JP6603073B2 - Unmanned floating machine and object restraint system - Google Patents

Description

The present invention relates to an object restraining system for restraining an object using an unmanned floating machine such as a multicopter or an unmanned floating machine.

  An unmanned floating machine such as a multicopter that does not carry a person and flies by remote control or automatic control using wireless communication is generally provided (see Patent Document 1). The unmanned floating machine is used for the purpose of playing and aerial photography using an installed digital camera (including a digital video camera). In addition, the unmanned floating machine is used for the purpose of, for example, inspecting a place where it is difficult for a human to enter and grasping the situation. On the other hand, unmanned floating aircraft can be used for aerial photography while flying over prohibited areas such as important facilities and transporting substances and bombs that damage public safety. There is a risk of abuse in terms of purpose.

  In general, for example, a restraint network deployment device is provided as a device for capturing a crime suspect. The restraint net unfolding device ejects a plurality of weights stored in the device main body by high-pressure gas generated by a gas generator that operates in response to an ON operation of the start switch, and stores it in the device main body as the plurality of weights are ejected. The restraint net is made to fly toward the crime suspect (see Patent Document 2, etc.). In such a restraint net deployment device, for example, installed on the ceiling of a building, etc., in response to detecting an intruder intrusion into the building, flying while being deployed towards a criminal suspect who has entered the building There is also provided a restraint net unfolding device (see Patent Document 3).

JP 2011-046355 A JP 2008-304152 A JP 2005-180744 A

  However, the restraint net deployment device disclosed in Patent Document 2 operates the restraint net deployment device toward an unmanned floating aircraft flying over the sky because a crime suspect on the ground is a target to be captured (target). Even so, the flying restraint net will not reach the unmanned floater and will not be able to capture it. In addition, the restraint net deployment device disclosed in Patent Document 3 deploys the restraint net from above the intruder who has entered the building, and does not target the flying unmanned floating aircraft. Therefore, the best means to capture unmanned floaters that fly over prohibited areas such as important facilities, unmanned floaters that transport materials that are harmful to public safety, explosives, etc. The actual situation is that the optimum means for transporting to a safe place has not been obtained.

  The present invention has been made in order to meet such a demand, and has made it possible to capture an unmanned floating aircraft that flies over a prohibited area or carries materials or bombs that damage public safety. To provide technology.

An unmanned floating machine according to the present invention includes a fuselage having a plurality of rotor units, an landing gear provided at a lower portion of the fuselage, a plurality of frames, and a fixed mount attached to a lower portion of the landing gear, detachable a vessel for separately storing a constraint network fitted with weights and the plurality of weights, a gas generator for generating gas by burning combustible material, and restraint network ejection apparatus having, the restraint net discharge device Freely holding the holding tool and any one of the plurality of frames constituting the fixed mount so that the restraint net or the plurality of weights launched downward from the container deviate from the flight trajectory. A fixture for fixing the holder to which the restraint net ejection device is mounted to the fixed base, and an optical axis direction that is provided on the fixed base so that the optical axis direction coincides with the ejection direction of the restraint net in the restraint net ejection device. An imaging means capable of transmitting an imaging signal acquired by imaging an object captured by the restraint net to a ground monitor, and the object is located at the center of the monitor and the entire object The wireless communication means for receiving an ignition signal transmitted from the transmitter when the monitor is displayed on the monitor by wireless communication, and above the holder fixed to the fixed mount And an igniter that is fixed to the fixed base at a position and that activates the restraint net ejection device when the wireless communication means receives the ignition signal .

The fixed frame includes three first frames arranged in parallel at the same interval, two second frames against which both ends of the three first frames are respectively abutted, and three Two third frames arranged parallel to the second frame with a predetermined interval between two first frames of the first frames, and two second frames. Out of the four fourth frames arranged in a state of being orthogonally crossed at the lower ends of both ends and the four fourth frames, the two adjacent fourth frames are straddled, and each is the same Including four fifth frames arranged at height positions and a sixth frame arranged between two of the five fifth frames facing each other among the five fifth frames. The igniter is fixed across the two third frames. The retainer is characterized in that fixed to the sixth frame through the fixture.

Further, the fixing tool includes two members fastened by a fastening member in a state where the holding tool is sandwiched, and a member fixed to the fixing base in a state where one of the at least two members is fixed. It is characterized by including.
Also, the plurality of weights under the pressure of the gas generated by said gas generator is characterized in that it comprises a cover member which separates from the container when ejected from the container.

Further, the holding member has a first connection terminal to which the igniter lead wires are connected, the restraining net ejecting apparatus, the second connecting terminal to which the gas generator of the lead wire is connected has the igniter, the first connecting terminal and the igniter and the gas generator and is electrically by a second connecting terminal is contacted by retaining the restraining net ejecting apparatus according to the holder after being connected, wherein igniter has a power supply unit for supplying electric power to said gas generator having received said ignition signal.

Further, the retainer when the retainer is holding the restraint net discharge device, characterized by having a resilient member for pressing said first connection terminal to said second connection terminal.

  Moreover, it is preferable that the mesh width of the restraint net is in the range of 50 mm square to 500 mm square. The size of the restraint net is preferably in the range of 2m × 2m to 5m × 5m. Moreover, it is preferable that the tensile strength of the said restraint net | network is 110 N or more.

  Further, a string member for connecting the restraint net and the container is provided. In this case, it is preferable that the length of the string member is set to a length that allows the injected restraint net to be deployed when the restraint net connected to the container is ejected. Moreover, it is preferable that the said string member is set to the range between 0.08m-10m in the length between the said restraint net | network and the said container. Furthermore, the tensile strength of the string member is preferably 110 N or more.

The object restraint system of the present invention includes a machine body that holds a plurality of rotor units, an landing gear provided at a lower portion of the machine body, and a plurality of frames, and a fixed base that is attached to the lower portion of the landing gear device. constraint network having the, and unmanned floating device having a container for accommodating individual constrained network fitted with a plurality of weights and said plurality of weights, a gas generator for generating gas by burning combustible material, the The ejection device and any one of the plurality of frames constituting the fixed mount are disposed via a fixture so that they are separated from the flight trajectory of the restraint net or the plurality of weights launched downward from the container. In a state where the restraint net ejection device is detachably held in a state of being fixed to the fixed base, the restraint net deploying device, and a position above the holder that is fixed to the fixed base An igniter that is fixed to the fixed base and operates the restraint net ejection device, and is provided on the fixed base so that an optical axis direction coincides with an emission direction of the restraint net in the restraint net ejection device. An imaging unit capable of imaging an object to be captured by a net and transmitting an acquired imaging signal by wireless communication, a monitor for displaying an image based on the imaging signal transmitted from the imaging unit, and the ignition And a transmitter capable of wireless communication with an igniter and transmitting an ignition signal of the gas generator toward the igniter.
The transmitter transmits the ignition signal to the igniter in response to the object being positioned at the center of the monitor and the entire object displayed on the monitor. Features.

  According to the present invention, it is possible to capture an unmanned floating aircraft that flies over a flight-prohibited area, or that transports materials or bombs that damage public safety.

It is a perspective view showing an unmanned floating machine provided with a restraint net deployment device concerning one embodiment of the present invention. It is sectional drawing of a restraint net | network ejection apparatus. It is a perspective view which decomposes | disassembles and shows the structure of a restraint net | network ejection apparatus. It is a partial sectional view showing one composition of a holding device. It is a top view which shows the external appearance of a wireless igniter. It is a functional block diagram which shows an example of the electrical structure in a restraint network expansion | deployment apparatus. It is a perspective view which shows an example of the fixing tool which fixes a holding | maintenance apparatus. It is a perspective view which shows an example which fixed the wireless igniter to the fixed mount. It is a perspective view which shows an example which fixed the holding | maintenance apparatus to the fixed mount. (A) The figure which shows the state which inject | emitted the restraint net to the unmanned floating machine used as a target, (b) The figure which shows the state by which the unmanned floating machine was captured by the restraint net, (c) The captured unmanned floating machine is a predetermined position. It is a figure which shows the state conveyed to. (A) The figure which shows the example of installation of the restraint net | network ejection apparatus at the time of performing a verification test, (b) The figure which shows an example of the height of the unmanned floating machine to fly, (c) The figure which shows the state which expand | deployed the restraint net It is. It is sectional drawing of the restraint net | network expansion | deployment apparatus which provided the hook member in the string member which connects a restraint net | network and a weight.

