懸架型放水マルチコプタに関する研究

抄録

We are developing a slung multicopter for fire extinguishing on higher buildings. The multicopter discharges water while controlling its yaw and pitch to aim the fire. First, water discharge locus from the swing up multicopter was calculated for planning of delivering the water to the target point. Experiments are held with a multicopter slung from a connecting corridor at the hose length of 15 m. The results show that the slung multicopter system is able to control water locus to target point with control of yaw and pitch angle of the multicopter.