Engine-mounted autonomous flying device

A method of operating an engine-mounted autonomous flying device comprising:

• a first main rotor and a second main rotor that gives main thrust to a fuselage;
• the first main rotor and the second main rotor rotate in opposite directions,
• a plurality of sub rotors that controls orientation of the fuselage;
• an engine that generates energy for rotating the first main rotor, the second main rotor and the plurality of sub rotors;
• and
• an arithmetic control device that controls rotation of the plurality of sub rotors,
• wherein the first main rotor and the second main rotor are rotated by being drivingly connected to the engine,
• the plurality of sub rotors are rotated by a motor driven by electric power generated from a generator operated by the engine, and
• wherein the method includes;
• a step of hovering;
• and
• a step of controlling orientation to tilt the fuselage,
• wherein a rotational speed of the engine during the step of hovering and a rotational speed of the engine during the step of controlling orientation are substantially same,
• wherein the arithmetic control device increases an output distribution ratio of the sub rotors during the step of controlling orientation to above an output distribution ratio of the sub rotors during the step of hovering, charges a capacitor or a battery during the step of hovering, and supplies electric power discharged by the capacitor or the battery to the motor during the step of controlling orientation,
• when a direction in which a first engine part and a second engine part constituting the engine are arrayed is a first direction, and a direction which is perpendicular to the first direction is a second direction,
• the first main rotor is driven by the first engine part and arranged on an outside along the first direction, and the second main rotor is driven by the second engine part and leveled at a position opposite the first main rotor, and
• the plurality of sub rotors includes
• on the first main rotor side, a first sub rotor arranged on the outside along the second direction, and a second sub rotor arranged along the second direction at a position opposite the first sub rotor, and
• on the second main rotor side, a third sub rotor arranged on the outside along the second direction, and a fourth sub rotor arranged along the second direction at a position opposite the third sub rotor
• wherein a step of controlling orientation to tilt the fuselage comprising increasing an output distribution ratio of at least one sub rotor of the plurality of sub rotors to above an output distribution ratio of the plurality of sub rotors when hovering by the arithmetic control device wherein the arithmetic control device sets the output distribution ratio of the at least one sub rotor of the plurality of sub rotors at 10% or more and 30% or less when the orientation control is performed,
• wherein during the step of controlling orientation the autonomous flying device is tilted between 10 degrees to 35 degrees
• the plurality of sub rotors are each attached to a tip side of a respective sub arm extending outward from a portion where the engine is arranged, and
• the first main rotor and the second main rotor are each attached to a tip side of a respective main arm extending outward from the portion where the engine is arranged, the main arm extending laterally in a horizontal direction from the fuselage,
• when a direction in which a first engine part and a second engine part constituting the engine are arrayed is a first direction, and a direction which is perpendicular to the first direction is a second direction,
• the first main rotor is driven by the first engine part and arranged on an outside along the first direction, and the second main rotor is driven by the second engine part and leveled at a position opposite the first main rotor.