  FIG. 1 shows one embodiment of the unmanned floating machine to which the restraint net deployment device of the present invention is attached. The unmanned floating machine 10 is a flying body such as a multicopter that receives radio communication based on an operation of a controller (not shown) and flies. The unmanned floating machine 10 may be an unmanned floating machine that automatically flies by a control program incorporated therein, in addition to the unmanned floating machine that receives radio communication based on the operation of the controller.

  The unmanned floating machine 10 includes an airframe 11, an arm 12 extending radially from the airframe 11, a plurality of rotor units 13 provided at the tip of the arm 12 extending from the airframe 11, and a lower portion of the airframe 11. And a skid (fixed landing gear) 14. In FIG. 1, an unmanned floating machine 10 including six rotor units 13 is disclosed as an example. In addition, since the shape of the unmanned floating machine 10 is various, the structure of the unmanned floating machine 10 and the number of the rotor units 13 are appropriately set according to the shape of the unmanned floating machine.

  The airframe 11 houses a battery, in addition to a wireless module that performs wireless communication with a controller (not shown), a drive control board that performs drive control of the rotor unit 13 in response to an operation signal received by the wireless module. . Here, when a camera is mounted on the unmanned floating machine 10, the body 11 further includes an imaging control board that performs imaging control by the camera.

  The arm 12 is a cylindrical member using, for example, a synthetic resin or a metal material. These arms 12 extend radially from the body 11. These arms 12 are arranged so that the angle between adjacent arms is, for example, 60 degrees.

  The rotor unit 13 includes a motor unit 15 and a rotor 16. Although not shown, the motor unit 15 includes a drive motor and a bracket that fixes the drive motor to the arm 12. The motor unit 15 is fixed to the tip of the arm 12 so that the drive shaft of the drive motor protrudes upward. Here, the cable connected to the drive motor of the motor unit 15 is inserted into the arm 12, for example, and then connected to the drive control board housed in the body 11. The rotor 16 has a rotation shaft fixed to the drive shaft of the drive motor, and two rotor blades arranged with an interval of 180 degrees about the rotation shaft. Note that the number of rotor blades provided in the rotor need not be limited to two, and may include three or more rotor blades. The length of the rotor blade is set to a length that does not overlap the rotation trajectories of the rotor blades of adjacent rotor units.

  Under the skid 14 of the unmanned floating machine 10 described above, a restraint net deployment device 20 is mounted via a fixed mount 100. The restraint net deploying device 20 includes a restraint net ejecting device 21 that ejects a plurality of weights 25 with the generated high-pressure gas, and causes the restraint net ejecting device 21 to fly while deploying the restraint net 26 by ejecting the plurality of weights 25. The detachable holding device 22 includes an igniter 23 that performs ignition when generating high-pressure gas, and a fixture 24 that fixes the holding device 22 to the fixed base 100. Since the igniter 23 is a device that receives a radio signal from the transmitter 78 and performs ignition, it is hereinafter referred to as a wireless igniter 23. Here, the restraint net ejection device 21 and the holding device 22 function as a device main body.

  Hereinafter, the case where the restraint net | network ejection apparatus 21 which accommodates the restraint net | network 26 by which the eight weights 25 were attached to an outer peripheral part is used as the restraint net | network ejection apparatus 21 is demonstrated. As shown in FIGS. 2 and 3, the restraint net ejection device 21 individually accommodates the restraint net 26 in which eight weights 25 are attached by the string members 27, and the eight weights 25 and the restraint net 26. The container 28, the sleeve 29 that covers the opening of the container 28 that stores the restraint net 26, the lid 30 attached to the container 28, and the high-pressure gas that ejects the eight weights 25 individually stored in the container 28. And a gas generator 31 to be generated.

  The restraint net 26 is made of, for example, polyethylene and has a tensile strength of 110 N or more. In addition, although the product made from polyethylene is mentioned as a material of the restraint net | network 26, since the tensile strength of the net | network itself should just be 110N or more, the product made from polyester and the product of Kepler may be sufficient. The restraint net 26 has a square outer shape. Note that the size of the restraint net 26 is, for example, 2 × 2 m to 5 × 5 m. Here, the outer shape of the restraint net 26 is not necessarily limited to a square, and may be a polygon such as a rectangle or an octagon.

  Eight weights 25 are attached to the restraining net 26 via string members 27. Here, the position of the restraint net 26 to which the weight 25 is attached is the four corners of the outer periphery of the restraint net 26 and the midpoint of each side. The weight 25 has a cylindrical shape made of stainless steel, for example. The weight 25 is made of stainless steel, but a material having excellent corrosion resistance can also be used. These weights 25 are housed inside a weight cover 34 made of an elastic body. The string member 27 attached to each of the weights 25 is made of, for example, polyester and has a wire diameter of, for example, φ = 0.7 mm. The string member 27 has one end connected to the weight 25 and the other end connected to the restraining net 26. Here, the length of the string member 27 between the connected weight 25 and the restraint net 26 is, for example, 80 mm.

  The restraint net 26 is connected to the container 28 via a tension string 32. The tensile string 32 is made of polyethylene and has a tensile strength of 110 N or more. In addition, although the product made from polyethylene is mentioned as a material of the restraint net | network 26, since the tensile strength of the string itself should just be 110N or more, the product made from polyester and the product made from a Kepler may be sufficient. Further, the tension string 32 is fixed to the midpoint of two adjacent sides or the midpoint of all four sides of the four sides that are the central portion of the restraint net 26 or the outer periphery of the restraint net 26. Here, when the restraint net 26 and the container 28 are connected, the tension string 32 is connected to the restraint net 26 and the container 28 so that the length between the restraint net 26 and the container 28 is, for example, 0.08 to 10 m. It is attached.

  The container 28 is a member that is screw-fixed in a state in which two members formed of a synthetic resin material such as ABS resin or POM resin are overlapped. Hereinafter, the two members are referred to as a first component member 36 and a second component member 37. The first component member 36 is a substantially funnel-shaped member. The first component member 36 has a semicircular arc-shaped groove portion 36a branched in eight directions at equal intervals on the inner peripheral surface. Moreover, the 1st structural member 36 has the groove part 36b in the outer peripheral surface in the position corresponding to the groove part 36a provided in the internal peripheral surface. Further, the first component member 36 has a cylindrical portion 36 c in which a part of the gas generator 31 is accommodated.

  The second component member 37 is a substantially funnel-shaped member that spreads from one end side to the other end side to which the first component member 36 is attached. The other end side of the second component member 37 is opened, and an internal space connected to the opening serves as a restraint net storage portion 37a in which the restraint net 26 is accommodated. On the outer peripheral surface of the second component member 37, eight groove portions 37b and eight arc-shaped groove portions 37c connected to the groove portions 37b are provided.

  When the first constituent member 36 and the second constituent member 37 are overlaid and fixed with screws, the groove portion 36b provided in the first constituent member 36 and the groove portion 37b provided in the second constituent member 37 are communicated with each other. . In a state where the groove portion 36b provided in the first component member 36 and the groove portion 37b provided in the second component member 37 communicate with each other, the tongue piece 30a of the lid 30 can be inserted. In addition, the semicircular groove 36a provided on the inner peripheral surface of the first component 36 and the semicircular groove 37c provided on the outer peripheral surface of the second component 37 are combined to provide eight weight storage portions. (Not shown) is formed. When the first component member 36 and the second component member 37 are overlapped, there are eight flow paths (not shown) connected to the eight weight storage portions between the first component member 36 and the second component member 37. It is formed.

  The sleeve 29 prevents the restraint net 26 housed in the restraint net housing portion 37 a of the second component member 37 from protruding from the restraint mesh housing portion 37 a of the second component member 37. At the same time, in the sleeve 29, when the lid 30 is attached to the container 28, the restraint net 26 accommodated in the restraint net accommodating portion 37a of the second component member 37 is sandwiched between the outer peripheral surface of the container 28 and the lid 30. To prevent.

  The sleeve 29 is obtained by processing a belt-like sheet into a cylindrical shape having both ends opened in the axial direction. Examples of the material of the sleeve 29 include high-density polyethylene (HDPE) and linear polyethylene (LLDPE), as well as wrap films such as thin paper, polyvinyl chloride, and polyvinylidene chloride. As the belt-like sheet that is the basis of the sleeve 29, a sheet material having a thickness of, for example, 0.08 mm or less is used.

