis 45 and second connecting rod component 451.

The fixed rotor 20 (20a, 20b) that 1 front of aircraft is arranged in has pedestal 21, motor 22 (22a, 22b) and rotation Rotor 50 (50a, 50b).Referring to Fig. 2, left side fixed rotor 20b is illustrated.Motor 22b, rotary shaft side is downward Part of it is fixed on pedestal 21.The rotary shaft 51 of the first rotary wings 50b of fixed rotor 20b is rotatably supported at base On the bearing of seat 21.The lower end of its rotary shaft 51 is set to the lower section of pedestal 21.In addition, driven gear 52 is formed in rotary shaft 51 Lower end.Driven gear 52 is driven and engaging with the driving gear 221 at the lower end for the rotary shaft for being formed in motor 22b Rotation.Therefore, the first rotary wings 50b is rotated by motor 22b.Right side fixed rotor 20a is also identical as fixed rotor 20b, quilt Be formed as, rotary wings 50a is rotated by motor 22a.

The movable rotor 30 (30c, 30d) that 1 rear of aircraft is arranged in has pedestal 31, motor 32 (32c, 32d), rotor Support rod 33 and rotary wings 50 (50c, 50d).Left side movable rotor 30d is illustrated.Motor 32, rotary shaft side direction Part of it is fixed on pedestal 31 by lower section.The rotary shaft 51 of the second rotary wings 50d of movable rotor 30d rotatably supports On the bearing of pedestal 31 and rotor supports bar 33.The lower end of its rotary shaft 51 is set to 31 lower section of pedestal.In addition, driven gear 52 are formed in the lower end of rotary shaft 51.Driven gear 52 by with the sliding tooth at the lower end for the rotary shaft for being formed in motor 32d Wheel 331 is meshed and is driven to rotate.Therefore, the second rotary wings 50d is rotated by motor 32d.Right movable rotor 30c also with Movable rotor 30d is identical, is formed, and rotary wings 50c is rotated by motor 32c.Rotor supports bar 33 is fixed on rotation axis On 45.

Controller 2 as shown in Figure 1 is integrally formed into substantially rectangular plate.Controller 2 has electricity in the surface side of the figure Source switch SW1, right operation portion 61, left operation portion 62, flight switching switch SW2 and traveling switching switch SW3.Power switch SW1 It is the slide switch for moving up and down, and power supply can be switched on and off by moving up and down knob.

Right operation portion 61, left operation portion 62, flight switching switch SW2 and traveling switching switch SW3 are as controller 2 to interior The input unit of portion's circuit functions.Right operation portion 61 and left operation portion 62 are formed as rodlike, by upper and lower or horizontal tilt come Input corresponding with its tilt angle is carried out to internal circuit.In addition, flight switching switch SW2 and traveling switching switch SW3 shape As button switch.

Fig. 3 is the circuit structure diagram of controller 2.Controller 2 has power supply 601, adjuster 602, control unit 603, communication Portion 604 and antenna 605.Power supply 601 is connected on adjuster 602 via power switch SW1.Adjuster 602 adjusts power supply 601 and supplies The voltage given.The output end of adjuster 602 is connected to control unit 603, communication unit 604 and each resistor R1~R4.Resistor R1~R4 is variable resistance.Driving voltage is supplied from adjuster 602 to control unit 603 and communication unit 604.

Control unit 603 detect with as the right operation portion 61 of input unit, left operation portion 62, flight switching switch SW2 and The corresponding input of input operation of traveling switching switch SW3.In control unit 603, the voltage value that is inputted by resistor R1 with The down operation of right operation portion 61 correspondingly changes, and by the resistor R2 voltage value inputted and right operation portion 61 Left and right operation correspondingly changes.In addition, by the down operation phase of the resistor R3 voltage value and left operation portion 62 inputted The left and right operation of the voltage value for changing with answering, and being inputted by resistor R4 and left operation portion 62 correspondingly becomes Change.

Therefore, control unit 603 detects the operation up and down of right operation portion 61 and left operation portion 62 as voltage Variation.In addition, control unit 603 also detects that flight switching switch SW2 or traveling switching switch SW3 have been pressed.Communication unit 604 Communication unit 604 is sent by signal being inputted by control unit 603, being used to control aircraft 1.After coding and modulation, Communication unit 604 is sent control signals on aircraft 1 via antenna 605.

