JP6916050B2 - Takeoff and landing equipment and heat source aircraft - Google Patents

Description

Embodiments of the present invention relate to takeoff and landing devices and heat source devices.

In recent years, UAVs (Unmanned Aerial Vehicles) called drones have been attracting attention. Conventionally, a device (hereinafter referred to as "UAV port") that functions as a base or a relay point that is a takeoff and landing site of this UAV has been developed. However, the UAV port needs to be installed in a place where the UAV has a landing area and the sky is a wide open space. In addition, the UAV needs to perform communication for takeoff and landing, charging, etc., and also for control by the owner or user of the UAV, and it is necessary to turn on the power supply for that purpose. Due to such restrictions on various installation conditions, it has not been easy to select the installation location of the UAV port.

U.S. Pat. No. 9,387,928

The problem to be solved by the present invention is to provide an optimum UAV port.

The takeoff and landing device of the embodiment is a takeoff and landing device that can be attached to and detached from the upper part of the heat source machine installed outdoors. The takeoff and landing device has a takeoff and landing section. The takeoff and landing section provides space for unmanned aerial vehicles to take off and land.

The external view which shows the specific example of the structure of the outdoor unit 1 of 1st Embodiment. External view of the outdoor unit 1 from above. The external view of the UAV port part 120 in the outdoor unit 1 as seen from another angle. The external view of the UAV port part 120 in the outdoor unit 1 as seen from the side. The external view of the UAV port unit 120 of the outdoor unit 1 from above. The block diagram which shows the specific example of the functional structure of the outdoor unit 1 and UAV2. The flowchart which shows the outline of the operation of the outdoor unit 1. The flowchart which shows the flow of the standby process in the same embodiment. The flowchart which shows the flow of the authentication process in the same embodiment. The flowchart which shows the flow of the connection process in the same embodiment. The flowchart which shows the flow of the charging process in the same embodiment. The flowchart which shows the flow of the withdrawal processing in the same embodiment. The flowchart which shows the processing flow of the outdoor unit 1 in the same embodiment. The external view which shows the specific example of the structure of the outdoor unit 1a of 2nd Embodiment. The external view which shows the specific example of the structure of the outdoor unit 1a. The block diagram which shows the specific example of the functional structure of the outdoor unit 1a.

Hereinafter, as an example of the takeoff and landing device and the heat source machine of the embodiment, the outdoor units 1 and 1a of the air conditioner and the UAV port portions 120 and 120a will be described with reference to the drawings.

(First Embodiment)
FIG. 1 is an external view showing a specific example of the configuration of the outdoor unit 1 of the first embodiment. 1 (A) and 1 (B) show the appearance of the outdoor unit 1 as viewed from different sides. For example, the outdoor unit 1 is an outdoor unit of an air conditioner and is installed outdoors such as on the roof of a building. The outdoor unit 1 of the embodiment includes a housing portion 110, a UAV port portion 120, and a ladder 130, and has a fan for exhaust heat, an outdoor heat exchanger, and a compressor that functions as a part of a refrigeration cycle inside the housing portion 110. Etc. (not shown). The outdoor unit 1 illustrated in FIG. 1 includes a fan that blows out above the housing portion 110 (in the direction of the arrow in the figure), and includes an outlet DP thereof. During the operation of the compressor (that is, during the operation of the refrigeration cycle) except during the defrosting operation, the fan sucks in outside air from the intake port SP on the side surface of the housing portion 110, passes it through the heat exchanger, and then blows out. It blows out from the DP to the upper part of the housing portion 110.

The housing portion 110 of the outdoor unit 1 has a vertically long prismatic shape, and heat exchangers are arranged inside the housing portion 110 in a square shape facing the four side surfaces. The fan is a propeller fan, and is fixedly arranged in the upper center of the heat exchanger arranged in a square shape so as to face the outlet DP on the upper surface. The upper surface dimension of the housing portion 110 is a rectangular shape that is larger than the diameter of the propeller fan and is substantially square or slightly longer on the side than the depth.

