水平ロータを持つ消火用放水マルチコプタに関する研究

抄録

We have developed a fire fighting multicopter which utilize lateral rotors to support reaction force of discharging water and tension of hose. These horizontal disturbance to the multicopter are measured by installed sensors and automatically compensated by thrust of the lateral rotors. Thus, the multicopter does not need to incline and the operator is not required additional operation against these disturbances. An experimental multicopter, which has four 28-inch propellers and two 15-inch propellers, performed discharge of as much flow rate as indoor fire hydrants.