Fig. 4 is the circuit structure diagram of the base main body 10 of aircraft 1.Base main body 10 have power supply 701, adjuster 702, Control unit 703, communication unit 704, antenna 705 and motor driver 706a~706d, 707.Power supply 701 is via power switch SW4 is connected to adjuster 702.Adjuster 702 adjusts the voltage that power supply 701 supplies.The output end of adjuster 702 is connected to control In portion 703 processed and communication unit 704.By the driving voltage of 702 supply control part 703 and communication unit 704 of adjuster.In addition, by electricity Source 701 supply each motor 22a, 22b, 32c, 32d, 11 and driver 706a, 706b of corresponding motor, 706c, 706d, 707 driving voltages.

Communication unit 704 receives the control signal that is sent by controller 2 via antenna 705, and controlled signal into After row modulation and decoding, is controlled signal and be output to control unit 703.Control unit 703 is according to the control inputted by communication unit 704 Signal processed controls each driver 706a~706d, and 707.Each motor 22a, 22b, 32c, 32d, 11 are respectively by corresponding driving Device 706a, 706b, 706c, 706d, 707 and control.Also, control unit 703 is detected by acceleration transducer (not shown) The posture of aircraft 1, and control the revolving speed of each rotary wings 50 respectively makes it possible to according to from the received instructions of 2 institutes of controller It is acted.

Next, being illustrated to the operating mode of aircraft 1.Aircraft 1 can carry out following switch: pass through rotary wings 50 rotation is to control mobile normal movement mode；It is capable of the high-speed flight mode of high-speed mobile in the sky；And it can be The mode of running at high speed of Near Ground high-speed mobile.Aircraft 1 shown in Fig. 2 shows the side view of normal movement mode. In addition, Fig. 5 is the side view of the aircraft 1 in high-speed flight mode.Fig. 6 is the aircraft 1 in mode of running at high speed Side view.Firstly, the normal movement mode to Fig. 2 is illustrated.

When energized, aircraft 1 starts in the state of the normal movement mode of Fig. 2.In normal movement mode, The first surface of revolution Pf of front side the first rotary wings 50a, 50b and the second surfaces of revolution Pr of the second rotary wings of rear side 50c, 50d are big It causes parallel.Revolving speed by controlling first rotary wings 50a, 50b and second rotary wings 50c, 50d respectively is normally moving to execute The movement all around of aircraft 1 under dynamic model formula is rotated and is moved up and down.

If in the case that aircraft 1 is flown under normal movement mode, controller 2 is tilted forward and backward when executing When the operation of left operation portion 62, the voltage value detected by the resistor R3 of control unit 603 correspondingly occurs with its tilt angle Variation.For example, the voltage value detected from resistor R3 rises when tilting left operation portion 62 forwards, and therefore, control unit The advancement commands signal for corresponding to the acceleration of its voltage value is sent to aircraft 1 via communication unit 604 and antenna 605 by 603.

The control unit 703 of aircraft 1 is based on to fix via antenna 705 and the received advancement commands signal of communication unit 704 The revolving speed of first rotary wings 50a, 50b of rotor 20a, 20b be set as than movable rotor 30c, 30d the second rotary wings 50c, The revolving speed of 50d is low.Then, the posture of aircraft 1 tilts forwards.When detecting that aircraft 1 turns forward at a predetermined angle, Control unit 703 controls the revolving speed of each rotary wings 50a~50d, so as to push aircraft forwards while keeping its posture 1.On the contrary, control unit 703 controls each rotary wings 50a~50d's when by left 62 tilted rearward of operation portion of controller 2 Revolving speed, so as to rearward push aircraft 1.

Other operations other than right operation portion 61 and left operation portion 62 are also the same, and aircraft 1 passes through the first rotary wings of control The revolving speed of 50a, 50b and second rotary wings 50c, 50d such as control movement all around, rotate and move up and down at the movement.

The high-speed flight mode of Fig. 5 is illustrated.When detecting that flight switching switch SW2 is pressed, controller 2 Control unit 603 sends the switching signal of high-speed flight mode via communication unit 604 and antenna 605 to aircraft 1.When aircraft 1 Control unit 703 via antenna 705 and communication unit 704 receive from controller 2 send high-speed flight mode switching signal When, make the rotary shaft 111 of 707 rotation motor 11 of driver, and make the first connecting rod component 112 for being connected with link mechanism 46 Front end T1 is rotated backward.