The UAV port portion 120 is detachably installed from the housing portion 110 above the fan outlet DP. The UAV port portion 120 includes a takeoff and landing portion 121 and a fixing member 122. The takeoff and landing unit 121 provides a space (hereinafter referred to as "takeoff and landing space") capable of taking off and landing for the UAV (Unmanned Aerial Vehicle) 2. For example, the takeoff and landing portion 121 is configured by using a plate-shaped member having strength capable of taking off and landing on the UAV, and provides the plate surface as a takeoff and landing space. The takeoff and landing portion 121 is fixed to the upper part of the housing portion 110 by the fixing member 122.

As described above, the outdoor unit 1 of the air conditioner has a built-in compressor at the bottom inside the outdoor unit 1. The compressor is a sealed device in which a compressor motor and a compression mechanism are built in, and lubricating oil for lubricating the compression mechanism is stored in the bottom of the compressor. In order to smoothly supply the lubricating oil stored in the bottom to the compression mechanism, it is necessary to keep the bottom of the compressor horizontal. Therefore, the outdoor unit 1 is installed so that its bottom is horizontal. Since the takeoff and landing portion 121 is attached to the upper part of the outdoor unit 1 installed in this way, the landing surface of the UAV2 (the upper surface of the takeoff and landing portion 121) becomes horizontal with respect to the direction of gravity, facilitating the takeoff and landing of the UAV2, and at the same time. It can increase safety. Further, when the UAV port portion 120 is attached to the existing outdoor unit 1 installed in this way, it is not necessary to pay much attention to the horizontality of the attachment position, so that the attachment work of the UAV port portion 120 can be facilitated. can.

FIG. 1 shows a situation in which UAV2 is landing on the takeoff and landing section 121. Further, the UAV port unit 120 includes an antenna 123 (an example of the wireless communication unit) for wireless communication with the UAV. FIG. 1 shows an example in which the antenna 123 is installed on the upper surface of the takeoff and landing portion 121, but the antenna 123 may be installed at a position different from that shown in the drawing.

Further, the UAV port unit 120 includes a UAV port control unit 140 that executes various control processes that cause the own device to function as a UAV port. The UAV port control unit 140 is communicably connected to a controller inside the outdoor unit 1 (not shown and will be described later), and the UAV2 takes off and landing by operating its own device in cooperation with the housing unit 110 of the outdoor unit 1. To support. Further, the UAV port control unit 140 supplies the electric power supplied to the UAV 2 via the housing unit 110 of the outdoor unit 1 by operating its own device in cooperation with the parked UAV 2.

The ladder 130 (an example of the elevating means) is a ladder that enables a person to move up and down from the ground plane of the outdoor unit 1 to at least a height at which the UAV 2 on the takeoff and landing portion 121 can be operated. FIG. 1 shows a ladder used by fixing the upper stage to the upper part of the housing portion 110 as an example of such a ladder 130. The ladder 130 may be replaced with other means as long as it is a means for allowing a person to move up and down.

FIG. 2 is an external view of the outdoor unit 1 from above. FIG. 2 shows the appearance of the outdoor unit 1 in a situation where the UAV 2 does not exist in the takeoff and landing portion 121. As described above, the fan F inside the outdoor unit 1 blows air from the outlet DP in the direction perpendicular to the plate surface forming the takeoff / landing portion 121 (that is, in the upward direction of the device). Therefore, it is desirable that the takeoff and landing portion 121 has a shape that does not obstruct the flow of air blown out by the fan F as much as possible. FIG. 2 shows an example in which the takeoff and landing portion 121 is configured by using a plate-shaped member having a plurality of holes penetrating the plate surface in a substantially vertical direction. By forming the takeoff and landing portion 121 using such a plate-shaped member, the air sent out from the fan F can pass through the hole portion of the plate-shaped member, and the takeoff and landing portion 121 of the fan F It is possible to prevent the ventilation from being obstructed as much as possible. Various shapes such as a square grid shape and a mesh shape can be considered as the shape of the hole of the takeoff and landing portion 121, and it is desirable that the UAV2 can land stably and the shape does not hinder the ventilation of the fan F as much as possible.