  One end edge of the sleeve 29 in the width direction is inserted along the inner peripheral surface of the restraint net storage portion 37 a of the second component member 37. At this time, the other end edge in the width direction of the sleeve 29 extends from the opening of the second component member 37 to the outside. The other end edge of the sleeve 29 in the width direction is the restraint net housed in the restraint net housing portion 37a of the second component member 37 after the restraint net 26 is housed in the restraint mesh housing portion 37a of the second component member 37. It is folded towards 26. When the other end side in the width direction of the sleeve 29 is folded, the folded sleeve 29 has a string member 27 connected to the weight 25 and the restraining net 26 in the opening part of the restraining net accommodating portion 37a of the second component 37. Cover the area excluding the central part.

  Although not described in detail, the sleeve 29 has marks and lines that serve as a guide for the amount of insertion when the sleeve 29 is inserted into the restraint net storage portion 37a of the second component member 37. By having these marks and lines, the insertion amount when the sleeve 29 is inserted into the restraint net storage portion 37a of the second component member 37 can be made constant.

  The lid 30 covers the opening part of the restraint net storage part 37a provided on the second component member 37 of the container 28 and the weight storage part on the outer peripheral surface of the container 28, respectively, so that the storage net 26 and the eight weights 25 are removed. To prevent. The lid 30 is attached to the container 28 so as to easily fall off when the weight 25 is ejected as the high pressure gas is generated by the gas generator 31. The lid 30 is manufactured from a film material in addition to an elastic rubber material or paper material. The lid 30 has, for example, eight tongue pieces 30a protruding from the side portion. The tongue piece 30a has a hole 30b into which a projection 37d provided in the groove portion 37b of the second component member 37 is fitted at the root portion.

  The gas generator 31 generates high-pressure gas by burning the loaded gas generating agent. The gas generator 31 includes an initiator 40 and a holder 41 fixed to the outer periphery of the initiator 40. Although not shown, the gas generator 31 includes a filter that cools and filters the high-pressure gas from the initiator 40 and a filter cup that houses the filter and is screwed to one side of the holder 41. Is done. A lead wire 42 is exposed at the other end of the gas generator 31. A connector 43 is provided at the tip of the lead wire 42.

  As the gas generating agent loaded in the gas generator 31, for example, a low vibration / low noise crushing chemical gunsizer (trade name, manufactured by Nippon Koki Co., Ltd.) is used. The gas generating agent is a non-explosive crushing composition that crushes rocks and the like without requiring a consumption permit in the same procedure as the crushing method using explosives. The gas generator 31 is filled with a gas generating agent having the following configuration in a range of 0.1 g to 1.1 g. As the gas generating agent, a sieved product having 24 Tyler mesh passing and 42 Tyler mesh stopping is used. That is, the gas generating agent has a particle size adjusted to a range of 0.35 mm to 0.71 mm. As the gas generating agent described above, a chemical having a maximum pressure of about 25 MPa when burned in a 10 cc pressure tank is used.

  The plug 44 is composed of a cylindrical member having one end opened in the axial direction and the other end closed. The plug 44 accommodates the cylindrical portion 36c of the first component member 36 at the opened one end side. As described above, a part of the gas generator 31 is accommodated in the cylindrical portion 36c of the first component member 36, and an end portion to which the initiator 40 is attached is exposed. When the plug 44 is attached to the first component member 36, the cylindrical portion 36 c of the first component member 26, the end portion on the initiator 40 side of the gas generator 31, the lead wire 42 and the connector 43 are housed inside the plug 44. Connection terminals 45 and 46 are exposed at the other closed end of the plug 44. The connection terminals 45 and 46 fix one end of a lead wire 47 housed in the plug 44. The other end of the lead wire 47 has a connector 48 that fits with a connector 43 provided on the lead wire 42 of the gas generator 31.

  The fixed cup 50 is a member that connects the container 28 and the plug 44. The fix cup 50 has a keyway 50a. When the plug 44 is inserted, the key groove 50a fits the key portion 44a provided on the plug 44. Thereby, the fix cup 50 and the plug 44 are positioned with respect to each other, and the rotation of the fix cup 50 with respect to the plug 44 is prevented. The fix cup 50 positioned with respect to the plug 44 is fixed to the first component member 36 of the container 28 using a screw 51. Reference numeral 52 denotes a seal that covers the head of the screw 51.

  The holding device 22 is a device that holds the restraint net ejection device 21. As shown in FIG. 4, the holding device 22 includes a grip portion 55 that is gripped by the fixture 24 and a base portion 56 that houses and holds one end portion of the grip portion 55.

  The grip portion 55 is a synthetic resin member having a cylindrical shape with one end in the longitudinal direction closed. The gripping part 55 is provided with a drop-off prevention part 55a at one end in the longitudinal direction which is closed. The dropout prevention portion 55a has an outer diameter that is larger than the outer diameter of the central portion of the grip portion 55 in the longitudinal direction. The dropout prevention portion 55a is provided with an insertion hole through which the lead wire 75 from the wireless igniter 23 is inserted.

  The grip portion 55 includes a flange portion 55b along the outer periphery of the grip portion 55 at the other end in the longitudinal direction. The flange portion 55 b comes into contact with a step portion 56 a provided inside the base portion 56 when one end portion of the grip portion 55 on the flange portion 55 b side is inserted and held inside the base portion 56, and the grip portion 55 is brought into contact with the base portion 56. Prevents you from falling out. Further, the grip portion 55 includes a key portion 55c at one end portion on the flange portion 55b side. The key portion 55 c is fitted into a key groove 56 b provided in the base portion 56, thereby preventing the grip portion 55 from rotating with respect to the base portion 56.

  In addition, the outer peripheral surface of the holding part 55 is uneven | corrugated shape. By forming the outer peripheral surface of the grip portion 55 to have a concavo-convex shape, the occurrence of sliding with the fixture 24 is suppressed. Note that an elastic body can be provided on the outer peripheral surface of the gripping portion 55 as a method of suppressing the occurrence of slippage generated between the fixing device 24 and the fixture 24.

  The base portion 56 has an insertion hole 56c into which the plug 44 of the restraint net ejection device 21 is inserted on the other end side opposite to the one end side where the grip portion 55 is inserted and held. The insertion hole 56c communicates with the insertion groove 57 into which the protrusion 44b provided on the outer peripheral surface of the plug 44 of the restraint net ejection device 21 is inserted, and the projection provided on the plug 44 of the restraint net ejection device 21. The inner wall surface has a slide groove 58 capable of rotating the portion 44a by a predetermined amount in the circumferential direction. Reference numeral 59 denotes an engagement groove with which a protrusion 44 a provided on the plug 44 engages when the restraint net ejection device 21 is attached to the holding device 22. By providing the engagement groove 59, the rotation of the restraint net ejecting device 21 with respect to the holding device 22 is prevented, and as a result, the restraint net ejecting device 21 with respect to the holding device 22 is prevented from falling off.

  The base 56 includes a support plate 60, a terminal substrate 61, and a coil spring 62. The support plate 60 is provided on one surface facing the terminal board 61 and the insertion hole 60a through which the lead wire 75 extending from the wireless igniter 23 and the connector 76 provided at one end of the lead wire 75 are inserted. A regulating portion 60b that regulates the position of the spring 62 is provided. The terminal board 61 includes a connector portion 65 on one surface facing the support plate 60, into which a connector 76 provided at one end of the lead wire 75 is fitted. In addition, the terminal board 61 includes connection terminals 66 and 67 that are in contact with the connection terminals 45 and 46 exposed from the plug 44 of the constraining net ejection device 21 on the surface opposite to the surface facing the support plate 60.

  One end of the coil spring 62 is in contact with the support plate 55 and the other end is in contact with the terminal board 61. When these members are incorporated into the base portion 56, the coil spring 62 presses the support plate 60 abutted on one end side toward the grip portion 55. As a result, the flange portion 55 b of the grip portion 55 is held in a state of being in contact with the step portion 56 a provided inside the base portion 56. Further, the coil spring 62 presses the terminal board 61 abutted on the other end side toward the stepped portion 56 b provided in the base portion 56.