Link mechanism 46 is rearward moved by the rotation of the tie point of front end T1.To be connected with link mechanism 46 The front end T2 of two link components 451 is pushed backwards, therefore is rotated backward centered on rotation axis 45.Then, it is fixed on rotation The rotor supports bar 33 of movable rotor 30c, 30d of axis 45 is rotated backward centered on rotation axis 45.Therefore, rotatable twelve Earthly Branches Support second surfaces of revolution Pr the first rotary wings of direction of second rotary wings 50c, 50d on the pedestal 31 of movable rotor 30c, 30d The front of the side 50a, 50b tilts.

In the high-speed flight mode of present embodiment, by the second surfaces of revolution Pr of second rotary wings 50c, the 50d at rear The first surfaces of revolution Pf of first rotary wings 50a, 50b relative to front is with relatively small angle tilt.For example, by the second rotation Turn face Pr and can be set to about 45 degree relative to the tilt angle i.e. angle of acute angle portion of the first surfaces of revolution Pf.

Identical as normal movement mode, aircraft 1 can pass through the right operation portion 61 of controller 2 and the behaviour of left operation portion 62 Make to execute movement all around, rotate and move up and down.Under high-speed flight mode, aircraft 1 is set to swim skyborne Meanwhile compared with normal movement mode, the responsiveness to advancement commands can be improved, and can obtain towards forward direction Higher motive force.

In addition, when aircraft 1 is in high-speed flight mode, when detecting that flight switching switch SW2 is pressed again, control Normal movement mode switching signal is sent to aircraft 1 via communication unit 604 and antenna 605 by the control unit 603 of device 2 processed.When The control unit 703 of aircraft 1 receives cutting for the normal movement mode sent by controller 2 via antenna 705 and communication unit 704 When changing signal, the first connecting rod structure that makes the rotary shaft 111 of 707 rotation motor 11 of driver, and be connected with link mechanism 46 The front end T1 of part 112 is rotated forwards.

By the rotation of rotary shaft 111, link mechanism 46 is moved forward.The second connecting rod structure being connected with link mechanism 46 The front end T2 of part 451 is drawn forwards, therefore is rotated forwards centered on rotation axis 45.Then, as shown in Fig. 2, being fixed on The rotor supports bar 33 of movable rotor 30c, 30d of rotation axis 45 is rotated forwards as shown in Figure 2 centered on rotation axis 45.Cause This, the second surfaces of revolution Pr of second rotary wings 50c, 50d is substantially equal with the first surfaces of revolution Pf of first rotary wings 50a, 50b Row.

The mode of running at high speed of Fig. 6 is illustrated.When detecting that traveling switching switch SW3 is pressed, controller 2 Control unit 603 sends the switching signal for mode of running at high speed via communication unit 604 and antenna 605 to aircraft 1.When aircraft 1 Control unit 703 switching signal of the mode of running at high speed sent by controller 2 is received via antenna 705 and communication unit 704 When, make the rotary shaft 111 of 707 rotation motor 11 of driver, and make the first connecting rod component 112 being connected with link mechanism 46 Front end T1, the high-speed flight mode compared with Fig. 5 more rotates backward.

Link mechanism 46 is rearward moved by the rotation of the tie point of front end T1.To be connected with link mechanism 46 The front end T2 of two link components 451 is rearward pressed, therefore is rotated backward centered on rotation axis 45.Then, it is fixed on The rotor supports bar 33 of movable rotor 30c, 30d of rotation axis 45 is rotated backward centered on rotation axis 45.Therefore, it can be rotated Ground is supported on the second surfaces of revolution Pr of second rotary wings 50c, 50d on the pedestal 31 of movable rotor 30c, 30d then towards first Inclination in front of the side of rotary wings 50a, 50b.

In the mode of running at high speed, by the second surfaces of revolution Pr of second rotary wings 50c, the 50d at rear relative to front The first surfaces of revolution Pf of first rotary wings 50a, 50b, to be greater than the angle tilt of high-speed flight mode.For example, second surfaces of revolution Tilt angle, that is, acute angle portion angle relative to the first surfaces of revolution Pf of Pr can be set to about 60 degree.