FIG. 3 is an external view of the UAV port portion 120 on the outdoor unit 1 as viewed from another angle. In this figure and subsequent drawings, the holes in the takeoff and landing portion 121 are omitted because the drawing becomes complicated. As shown in this figure, the UAV port unit 120 includes a wind direction anemometer 124 (an example of the measuring unit) that measures the wind direction or speed near the takeoff and landing space. Further, the plate-shaped member constituting the takeoff and landing portion 121 is formed by using a conductive member such as metal. With such a configuration, the takeoff and landing unit 121 functions as an electrode for supplying electric power to the UAV2 at the time of landing of the UAV2. Specifically, the takeoff and landing portion 121 has two planar electrodes TS1 and TS2 insulated and separated by an insulator INS, provides a takeoff and landing space, and functions as a positive electrode or a negative electrode. By configuring most of the takeoff and landing space as electrodes in this way, the restriction on determining the position where the UAV2 will land (the position where charging is possible) can be relaxed, and the UAV2 can be landed more easily. ..

FIG. 4 is an external view of the UAV port portion 120 of the outdoor unit 1 as viewed from the side. As shown in FIG. 4, the plane electrodes TS1 and TS2 are connected to a power source (not shown, which will be described later) inside the housing portion 110 via the conductors L1 and L2. The outdoor unit 1 applies electric power to the UAV 2 by applying a voltage to each of the plane electrodes (TS1 and TS2) in a state where the positive electrode TU1 and the negative electrode TU2, which are terminals for charging the UAV 2, are connected to different plane electrodes (TS1 and TS2). Supply. The positive electrode TU1 and the negative electrode TU2, which are terminals for charging the UAV2, are provided on the bottom surface of the tip of the landing leg of the UAV2.

Further, since the takeoff and landing portion 121 functions as a charging electrode for the UAV2, it is desirable that the fixing member 122 for fixing the UAV port portion 120 to the housing portion 110 is also configured by using an insulator such as synthetic resin. Although FIG. 4 shows an example in which the takeoff and landing portion 121 is configured by using two metal plates that function as electrodes, the takeoff and landing portion 121 does not necessarily have to be configured by using the metal plates. For example, the takeoff and landing portion 121 may have a metal plate that functions as an electrode attached to the surface of a non-metal plate member.

FIG. 5 is an external view of the UAV port portion 120 attached to the outdoor unit 1 as a bird's-eye view from above. As shown in FIG. 5, the UAV port unit 120 has an imaging unit 125, which is a lens of a camera that images the upper part of the outdoor unit 1, and an LED (Light Emitting) for guiding the UAV 2 by lighting on the upper surface of the takeoff and landing unit 121. Diode) 126-1 to 126-4 (an example of an induction unit). Hereinafter, when it is not necessary to distinguish between LEDs 126-1 to 126-4, they will be referred to as LED126. The anemometer 124, the imaging unit 125, and the LED 126 provided on the upper surface of the takeoff and landing unit 121 are connected to a controller (not shown, which will be described later) inside the UAV port unit 120. The anemometer 124 transmits the measurement information to the controller, and the imaging unit 125 transmits the image information acquired by the imaging to the controller. The lighting and extinguishing of the LED 126 is controlled by the controller.

Further, the UAV port unit 120 includes a human body sensor 127 capable of detecting a human body located near the ladder 130. For example, an infrared sensor may be used as the human body sensor 127. FIG. 5 shows an example in which the human body sensor 127 is installed on the side surface of the takeoff and landing portion 121 located at the upper part of the ladder 130. The installation position of the human body sensor 127 is not limited to the example of FIG. 5, and may be installed at any position as long as the human body located near the ground plane of the ladder 130 can be detected. The human body sensor 127 is connected to the controller and transmits the detection result to the controller.