  Next, a procedure for attaching the restraint net ejection device 21 to the holding device 22 will be described. After aligning the protrusion 44 b of the plug 44 and the insertion groove 57 of the base 56, the plug 44 of the restraint net ejection device 21 is inserted into the insertion hole 56 c of the base 56. In the process of inserting the plug 44 of the constraining net ejection device 21 into the insertion hole 56 c of the base 56, the tip of the plug 44 of the constraining net ejection device 21 is brought into contact with the terminal substrate 61, and the plug 44 of the constraining net ejection device 21. Presses the terminal board 61 against the bias of the coil spring 62. Here, since the flange portion 55 b of the grip portion 55 is in contact with a step portion 56 a provided inside the base portion 56, the movement of the support plate 60 is restricted. As a result, the coil spring 62 is compressed by receiving a pressure from the terminal board 61.

  When the plug 44 of the restraint net ejection device 21 is inserted into the insertion hole 56c of the base portion 56 by a predetermined amount, the projection 44b of the plug 44 comes into contact with the end of the insertion groove 57, and the plug 44 of the restraint net ejection device 21 is It becomes impossible to insert into the insertion hole 56c of the base 56. In this state, the positions of the protrusions 44 b provided on the plug 44 of the restraint net ejection device 21 and the lateral grooves 58 communicating with the insertion grooves 57 are the same. Therefore, the projection 44b provided on the plug 44 of the restraint net ejection device 21 is moved along the lateral groove 58. In other words, the restraint net ejection device 21 can be rotated with respect to the base 56 of the holding device 22. . Then, when the protrusion 44b provided on the plug 44 of the restraint net ejection device 21 is brought into contact with the end of the lateral groove 58, the rotation of the restraint net ejection device 21 with respect to the base portion 56 is stopped. The terminal board 61 urged by the coil spring 62 presses the restraint net ejection device 21. Therefore, the restraint net ejection device 21 moves in the direction opposite to the insertion direction into the insertion hole 56c provided in the base portion 56 of the holding device 22, and the projection 44b provided on the plug 44 of the restraint net ejection device 21 is engaged with the engagement groove. 59 is engaged. As a result, the restraint net ejection device 21 is prevented from falling off the holding device 22.

  In the process of mounting the restraint net ejection device 21 to the holding device 22, the connection terminals 45 and 46 exposed from the plug 44 of the restraint net ejection device 21 are in contact with the connection terminals 66 and 67 of the terminal substrate 61. Since the coil spring 62 presses the terminal substrate 61 toward the plug 44 of the restraint net ejecting device 21, the connection terminals 66 and 67 of the terminal substrate 61 are attached when the restraint net ejecting device 21 is attached to the holding device 22. And the contact state with the connection terminals 45 and 46 provided on the plug 44 of the restraint net ejection device 21 is maintained well.

  As shown in FIGS. 5 and 6, the wireless igniter 23 includes a wireless module 70, a control circuit board 71, a battery 72, and a camera 73. Here, the wireless module 70, the control circuit board 71, and the battery 72 are housed in a waterproof case 74 made of synthetic resin. The camera 73 is provided outside the waterproof case 74.

  The wireless module 70 receives the ignition signal from the transmitter 78. In the control circuit board 71, a circuit (hereinafter, control circuit 71 a) generated on the board is connected to the wireless module 70. The control circuit 71a supplies the electric power stored in the battery 72 in response to the wireless module 70 receiving the ignition signal to the gas generator 31 of the restraint net deployment device 21 via the OUTPUT terminal 71b. 5 denotes a lead wire for electrically connecting the control circuit board 71 and the terminal board 61 provided inside the holding device 22, and a terminal board is provided at the tip of the lead wire 75. It has the connector 76 which fits the connector part 65 provided in 61 (refer FIG. 4).

  As the battery 72, for example, a primary battery such as a lithium ion battery is used. The battery 72 supplies power to the wireless module 70, the control circuit 71a, and the camera 73. The battery 72 supplies power to the gas generator 31 through the OUTPUT terminal 71b in response to the wireless module 70 receiving the ignition signal in a state where the restraint net ejection device 21 is mounted on the holding device 22. To do.

  The camera 73 photographs the lower part of the unmanned floating machine 10 when the unmanned floating machine 10 is caused to fly. The camera 73 is provided outside the waterproof case 74 so that the emission direction of the restraint net 26 in the restraint net ejection device 21 and the optical axis of the camera 73 substantially coincide. The camera 73 has a built-in wireless module 73a, and transmits a captured moving image or still image to a monitor 77 installed on the ground. Reference numeral 77 a denotes a wireless module provided in the monitor 77 that transmits and receives signals to and from the wireless module 73 a provided in the camera 73.

  Here, the camera 73 is provided outside the waterproof case 74, but can be arranged so that the emission direction of the restraint net 26 in the restraint net ejection device 21 and the optical axis of the camera 73 substantially coincide with each other. Instead of the waterproof case 74, it can be attached to the fixed mount 100. In the case of an unmanned floating machine equipped with a camera, a camera provided in the unmanned floating machine can also be used. In this case, the orientation of the camera may be set so that the emission direction of the restraint net 26 in the restraint net ejection device 21 and the optical axis of the camera substantially coincide.

  The camera 73 is attached to the outside of the waterproof case 74 so that the emission direction of the restraint net 26 in the restraint net ejection device 21 and the optical axis of the camera 73 substantially coincide with each other. It is also possible to install the camera so that the center of the restraint net 26 developed at a position spaced apart from the exit surface 26 by a predetermined distance coincides with the optical axis of the camera (the center of the imaging range). Here, the predetermined distance is a distance from the exit surface of the restraint net to a position where the ejected restraint net is completely developed.

  As shown in FIG. 7, the fixture 24 is a member used when the holding device 22 is mounted on, for example, the fixed base 100. The fixture 24 is composed of a plurality of members. FIG. 7 shows an example of the fixture 24.

  The fixture 24 includes, for example, a first fixing member 81, a second fixing member 82, and a third fixing member 83. The first fixing member 81, the second fixing member 82, and the third fixing member 83 are molded products using synthetic resin materials, respectively. The first fixing member 81 has a recess 81a whose cross section perpendicular to the z direction in FIG. The first fixing member 81 has insertion holes 81b and 81c about the x direction in FIG. 7 in the vicinity of both edge ends of the arc-shaped recess 81a.

  The second fixing member 82 has a concave portion 82a having an arcuate cross section perpendicular to the z direction in FIG. The second fixing member 82 is provided with female screw portions 82b and 82c with the x direction in FIG. 7 as an axis in the vicinity of both edge ends of the arc-shaped concave portion 82a. The female screw portions 82b and 82c are screwed with screws 85 and 86 inserted through the insertion holes 81b and 81c of the first fixing member 81, respectively. Further, the second fixing member 82 has a stepped portion 82d extending from the lower end portion of the side surface opposite to the one side surface where the concave portion 82a is provided to the right end portion in FIG. Reference numerals 82e and 82f are insertion holes with the axis in the z direction in FIG. 7 through which the screws 87 and 88 are inserted.

  The third fixing member 83 has a step portion 83a in which the upper end portion of the left side surface in FIG. Reference numerals 83b and 83c are female screw portions into which the screws 87 and 88 are screwed. The third fixing member 83 is provided with a groove portion 83d extending in the longitudinal direction (y direction in FIG. 7) on the surface opposite to the one side surface on which the step portion 83a is provided. The frame member 116 of the fixed mount 100 is inserted into the groove 83d.

  The third fixing member 83 has female screw holes 83e and 83f (with the axis in the z direction in FIG. 7) from the upper surface toward the groove 83d. Screws 89 and 90 are screwed into these female screw holes 83e and 83f. Similarly, the third fixing member 83 has female screw holes 83g and 83h (with the z direction as an axis in FIG. 7) directed from the lower surface to the groove 83d. Screws 91 and 92 are screwed into these female screw holes 83g and 83h. As described above, the frame member 116 of the fixed base 100 is inserted into the groove 83 d of the third fixing member 83. Therefore, the third fixing member 83 is fixed to the frame of the fixed base 100 by tightening the screws 89 and 90 screwed into the female screw holes 83e and 83f and the screws 91 and 92 screwed into the female screw holes 83g and 83h, respectively. It is fixed to the member 116.