Because by the second surfaces of revolution Pr by run at high speed mode and tilt, buoyancy upwards is small, and can Increase towards the motive force in the direction of the second surfaces of revolution Pr of inclination, i.e., the motive force towards front in this embodiment. Therefore, under the slightly suspended state in ground, aircraft 1 is travelled on the inclined direction of second rotary wings 50c, 50d.With just Normal Move Mode or high-speed flight mode are compared, and aircraft 1 can high-speed mobile forwards.

In addition, when aircraft 1 is in and runs at high speed mode, when detecting that traveling switching switch SW3 is pressed again, control The control unit 603 of device 2 processed sends the switching signal of normal movement mode via communication unit 604 and antenna 605 to aircraft 1.When The control unit 703 of aircraft 1 receives cutting for the normal movement mode sent by controller 2 via antenna 705 and communication unit 704 When changing signal, the first connecting rod structure that makes the rotary shaft 111 of 707 rotation motor 11 of driver, and be connected with link mechanism 46 The front end T1 of part 112 is rotated forwards.When being in high-speed flight mode with aircraft 1 as a result, flight switching switch SW2 again by The case where pressing is identical, can be by the first rotation of the second surfaces of revolution Pr of second rotary wings 50c, 50d and first rotary wings 50a, 50b Turn face Pf to switch over substantially in parallel.

Embodiments described above is proposed as example, it is no intended to be limited the scope of the invention.These are new The embodiment of grain husk can be implemented with other various forms, and can be without departing from the spirit of the invention Carry out various omissions, substitutions and modifications.These embodiments and modifications thereof are included in the scope and spirit of the present invention, are wrapped simultaneously It is contained in invention and its equivalency range documented by claims.

It, can be by by first under high-speed flight mode or mode of running at high speed for example, to Fig. 5 and illustrated in fig. 6 The front end T1 of link component 112 is rotated in a manner of moving forwards, and forward by the front end T2 of second connecting rod component 451 Fang Yidong, to control motor 11, to make the second surfaces of revolution Pr towards rear.Aircraft 1, which can be improved, as a result, rearward moves When responsiveness.In addition it is also possible to be formed to selection so that the second surfaces of revolution Pr is also directed towards appointing for rear towards front The structure of one kind of anticipating.

In addition, can also be formed as first rotary wings 50a, 50b and second rotary wings 50c, 50d in aircraft 1 Front and rear are respectively formed three or more multiple structures.Alternatively, it is also possible to be formed as relative to a fixed rotor 20 And multiple rotary wings 50 are arranged and the structure of driving in movable rotor 30.

In addition, replacing fixed rotor 20, another movable rotor identical with movable rotor 30 can be set, and can incite somebody to action Another movable rotor is formed as rotatable structure.That is, can be used makes the first surfaces of revolution Pf relative to the second rotation Face is arbitrarily towards front or towards the structure of back sweep.

Symbol description

1 ... aircraft 2 ... controller

10 ... base main body 11 ... motors

20 (20a, 20b) ... fixed rotor 21 ... pedestal

22 (22a, 22b) ... rotor

30 (30c, 30d) ... movable rotor 31 ... pedestal

32 (32c, 32d) ... motor 33 ... rotor supports bar

41 ... front support rod 42 ... front support rods

43 ... back support rod 44 ... support columns

45 ... rotation axis 46 ... link mechanisms

The first rotary wings of 50a, 50b (50) ...

The second rotary wings of 50c, 50d (50) ...

51 ... rotary shaft 52 ... driven gears

61 ... the right left operation portions of operation portion 62 ...

111 ... rotary shaft 112 ... first connecting rod components

221 ... driving gears 331 ... drive gear

441 ... bearing 451 ... second connecting rod components

601 ... power supply 602 ... adjusters

603 ... control unit 604 ... communication units

605 ... antennas

701 ... power supply 702 ... adjusters

703 ... control unit 704 ... communication units

705 ... antenna 706a~706d ... drivers

707 ... drivers

Pf ... first surfaces of revolution, second surfaces of revolution of Pr ...

R1~R4 ... resistor SW0 ... power switch

SW1 ... power switch SW2 ... flight switching switch

SW3 ... traveling switching switch SW4 ... power switch

The front end T1 ... the front end T2 ...