FIG. 6 is a block diagram showing a specific example of the functional configuration of the outdoor unit 1 of the first embodiment, the UAV port unit 120 that can be attached to and detached from the outdoor unit 1, and the UAV 2. The outdoor unit 1 includes a drive unit 150 and an outdoor control unit 160. The drive unit 150 is a portion that drives functional parts related to the air conditioning operation of the outdoor unit 1. For example, the outdoor unit 1 includes a fan motor 151 for driving the fan F as an outdoor drive unit 150 and a compressor 152 for realizing a refrigeration cycle. The outdoor control unit 160 controls the drive unit 150. For example, the outdoor control unit 160 includes a fan controller 161 that controls the fan motor 151, a compressor controller 162 that controls the compressor 152, and a main controller 163 (not shown) for operating its own device and an indoor unit (not shown) as an air conditioner. (1) An example of a control unit) and the like are provided. In addition to this, the outdoor unit 1 also includes various drive parts, various valve devices during the refrigeration cycle, and the like, but they will be omitted.

Both the fan controller 161 and the compressor controller 162 are internally provided with an inverter for driving the fan motor 151 and the compressor 152 at variable speeds, respectively. The main controller 163 communicates with an indoor unit (indoor communication) (not shown), and determines an appropriate fan F rotation speed and compressor rotation speed for the fan controller 161 and the compressor controller 162 according to the indoor air conditioning state. , Instruct the fan controller 161 and the compressor controller 162. The fan controller 161 and the compressor controller 162 drive the fan motor 151 and the compressor 152 so as to have the rotation speed instructed by the main controller 163.

When the air conditioner is stopped in response to the stop of the indoor unit, the main controller 163 instructs the fan controller 161 and the compressor controller 162 to stop (OFF). Further, the main controller 163 is configured to be communicable with the UAV port control unit 140 via an external interface, and executes control corresponding to the operation of the UAV port unit 120 in addition to the above-mentioned operation as an air conditioner.

Further, the UAV port unit 120 includes various devices provided in and around the takeoff and landing unit 121 and the UAV port control unit 140. The UAV port control unit 140 has a function of supporting the takeoff and landing of the UAV2 with respect to its own device and supplying electric power to the landed UAV2 by controlling various devices provided in the UAV port unit 120. Specifically, the UAV port control unit 140 includes an external interface 141, a power converter 142, a charging circuit 143, and a port controller 144 (an example of a second control unit).

The external interface 141 is various communication interfaces for the port controller 144, communicates with the outdoor unit 1 and the functional units of various other devices, reads various information, and transmits the result to the port controller 144. do. Specifically, the external interface 141 is connected to the antenna 123, the anemometer 124, the imaging unit 125, the LED 126, and the main controller 163 of the outdoor unit 1, and provides the information acquired from these devices to the port controller 144. It also has a function of controlling each device such as turning on and off the LED 126 and transmitting a signal via the antenna 123 based on the instruction of the port controller 144.

The power converter 142 converts the commercial AC power supplied from the power system into an inputtable DC voltage and outputs it to the charging circuit 143. The power converter 142 converts and outputs this electric power under the control of the port controller 144. Specifically, the power supply line of the power supply system, which is a commercial AC power supply, is drawn into the outdoor unit 1, connected to one end of the terminal block 170 inside the outdoor unit 1, and from the other end of the terminal block 170 to the housing portion 110. A power line 171 that supplies necessary power to various devices is pulled out. When the UAV port portion 120 is attached to the upper part of the outdoor unit 1, another port power supply line 175 is connected (co-tightened) to the other end of the terminal block 170, and the port power supply line 175 is connected inside the outdoor unit 1. Then, connect it to the power converter 142 of the UAV port unit 120 installed at the upper part from an appropriate position. As a result, it is not necessary to lay a new power supply line 173 from the power supply system to the UAV port unit 120, and the power supply line 173 connected to the outdoor unit 1 can be shared with the UAV port unit 120.