  The fixed base 100 has a function of mounting and holding the restraint net deployment device 20 of the present invention, and also has a function as a skid of the unmanned floating machine 10. The fixed base 100 is created by combining a plurality of frame materials made of aluminum or synthetic resin. Hereinafter, the configuration of the fixed base 100 will be described with reference to FIGS. 8 and 9. The fixed mount 100 has the following configuration. After the three frame members 101, 102, 103 having the same length are arranged at the same interval, both end portions of these frame members 101, 102, 103 abut against the two frame members 104, 105. Fixed in a fixed state.

  Between the frame material 102 and the frame material 103, two frame materials 106 and 107 orthogonal to the frame materials 102 and 103 are fixed in a state of being abutted against the frame materials 102 and 103 at a predetermined interval. The The two frame members 106 and 107 fixed to the frame members 102 and 103 hold the wireless igniter 23 fixedly.

  At the both ends in the longitudinal direction of the frame material 104, the two frame materials 108 and 109 are fixed in a state where they are abutted from below the frame material 104. Similarly, the two frame members 110 and 111 are fixed in a state where they are abutted from below the frame member 105 at both ends in the longitudinal direction of the frame member 105. The lengths of the frame members 108, 109, 110, and 111 in the longitudinal direction are set to the same length. Therefore, the lower end surfaces of the frame members 108, 109, 110, and 111 become the ground contact surfaces.

  A frame material 112 is fixed between the frame material 108 and the frame material 109 and at a substantially central portion in the longitudinal direction of these frame materials. A frame material 113 is fixed between the frame material 110 and the frame material 111 and at a substantially central portion in the longitudinal direction of these frame materials.

  A frame material 114 is fixed between the frame material 108 and the frame material 110 and at a substantially central portion in the longitudinal direction of these frame materials. A frame material 115 is fixed between the frame material 109 and the frame material 111 and at a substantially central portion in the longitudinal direction of these frame materials.

  The distance from the frame material 101 to the frame material 114, the distance from the frame material 103 to the frame material 115, the distance from the frame material 104 to the frame material 112, and the distance from the frame material 105 to the frame material 113 are all the same distance. . A frame material 116 is fixed between the frame material 112 and the frame material 113.

  As shown in FIG. 8, the frame members 106 and 107 constituting the fixed base 100 fix the wireless igniter 23 via a bracket (not shown). As described above, the camera 73 is attached to the waterproof case 74 of the wireless igniter 23. Therefore, after fixing the wireless igniter 23 to the frame members 106 and 107, the orientation of the camera 73 is fixed so that the emission direction of the restraint net 26 in the restraint net ejection device 21 and the optical axis of the camera substantially coincide. The Further, as shown in FIG. 9, the holding device 22 is fixed to the frame material 116 constituting the fixed mount 100 via the fixing tool 22.

  Hereinafter, the process of mounting the holding device 22 on the fixed base 100 will be described. First, the holding device 22 is temporarily fixed to the fixture 24. In this state, a part of the outer peripheral surface of the grip portion 55 of the holding device 22 is inserted into the recess 81 a of the first fixing member 81. In addition, a portion of the outer peripheral surface of the gripping portion 55 of the holding device 22 opposite to the portion inserted into the recess 81 a of the first fixing member 81 is inserted into the recess 82 a of the second fixing member 82. Further, the screws 85 and 86 are tightened so that the grip portion 55 of the holding device 22 does not fall out between the first fixing member 81 and the second fixing member 82.

  In a state where the holding device 22 is temporarily fixed to the fixture 24, the fixture 24 is fixed to the fixed base 100. After the frame material 116 is inserted into the recess 83d of the third fixing member 83 of the fixture 24, the screws 89, 90, 91 screwed into the female screw holes 83e, 83f, 83g, 83h of the third fixing member 83 are inserted. , 92 are tightened. When the screws 89, 90, 91, 92 are tightened, the tips of the screws 89, 90, 91, 92 protrude from the female screw holes 83e, 83f, 83g, 83h, and press the upper surface and the lower surface of the frame material 116, respectively. As a result, the fixture 24 is fixed to the fixed base 100.

  As described above, in the state where the fixing tool 24 is fixed to the fixing base 100, the holding device 22 is temporarily fixed to the fixing tool 24. Therefore, when the restraint net ejecting device 21 is attached to the holding device 22, the exit surface of the restraint net 26 in the restraint net ejecting device 21 (the surface of the lid 30 provided on the restraint net ejecting device 21) is the grounding surface of the fixed base 100. The position of the holding device 22 with respect to the fixture 24 is adjusted so that it is flush with (the lower end surfaces of the frame members 108, 109, 110, 111) or slightly higher than the ground contact surface of the fixed base 100. After adjusting the position of the holding device 22 with respect to the fixture 24, the screws 85 and 86 are tightened. As a result, the holding device 22 is fixed to the fixture 24.

  When adjusting the position of the holding device 22 with respect to the fixture 24 so that the exit surface of the restraint net 26 in the restraint net ejection device 21 is slightly higher than the lower end surface (grounding surface) of the fixed base 100, the frame material is used. The position of the holding device 22 with respect to the fixture 24 so that the lower end portions 108, 109, 110, and 111 deviate from the flight trajectory of the eight weights 25 ejected from the restraint net ejection device 21 or the flight trajectory of the restraint net 26. Should be adjusted.

  Next, the operation | movement which captures the unmanned floating machine used as the target using the unmanned floating machine 10 equipped with the restraint net | network expansion | deployment apparatus 20 is demonstrated. As shown in FIG. 10 (a), the unmanned floating aircraft 10 equipped with the restraint net deployment device 20 is operated by a controller operation (not shown). The operator operates the controller to fly the unmanned floating machine 10 equipped with the restraint net deployment device 20 until it is positioned above the target unmanned floating machine 118. At this time, since a video signal is transmitted from the camera 73 provided in the wireless igniter 70 to the monitor 77, the operator who operates the unmanned floating machine 10 looks at the video displayed on the monitor 77 and the sky while looking at the target. Confirm the position of the unmanned floater 118. As described above, the optical axis of the camera 73 is set so as to substantially coincide with the emission direction of the restraint net 26 in the restraint net ejection device 21. Therefore, when the target unmanned floating machine 118 is located at the center of the image as the image projected on the monitor 77 and the entire image is imprinted, the operator presses the button of the transmitter 78. Manipulate. Here, the operator who operates the controller to fly the unmanned floating machine 10 and the operator who presses the button of the transmitter 78 may be the same worker or different workers.

  When the button of the transmitter 78 is pressed, the wireless module 70 of the wireless igniter 23 receives an ignition signal. When the ignition signal is received, the control circuit 71a supplies electric power to the gas generator 31 attached to the restraint net ejection device 21. As a result, an ignition operation is executed in the gas generator 31, and high-pressure gas is generated. In response to the generation of the high-pressure gas, eight weights 25 housed in the restraint net ejection device 21 are ejected downward. Since the eight weights 25 are connected to the restraint net 26, when the eight weights 25 are ejected, they fly while the restraint net 26 is deployed. In the process, the restraint net 26 deployed on the target unmanned floating machine 118 is hung. The restraint net 26 is connected to the container 28 of the restraint net ejecting device 21 by a tension string 32. Therefore, when the tension string 32 is in the tensioned state, the deployed restraint net 26 converges at the outer peripheral portion to which the weight 25 is connected. In the process, the restraint net 26 wraps the target unmanned floating machine 118. As shown in FIG. 10B, when the target unmanned floating aircraft 118 is wrapped in the restraint net 26, the propeller of the target unmanned floater 118 is entangled with the restraint net 26 and the flight operation is forcibly stopped. . As a result, it becomes possible to capture the target unmanned floating machine 118. As shown in FIG. 10 (c), since the unmanned floating aircraft 10 can fly, the flying is continued even after the target unmanned floating device 118 is captured, and the captured unmanned floating device 118 is safe. Can be transported to any location.

  Here, in order to reliably restrain the target unmanned floating machine 118, for example, an image obtained from the camera 73 is analyzed, and the distance to the target unmanned floating machine 118 is determined by the operation of the restraint network deployment device 20. When it becomes a range (distance) that can be restrained by the ejected restraining net 26, it is possible to display a notice permitting the operation of the restraining net deploying device 20 on the monitor or to inform by voice. In addition to analyzing the image obtained from the camera 73, a distance sensor is provided in any of the unmanned floating machine 10, the restraint net deployment device 20, or the fixed mount 100, and the distance sensor can be used to reach the target unmanned floating machine 118. It is also possible to perform the notification based on the result of detecting the distance.