The charging circuit 143 applies a voltage to the plane electrodes TS1 and TS2 by the electric power supplied from the power converter 142. By applying this voltage, electric power is supplied to the parked UAV2.

The port controller 144 includes a CPU (Central Processing Unit), a memory, an auxiliary storage device, and the like connected by a bus, and executes a program. The port controller 144 supports the takeoff and landing of the UAV2 to the UAV port unit 120 and supplies power to the landed UAV2 by executing the program.

Specifically, the port controller 144 acquires image information obtained by capturing an image of the upper part of the UAV port unit 120 from the imaging unit 125, and acquires measurement information indicating the wind direction or speed near the takeoff and landing space from the anemometer 124. The port controller 144 generates support information for supporting the takeoff and landing of the UAV2 based on the acquired image information and measurement information. The port controller 144 supports the takeoff and landing of the UAV2 by transmitting the generated support information to the UAV2 via the antenna 123. By transmitting such support information from the UAV port unit 120, the UAV2 can more accurately control its own takeoff and landing operation based on the support information. Further, the port controller 144 controls the power converter 142 and the charging circuit 143 to apply a voltage to the planar electrodes to supply electric power to the UAV2 that has landed on its own device.

The UAV 2 includes a drive unit (not shown) such as a propeller and a motor, an antenna 21, a battery 22, a switch 23, a BMS (Battery Management System) 24, and a UAV controller 25. The antenna 21 is an antenna for wireless communication. The UAV 2 can communicate with the UAV port unit 120 on the upper part of the outdoor unit 1 via the antenna 21. The battery 22 supplies electric power to the drive unit. The battery 22 is connected to the charging electrodes TU1 and TU2. The switch 23 is a switch that keeps the battery 22 and the electrode TU1 in a connected state (hereinafter referred to as “ON state”) or a disconnected state (hereinafter referred to as “OFF state”). For example, the switch 23 is configured by using a magnet switch. The BMS 24 controls the switch 23 to either an ON state or an OFF state based on the control of the UAV controller 25.

The UAV controller 25 includes a CPU, a memory, an auxiliary storage device, and the like connected by a bus, and executes a program. The UAV controller 25 controls each functional unit of its own device by executing a program. For example, the UAV controller 25 can fly its own device to a destination point (including a relay point) by controlling the drive unit. Further, for example, the UAV controller 25 can land the own device at a predetermined position or leave the own device from the predetermined position (take off and move to another point) by controlling the drive unit. These functions are the basic control functions of a general UAV2.

In addition to these general control functions, the UAV controller 25 acquires support information from the UAV port unit 120 on the upper part of the outdoor unit 1 by wireless communication via the antenna 21, and controls the drive unit based on the acquired support information. Highly accurate takeoff and landing is possible.

Further, the UAV controller 25 can charge the battery 22 more safely by controlling the connection state of the switch 23 via the BMS 24. For example, the UAV controller 25 can forcibly disconnect its own device from the outdoor unit 1 and protect it by controlling the switch 23 to the OFF state when an abnormality such as overcharging occurs.

All or part of the functions of the port controller 144 and the UAV controller 25 described above may be performed by using hardware such as an ASIC (Application Specific Integrated Circuit), a PLD (Programmable Logic Device), or an FPGA (Field Programmable Gate Array). It may be realized. The program may be recorded on a computer-readable recording medium. The computer-readable recording medium is, for example, a flexible disk, a magneto-optical disk, a portable medium such as a ROM or a CD-ROM, or a storage device such as a hard disk built in a computer system. The program may be transmitted over a telecommunication line.

FIG. 7 is a flowchart showing an outline of the operation of the port controller 144 of the first embodiment. Hereinafter, for the sake of simplification of explanation, step S * will be abbreviated to S *. The port controller 144 executes the initialization process according to the activation of the UAV port unit 120, which is its own device (S0), and after executing the initialization process, each process shown in the following S1 to S5 is sequentially repeated. S1 is a standby process of waiting for UAV2 requesting landing on the own device. S2 is an authentication process for authenticating the UAV2 that has requested landing on its own device. S3 is a connection process that assists the authenticated UAV2 to land on its own device. S4 is a power supply process for supplying electric power to the UAV2 that has landed on its own device. S5 is a withdrawal process for assisting the UAV2, which has been charged, withdraws from the own device.

As described above, in the embodiment, the port controller 144 has a first state corresponding to S1, a second state corresponding to S2, a third state corresponding to S3, a fourth state corresponding to S4, and S5. By transitioning the operating state of the own device in the order of the fifth state corresponding to the above, the processing required from the approach to the departure of the UAV2 can be efficiently executed.

FIG. 8 is a flowchart showing the flow of standby processing in the first embodiment. As the situation at the start of the standby process, it is assumed that the UAV 2 has not landed on the outdoor unit 1. First, the port controller 144 turns on the LED 126 to notify the UAV2 that it is possible to land (S101).

Subsequently, the port controller 144 checks for a short circuit of the planar electrode (S102). If a short circuit occurs in the planar electrode, the desired output voltage may not be obtained or an overcurrent may flow. Therefore, when power is supplied to the UAV2 in a state where the plane electrodes are short-circuited, it may take a long time to charge the UAV2 or the UAV2 may break down. The port controller 144 periodically performs a short-circuit check of the planar electrodes in order to prevent such a problem. When a short circuit of the planar electrode is detected in S102, the LED 126 is turned off, the UAV2 is not accepted until the repair is completed, and the process does not proceed to the subsequent steps.

Subsequently, the port controller 144 acquires measurement information indicating the wind direction or speed near the takeoff and landing space from the anemometer 124 (S103). The port controller 144 attempts to detect UAV2 in the vicinity of its own device (S104). Specifically, the port controller 144 detects the UAV2 approaching its own device by receiving the radio signal transmitted by the UAV2 via the antenna 123.

When UAV2 is detected in the vicinity of the own device (S104-YES), the port controller 144 determines whether or not the detected UAV2 requests landing permission from the own device (S105). Specifically, the port controller 144 determines whether or not there is a request depending on whether or not the detected UAV2 transmits a signal requesting landing permission (hereinafter referred to as “landing request signal”). When the detected UAV2 transmits a landing request signal to its own device (S105-YES), the port controller 144 ends the standby process and shifts control to the next authentication process.

On the other hand, if UAV2 is not detected near the own device (S104-NO), or if the detected UAV2 does not transmit a landing request signal (S105-NO), the port controller 144 shifts the process to S101. S101 to S105 are repeatedly executed to wait for the UAV2 that transmits the landing request signal to approach.

FIG. 9 is a flowchart showing the flow of the authentication process in the first embodiment. The authentication process is started in response to the transmission of the landing request signal from the UAV2 detected in the standby process. First, the port controller 144 acquires authentication information from the UAV2 by wireless communication with the UAV2 (S201). The authentication information is information necessary for the UAV port unit 120 on the upper part of the outdoor unit 1 to authenticate the UAV 2 that is going to use its own device. For example, the authentication information includes user identification information and a password. For example, the user identification information may be the contract number of the usage contract concluded in advance between the owner of the outdoor unit 1 or the UAV port unit 120 and the user, or the user assigned to the user. It may be an ID or the like. Further, the authentication information may include the aircraft information of UAV2. The aircraft information is information about the aircraft of UAV2. For example, the aircraft information indicates the UAV2 model, serial code, battery type, battery level, presence / absence of landing position correction, and the like.