  Next, the results of various verification tests on the restraint net 26 and the tension string 32 used in the restraint net ejection device 21 will be shown.

  First, a verification test was performed on the size of the restraint net 26 used in the restraint net ejection device 21. The verification test was performed under the following conditions.

1) As shown in FIG. 11 (a), the emission direction of the restraint net 26 used in the restraint net ejecting device 21 is directly below, and the exit surface of the restraint net 26 in the restraint net ejecting device 21 has a height H from the ground. The restraint net ejection device 21 is fixed to the test stand 120 so as to be in the position. In the verification test, the height H was set to H = 10 m.
2) As shown in FIG. 11 (b), the restraint net 26 accommodated in the restraint net ejection device 21 is ejected targeting the unmanned floating machine 125 flying at a height h from the ground. In addition, as the unmanned floating machine 125 which flies, the magnitude | size (total size of the largest unmanned floating machine currently spread) of 1 m is used. In the verification test, the height h at which the unmanned floating aircraft 125 flies was set to h = 8.5 m. That is, the distance from the exit surface of the restraint net 26 in the restraint net ejection device 21 to the unmanned floating machine 125 is 1.5 m. In the verification test, whether or not the unmanned floating machine 125 as a target is covered with the flying restraint net 26 and can be restrained is used as a criterion for determination. The size of the restraint net 26 used in the restraint net ejection device 21 is shown in Table 1 below.

  As shown in Table 1, in the verification test, the restraint net 26 is 1 × 1 m (sample 1), 2 × 2 m (sample 2), 3 × 3 m (sample 3), 4 × 4 m (sample 4), 5 Five types of sizes of × 5 m (sample 5) are used. The five kinds of restraint nets 26 have a mesh width of 125 mm. When the size of the restraint net 26 is 6 × 6 m or more, it is difficult to store the restraint net 26 in the container 28 of the restraint net ejection device 21 used in the verification test. Absent. Table 2 shows the results of verification tests using five types of samples.

  For example, when the sample 1 is used, the ejected restraint net 26 is applied to the unmanned floating machine 125, but the result is that the unmanned floater 125 cannot be wrapped by the deployed restraint net 26. On the other hand, the result that all of the sample 2 to the sample 5 are hung on the unmanned floating machine 125 and the unmanned floating machine 125 can be wrapped is obtained. Therefore, the verification result that the restraint net | network 26 of the magnitude | size of 2 * 2m-5x5m used for the sample 2 to the sample 5 was preferable was obtained.

  Next, a verification test was performed on the mesh width of the restraint net 26 used in the restraint net ejection device 21. The verification test was performed under the following conditions.

1) As shown in FIG. 11 (a), the emission direction of the restraint net 26 used in the restraint net ejecting device 21 is directly below, and the exit surface of the restraint net 26 in the restraint net ejecting device 21 has a height H from the ground. The restraint net ejection device 21 is fixed to the test stand 120 so as to be in the position. In the verification test, the height H from the ground was set to H = 4 m.
2) As shown in FIG. 11 (b), the restraint net 26 accommodated in the restraint net ejection device 21 is ejected targeting the unmanned floating machine 125 flying at a height h from the ground. In addition, as the unmanned floating machine 125 which flies, the magnitude | size (total size of the largest unmanned floating machine currently spread) of 1 m is used. In the verification test, the height h at which the unmanned floating aircraft 125 flies was set to h = 2.5 m. That is, the distance from the exit surface of the restraint net 26 in the restraint net ejection device 21 to the unmanned floating machine 125 is 1.5 m.

  In the verification test, whether or not the unmanned floating machine 125 as a target is covered with the flying restraint net 26 and can be restrained is used as a criterion for determination. Hereinafter, Table 3 shows the mesh width and size of the restraint net 26 used in the restraint net ejection device 21 used as a sample.

  As shown in Table 3, in the verification test, the restraint net 26 has a size of 3 × 3 m, and the mesh width of the restraint net 26 is 40 mm square (sample 6), 50 mm square (sample 7), and 500 mm square (sample). 8) Four types of 510 m square (sample 9) are used. Table 4 shows the results of verification tests using these samples.

  As shown in Table 4, in the case of sample 6, the flight direction of the restraint net 26 is shifted due to the influence of air resistance when the restraint net 26 is deployed, and the restraint net 26 does not normally reach the target unmanned floating machine 125. was gotten. That is, when the mesh width of the restraint net 26 is 40 mm square, it is likely to be affected by air resistance and wind during flight, and it is considered unsuitable for reliably capturing the unmanned floating machine 125. On the other hand, in the case of Sample 7 and Sample 8, the restraint net 26 can wrap the unmanned floating machine 125, and the result that the unmanned floating machine 125 can be reliably restrained was obtained. In the case of the sample 9, an event occurs in which the mesh width of the restraint net 26 is too large and a part of the unmanned floating machine 125 slips out of the restraint net 26. This phenomenon becomes significant when the mesh width of the restraint net 26 exceeds 500 mm. Therefore, the mesh width of the restraint net 26 is preferably in the range of 50 to 500 mm.

  Next, a verification test was performed on the strength of the restraint net 26 used in the restraint net ejection device 21. The verification test was performed under the following conditions.

1) An unmanned floating machine 125 having a weight of 10 kg is prepared and the state of being wrapped in the restraint net 26 is reproduced.
2) The central part of the restraint net 26 is attached to the test stand 120, and the unmanned floating machine 125 wrapped in the restraint net 26 is suspended.
3) Check whether the restraint net 26 from which the unmanned floating machine 125 is suspended is cut.

  The verification test was based on whether or not the restraint net 26 was broken when the unmanned floating machine 125 wrapped in the restraint net 26 was suspended for 10 minutes. Hereinafter, the material, wire diameter, and strength of the restraint net 26 used in the restraint net ejection device 21 are shown in Table 5.

  As shown in Table 5, polyethylene is used as the material of the restraint net 26. In addition, four types of wire diameters of the restraint net 26 of 0.90 mm, 0.95 mm, 1.00 mm, and 1.05 mm were used. The strength of the restraint net 26 with respect to the wire diameters of 0.90 mm, 0.95 mm, 1.00 mm, and 1.05 mm is 90 N (sample 10), 100 N (sample 11), 110 N (sample 12), and 120 N (sample 13), respectively. ). The results of the verification test are shown in Table 6 below. In the verification test, the verification test using the same sample is performed at least five times.

  As shown in Table 6, when the strength was 100 N or less, the restraint net 26 could not withstand the weight of the unmanned floating machine 125 and was cut at the center of the rope within 10 minutes. On the other hand, when the strength was 110 N or more, there was no case of cutting at the center of the rope within 10 minutes. Therefore, if the strength is 110 N or more, it is considered that various unmanned floating machines 125 can be restrained and recovered. That is, the strength of the restraint net 26 is preferably 110 N or more. In the above verification test, the material of the restraint net 26 is polyethylene, but the material is not limited to polyethylene as long as the material has a strength of 110 N or more.

  Next, the verification test was done about the intensity | strength of the tension string 32 used for the restraint net | network ejection apparatus 21. FIG. The verification test was performed under the following conditions.

1) An unmanned floating machine 125 having a weight of 10 kg is prepared and the state of being wrapped in the restraint net 26 is reproduced.
2) The central part of the restraint net 26 is attached to the test stand 120, and the unmanned floating machine 125 wrapped in the restraint net 26 is suspended.
3) Check whether the pull string 32 from which the unmanned floating machine 125 is suspended is cut.

  In the verification test, it was based on whether or not the tension string 32 was broken when the unmanned floating machine 125 wrapped in the restraint net 26 was suspended for 10 minutes. Hereinafter, the material, wire diameter, and strength of the tension string 32 are shown in Table 7.

  As shown in Table 7, the tensile string 32 was made of polyethylene. Moreover, the wire diameter of the tension string 32 used 0.94 mm, 0.95 mm, 1.00 mm, and 1.05 mm. In addition, the strength with respect to the wire diameters of 0.90 mm, 0.95 mm, 1.00 mm, and 1.05 mm of the tension string 32 is 90 N (sample 14), 100 N (sample 15), 110 N (sample 16), and 120 N (sample 17), respectively. ). The results of the verification test are shown in Table 8 below. In the verification test, the verification test using the same sample is performed at least five times.