The port controller 144 determines whether or not the UAV2 can be authenticated based on the authentication information acquired from the UAV2 (S202). For example, in the storage unit of the port controller 144 or the like, information necessary for determining whether the UAV2 that has transmitted the landing request signal can use its own device (hereinafter referred to as “setting information”) is stored in advance. There is. The port controller 144 determines whether the UAV2 can be authenticated based on the authentication information acquired from the UAV2 and the setting information stored in advance in the own device. For example, the port controller 144 may determine that the UAV2 can be authenticated when the user's identification information and password indicated by the authentication information match the identification information and password registered in advance as setting information. Here, the port controller 144 may further determine whether or not the UAV2 satisfies the usage conditions (for example, weight limit) of its own device based on the aircraft information included in the authentication information. In this case, the port controller 144 states that the UAV2 can be authenticated when the user's identification information and password match those registered in the setting information and the aircraft meets the usage conditions of its own device. You may judge.

When it is determined that the UAV2 can be authenticated (S202-YES), the port controller 144 responds to the UAV2 that the authentication is complete (S203). On the other hand, when it is determined that the UAV2 cannot be authenticated (S202-NO), the port controller 144 responds to the UAV2 that the UAV2 cannot be authenticated (S204).

FIG. 10 is a flowchart showing the flow of connection processing in the first embodiment. The connection process is started when the UAV2 authentication is completed in the authentication process. First, the port controller 144 determines whether or not the UAV2 is in a landable state by its own device (S301). Specifically, the port controller 144 inquires of the main controller 163 of the outdoor control unit 160 of the outdoor unit 1 whether or not the fan F is stopped via the external interface 141, and the main controller 163 asks the fan F. When it responds that it is stopped, it is determined that it is in a landable state, and when it responds that the fan F is in operation, it is determined that it is in a landing impossible state. The operation / stop of the fan F depends on the operating state of the outdoor unit 1. If the air-conditioned operation is performed, the fan F is in operation in principle, and if the air-conditioned operation is stopped, the fan F is stopped. It has become.

When it is determined that the fan F is in operation and the UAV2 is in a non-landing state (S301-NO), the port controller 144 refers to the fan F with respect to the main controller 163 of the outdoor control unit 160 via the external interface 141. Request a stop (S302). After that, the port controller 144 transmits a landing permission notification to the UAV2 (S303). It is desirable that the transition from S302 to S303 be delayed by about 10 seconds, which corresponds to the delay time from the stop instruction to the fan F to the actual stop of the fan F.

If the fan F is forcibly stopped, the air conditioning operation will also be stopped, but by restarting the operation of the fan F immediately after the landing of UAV2 is completed (S305a described later), the air conditioning operation can be stopped for a few minutes at the most. It only takes a very short time, and it minimizes the inconvenience to indoor air conditioner users.

On the other hand, when it is determined that the fan F is stopped and is in a state where it can land as it is (S301-YES), the port controller 144 transmits a landing permission notification to the UAV2 (S303).

As described above, since the landing of the UAV2 is always performed with the fan F of the outdoor unit 1 stopped, the wind blown upward from the fan F does not hinder the landing of the UAV2, and the landing of the UAV2 is safe. And you will be able to land stably.

The port controller 144 generates support information for the UAV2 that has transmitted the landing permission notification, and transmits the generated support information to the UAV2 (S304). For example, the port controller 144 transmits information indicating the deviation between the landing target position and the current position of the UAV2 as support information. In this case, the port controller 144 can acquire the current position of the UAV2 by identifying the UAV2 from the image information captured above the own device. Further, for example, the port controller 144 may transmit the measurement information indicating the wind direction or the wind speed in the vicinity of the takeoff and landing space by including the measurement information in the support information. By correcting the position control of the own device using the support information transmitted in this way, the UAV 2 can land on the UAV port unit 120 above the outdoor unit 1 with higher accuracy.

Subsequently, the port controller 144 determines whether or not the landing of the UAV2 is completed (S305). For example, the port controller 144 identifies the contact state between the takeoff and landing section 121 and the UAV2 based on the image information acquired by the imaging unit 125, the voltage value of the plane electrode, and the like, and the landing is completed based on the identified contact state. It may be determined whether or not it has been done. Further, for example, the port controller 144 may determine whether or not the landing is completed by wireless communication with the UAV2.