  As shown in Table 8, when the strength was 100 N or less, the tensile string 32 could not withstand the weight of the unmanned floating machine 125, and the case where it was cut at the center of the tensile string 32 within 10 minutes was observed. On the other hand, when the strength was 110 N or more, no case of cutting at the center of the tensile string 32 within 10 minutes was found. Therefore, if the strength is 110 N or more, it is considered that various unmanned floating machines can be restrained and recovered. That is, the strength of the tensile string 32 is preferably 110 N or more. In the verification test, the tensile string 32 is made of polyethylene. However, the tensile string 32 is not limited to polyethylene as long as it has a strength of 110 N or more.

  Next, the verification experiment of the attachment position of the tension string 32 with respect to the restraint net | network 26 was conducted. This verification experiment verifies the position where the restraint net 26 functions effectively when the tension string 32 is attached to the restraint net 26. The verification test was performed under the following conditions.

1) As shown in FIG. 11 (a), the emission direction of the restraint net 26 used in the restraint net ejecting device 21 is directly below, and the exit surface of the restraint net 26 in the restraint net ejecting device 21 has a height H from the ground. The restraint net ejection device 21 is fixed to the test stand 120 so as to be in the position. In the verification test, the height H from the ground was set to H = 4 m.
2) As shown in FIG. 11 (b), the restraint net 26 accommodated in the restraint net ejection device 21 is ejected targeting the unmanned floating machine 125 flying at a height h from the ground. In addition, as the unmanned floating machine 125 which flies, the magnitude | size (total size of the largest unmanned floating machine currently spread) of 1 m is used. In the verification test, the height h at which the unmanned floating aircraft 125 flies was set to h = 2.5 m. That is, the distance from the exit surface of the restraint net 26 in the restraint net ejection device 21 to the unmanned floating machine 125 is 1.5 m.

  In the verification test, whether or not the restraint net 26 can cover and restrain the entire unmanned floating machine 125 as a target and whether or not the restrained unmanned floating machine 125 can be maintained in a suspended state is used as a reference. . Table 9 below shows the size of the restraint net 26, the mesh width, the length of the tension strap 32, and the position and number of the tension straps 32 attached to the restraint mesh 26.

  In Table 9, the size of the restraint net 26 is 3.2 × 3.2 m, and the mesh width is 125 mm. Sample 18 shows a case where one tension string 32 is attached to the center of the restraint net 26. Sample 19 shows the case where the tension string 32 is attached to the weight attached to the midpoint of the upper two sides among the four sides of the outer periphery of the restraint net 26. The sample 20 shows the case where the tension string 32 is attached to the weight 25 attached to the midpoint of each of the four sides on the outer periphery of the restraint net 26.

  In the verification test using these samples, the restraint net 26 was hung so as to wrap the target unmanned floating machine 125 in any sample, and the unmanned floating machine 125 could be lifted in a restrained state. For example, in the case of the sample 18, since the tension string 32 is attached to the center of the restraint net 26, the weights 25 attached to the four corners of the restraint net 26 and the midpoints of the respective sides are located at substantially the same position below the target. To converge. Further, when the sample 18 was used, the restraint net 26 was tightly bound to the unmanned floating machine 125 and restrained as compared with the samples 19 and 20. In the case of the sample 19 and the sample 20, the weight 25 to which the tension string 32 is attached receives the resistance of the tension string 32 and converges at a higher position than the weight 25 to which the tension string 32 is not attached. It became.

  In the sample 18 to the sample 20 described above, regardless of the position of the tension string 32, the target unmanned floating machine 125 can be restrained and suspended. Among them, when the tension string 32 is attached to the restraint net 26, the most effective position is the center of the restraint net 26. The restraint net 26 is deployed along with the flight from the restraint net ejection device 21. After the restraint net 26 is deployed, the restraint net 26 is converged by the weight. At the time of the convergence, the weight attached to the restraint net 26 rotates so as to twist the restraint net 26. When the tension string 32 is attached to the center of the restraint net 26, it is considered that all the weights wrap around equally, so that the force for twisting the tension string becomes stronger and the unmanned floating machine 125 can tightly restrain it.

  Next, a verification test was performed on the number and positions of the tension strings 32 attached to the center of the restraint net 26. As described above, it has been found that attaching the tension string 32 to the center of the restraint net 26 is effective when restraining the unmanned floating machine 125. However, the center position of the restraint net 26 may be located inside the stitch, and the tension string 32 cannot be attached to the center of the restraint net 26. Therefore, in the following verification test, the binding position of the tension string 32 and the number of the tension strings 32 are verified, and a test is performed to verify the conditions for increasing the breaking strength of the restraining net 26 and the tension string 32. The verification test was performed under the following conditions.

1) A sample (sample 21 to sample 26) in which the tension string 32 is bound to the restraining net 26 is created.
2) The ends on the restraint net 26 side and the ends on the tension string 32 side of each sample are attached to a tensile strength tester, and the breaking strength when pulled at 10 mm / min is measured.

  The verification test was based on the case where the breaking strength was 110 N or more. Table 10 below shows the size of the restraint net 26 used in the verification test, the mesh width, the binding position and the number of the tension strings 32.

  In addition, the material of the restraint net | network 26 and the tension string 32 used for the verification test is a product made from reinforced polyethylene. Hereinafter, Table 11 shows the results of the strength test for the samples shown in Table 10.

  As shown in Table 11, the breaking strength tends to increase as the number of the tensile cords 32 increases. However, when the number of the tensile cords 32 exceeds four, the breaking strength is not significantly changed. Therefore, it is preferable that the number of the tension strings 32 is four at the maximum. Further, as described above, the tensile strength of the restraint net 26 and the tensile strength of the tensile cord 32 may be 110 N or more. In each sample shown in Table 11, the breaking strength exceeded 110N. Therefore, it can be seen that the number of the tension strings 32 may be any one of 1 to 4. Further, it can be seen that the restraint net 26 for binding the tension string 32 may be bound at one to four locations located near the center of the restraint net 26.

  Finally, a test for verifying the length of the pull string 32 was performed. This verification experiment verifies the length with which the restraint net 26 can be reliably deployed. The verification test was performed under the following conditions.

1) As shown in FIG. 11 (c), the injection direction of the restraint net ejection device 21 is directly below, and the exit surface of the restraint net 26 in the restraint net ejection device 21 is at a height H from the ground. The restraint net ejection device 21 is fixed to the test stand 120. In the verification test, the height H from the ground was set to H = 10 m.
2) The restraint net 26 is ejected from the restraint net ejecting device 21, and a moving image of the development state of the restraint net 26 from the start of ejection until convergence is taken. Table 12 below shows the size of the restraint net 26 and the length of the tension string 32 used in the verification test.

  As shown in Table 12, the length of the tension string 32 is 0.07 m (sample 27), 0.08 m (sample 28), 10 m (5 × 5 m) as the restraint net. This was verified as sample 29). The verification results are shown in Table 13 below.

  Here, the length 0.07 m of the tension string 32 used in the sample 27 is the length from the root portion of the tension string 32 attached to the container 28 of the constraint net ejection device 21 to the exit surface of the constraint net 26. For example, when the length of the tension string 32 is 0.07 m, the restraint net 26 is deployed in the vicinity of the exit surface of the restraint net ejection device 21. In this case, it is easy to get caught in a part of the restraint net ejecting device 21, and development abnormal events occur frequently.

  Further, when the length of the tension string 32 is 0.08 m or more, the development of the restraint net 26 does not occur and the deployment is normally performed. Therefore, the minimum length of the tension string 32 is 0.08 m.

  On the other hand, when the tension string 32 is long, the restraint net 26 is normally deployed. However, as the tension string 32 is longer, the swing width of the restrained unmanned floating machine becomes larger due to the influence of the wind, and the operation at the time of collecting the restrained unmanned floating machine becomes difficult. Therefore, it is preferable that the maximum length of the pull string 32 is 10 m. That is, the length of the tension string 32 is preferably 0.08 to 10 m.

  In addition, since the case where the container larger than the container 28 of the restraint net | network ejection apparatus 21 used by the verification test is used is assumed, the tension string 32 has the restraint net | network 26 connected with the container 28 of the restraint net | network ejection apparatus 21. What is necessary is just the length which can expand | deploy the restraint net | network 26 inject | emitted when it inject | emitted.

  In the present embodiment, the restraint net ejection device 21 is detachably attached to the holding device 22, but the restraint net ejection device 21 and the retention device 22 may be provided integrally. In the present embodiment, the holding device 22 and the wireless igniter 23 are provided separately, but the holding device 22 and the wireless igniter 23 may be provided integrally. Further, in the present embodiment, the restraint net ejection device 21, the holding device 22, and the wireless igniter 23 are individually provided. However, the restraint mesh ejection device 21, the retention device 22 and the wireless igniter 23 are integrally provided. Is also possible.

  In the present embodiment, a restraint net ejecting device in which the restraint net 26 and the container 28 are connected by the tension string 32 is taken as an example, but the restraint net in which the restraint net 26 and the container 28 are not connected by the tension string 32. It is also possible to use an ejection device.

  In the present embodiment, the case where the restraint net deployment device 20 is mounted on the unmanned floating machine 10 via the fixed mount 100 is taken as an example, but the restraint net deployment device 20 may be directly attached to the unmanned float 10. Is possible.

  In the present embodiment, a case where one restraint network deployment device 20 is mounted on the fixed base 100 is described. However, the number of restraint network deployment devices 20 mounted on the fixed base 100 is two or more. Also good.

  In the present embodiment, the restraint net deployment device 20 attached to the fixed base 100 is fixed, but for example, the holding device 22 is moved in the left-right direction and the front-back direction with respect to the fixed base 100, or You may enable it to change the injection | emission direction of the restraint net | network 26 ejected from the restraint net | network expansion | deployment apparatus 20 by changing the angle of the holding | maintenance apparatus 22. FIG. In such a case, it is necessary to change the position and angle of the camera in accordance with the change of the position and angle of the holding device.

  In the present embodiment, the weights 25 are attached to the four corners of the outer periphery of the restraint net 26 and the midpoints of the respective sides via string members. When such a restraint net 26 is ejected toward a target unmanned floating machine, the restraint net 26 is hung so as to wrap the target unmanned floating machine, and the unmanned floating machine can be lifted in a restrained state. In order to surely create a state where the unmanned floating machine is restrained, as shown in FIG. 12, the hook member 130a having two different bending directions is attached to the string member 32 for connecting the restraining net 26 and the weight 25. , 130b can be provided at both ends. Note that the hook member 130 provided with hooks at both ends is not necessary, and a hook member provided with hooks only at one end side may be used.

DESCRIPTION OF SYMBOLS 10 ... Unmanned floating machine, 20 ... Restraint net deployment apparatus, 21 ... Restraint net ejection apparatus, 22 ... Holding apparatus, 23 ... Wireless igniter, 24 ... Fixture, 25 ... Weight, 26 ... Restraint net, 28 ... Container, DESCRIPTION OF SYMBOLS 30 ... Lid, 31 ... Gas generator, 32 ... Tension string, 70 ... Wireless module, 72 ... Battery, 73 ... Camera, 100 ... Fixed mount

Claims (15)

An airframe having a plurality of rotor units;
An landing gear provided at a lower portion of the airframe;
A fixed gantry composed of a plurality of frames and attached to the lower part of the landing gear;
A constraining net ejection device having a plurality of weights and a container that individually stores the constraining nets to which the plurality of weights are attached, and a gas generator that generates a gas by burning a combustible substance ;
A holder for detachably holding the restraint net ejection device;
The restraint net ejecting device is mounted so that any one of the plurality of frames constituting the fixed mount deviates from a flight trajectory of the restraint net or the plurality of weights launched downward from the container. A fixing tool for fixing the holding tool to the fixed base;
Provided to the fixed base so that the optical axis direction coincides with the emission direction of the restraint net in the restraint net ejection device, and transmits an imaging signal acquired by imaging an object captured by the restraint net to a ground monitor Imaging means capable of
Wireless communication fixed to the fixed base that receives an ignition signal transmitted from a transmitter by wireless communication when the object is located at the center of the monitor and the entire object is displayed on the monitor Means,
An igniter that is fixed to the fixed frame at a position above the holder fixed to the fixed frame, and that activates the restraint net ejection device when the wireless communication means receives the ignition signal;
An unmanned floating machine characterized by comprising Oite unmanned floating machine according to claim 1,
The fixed mount is
Three first frames arranged in parallel at the same interval;
Two second frames against which both ends of the three first frames are respectively abutted;
Two third frames arranged in parallel with the second frame at a predetermined interval between the two first frames out of the three first frames;
Four fourth frames disposed so as to be perpendicular to both lower ends of the two second frames;
Of the four fourth frames, four fifth frames that are arranged at the same height across two adjacent fourth frames,
Among the four fifth frames, a sixth frame disposed between the two opposing fifth frames; and
Including
The igniter is fixed across the two third frames,
The unmanned floating machine , wherein the holding tool is fixed to the sixth frame via the fixing tool . Oite unmanned floating machine according to claim 1 or claim 2
The fixing device includes two members fastened by a fastening member in a state where the holding tool is sandwiched, and a member fixed to the fixing base in a state where one of the at least two members is fixed. This is an unmanned floating machine. Oite claims 1 to unmanned floating machine according to any one of claims 3,
An unmanned floating machine comprising a lid member that receives pressure of the gas generated by the gas generator and separates from the container when the plurality of weights are ejected from the container . Oite claims 1 to unmanned floating machine according to any one of claims 4,
The retainer has a first connection terminal to which the igniter lead wires are connected,
The restraint net ejection device has a second connection terminal to which a lead wire of the gas generator is connected,
The igniter, the first connection terminal by holding the restraint net ejecting apparatus according to the holder and the second connection terminal to the igniter by contact with the gas generator is electrically connected And a power supply unit configured to supply power to the gas generator when the igniter receives the ignition signal . Oite unmanned floating machine according to claim 5,
The retainer when the retainer is holding the restraint net discharge device, unmanned floating device characterized by having an elastic member for pressing the first connecting terminals to the second connection terminal . Oite claims 1 to unmanned floating machine according to any one of claims 6,
The unmanned floating machine according to claim 1, wherein the mesh width of the restraint net is in a range of 50 mm square to 500 mm square . Oite claims 1 to unmanned floating machine according to any one of claims 7,
The size of the restraint net is in the range of 2m x 2m to 5m x 5m . Oite claims 1 to unmanned floating machine according to any one of claims 8,
The unmanned floating machine , wherein the restraint net has a tensile strength of 110 N or more . Oite claims 1 to unmanned floating machine according to any one of claims 9,
An unmanned floating machine comprising a string member for connecting the restraint net and the container . Oite unmanned floating machine according to claim 10,
The unmanned floating machine according to claim 1, wherein the length of the string member is set to a length that allows the ejected restraint net to be deployed when the restraint net connected to the container is ejected . Oite unmanned floating machine according to claim 10,
The unmanned floating machine , wherein the string member has a length between the restraining net and the container set in a range of 0.08 m to 10 m . Oite unmanned floating machine according to claim 10 or claim 12,
The unmanned floating machine , wherein the string member has a tensile strength of 110 N or more . An unmanned floating machine comprising: a machine body that holds a plurality of rotor units; an landing gear provided at a lower portion of the machine body; and a fixed gantry that includes a plurality of frames and is attached to the lower part of the landing gear device.
Constraining net ejection device having a plurality of weights and a container for individually storing the restraint nets to which the plurality of weights are attached, a gas generator for generating a gas by burning a flammable substance, and constituting the fixed base A state in which any one of the plurality of frames is fixed to the fixed base via a fixture so that the frame is deviated from the flight trajectory of the restraining net or the plurality of weights that are launched downward from the container. And a restraint net deploying device comprising: a holder that detachably holds the restraint net ejection device; and
An igniter which is fixed to the fixed frame at a position above the holder fixed to the fixed frame and operates the restraint net ejection device;
An image of the object captured by the restraint net is imaged by wireless communication so that the optical axis direction coincides with the emission direction of the restraint net in the restraint net ejection device, and the captured image signal is captured by wireless communication. Imaging means capable of transmitting;
A monitor for displaying an image based on an imaging signal transmitted from the imaging means;
A transmitter capable of wireless communication with the igniter and transmitting an ignition signal of the gas generator to the igniter;
The object restraint system characterized by including.   The object restraint system according to claim 14,
  The transmitter transmits the ignition signal to the igniter in response to the object being positioned at the center of the monitor and the entire object being displayed on the monitor. Object restraint system.

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