When it is determined that the landing of the UAV2 is not completed (S305-NO), the port controller 144 returns the process to S304, and repeatedly acquires and transmits the support information until the landing of the UAV2 is completed. On the other hand, when it is determined that the landing of the UAV2 is completed (S305-YES), the port controller 144 immediately notifies the main controller 163 of the outdoor control unit 160 to permit the operation of the fan F. As a result, if the outdoor unit 1 is in operation until the UAV 2 approaches, the air conditioning operation is restarted and the operation of the fan F is restarted (S305a). Subsequently, the port controller 144 executes the pre-charging process (S306). The pre-charging process is various pre-processes required before starting power supply to the landed UAV2.

For example, the port controller 144 identifies the polarities of the planar electrodes TS1 and TS2 to be controlled in the subsequent power feeding process in the pre-charging process. For example, the port controller 144 identifies the contact state between the takeoff and landing unit 121 and the UAV2 based on the image information acquired by the imaging unit 125, the voltage value of the plane electrode, and the like, and the plane electrode TS1 is based on the identified contact state. And TS2 should be controlled as a positive electrode or a negative electrode.

Further, for example, the port controller 144 may perform the short-circuit check of the plane electrode again in the pre-charging process. Further, the port controller 144 may check the energization of the flat electrode in the pre-charging process.

When the pre-charging process is completed, the port controller 144 notifies the UAV 2 that the charging preparation is completed (S307). Upon receiving the notification of the completion of charging preparation, the UAV 2 can receive power from the outdoor unit 1 and start charging by transmitting a charging request to the outdoor unit 1.

In the flowchart of FIG. 10, the port controller 144 determines that the takeoff and landing unit 121 is in a non-landing state when the fan F is in operation, but the port controller 144 determines that the fan F is stopped. In addition, even when the human body sensor 127 detects a human body near the ladder 130, it may be determined that the takeoff and landing portion 121 is in a non-landing state. This makes it possible to prevent an accident in which the UAV2 that has fallen due to a steering error or the like injures the human body.

FIG. 11 is a flowchart showing the flow of the charging process according to the first embodiment. The charging process is started in response to the charging permission notification being transmitted to the UAV2 in the connection process. First, the port controller 144 determines whether or not a charging request has been received from the UAV2 (S401). When the charge request is not received from the UAV2 (S401-NO), the port controller 144 repeatedly executes S401 until the charge request is received. On the other hand, when a charging request is received from the UAV2 (S401-NO), the port controller 144 instructs the UAV2 to switch the switch 23 to the ON state (S402).

In response to this instruction, on the UAV2 side, the BMS 24 switches the switch 23 to the ON state, so that the battery 22 and the electrode TU1 are connected. When the switching of the switch 23 is completed, the port controller 144 applies a voltage to the plane electrodes TS1 and TS2 and starts supplying power to the UAV2 (S403). The UAV 2 starts charging the battery 22 in response to the start of power supply of the outdoor unit 1. After that, when the charging of the battery 22 is completed, the UAV2 transmits a charging completion notification to the port controller 144.

The port controller 144 determines whether or not the charging of the UAV 2 is completed (S404). When the charging of the UAV2 is not completed (S404-NO), the port controller 144 repeatedly executes S404 until the charging of the UAV2 is completed. On the other hand, when the charging of the UAV2 is completed (S404-YES), the port controller 144 ends the application of the voltage to the plane electrodes TS1 and TS2, and stops the power supply to the UAV2 (S405). The port controller 144 instructs the UAV2 to switch the switch 23 to the OFF state (S406). In response to this instruction, on the UAV2 side, the BMS 24 switches the switch 23 to the OFF state, so that the battery 22 and the electrode TU1 are separated.

The port controller 144 may perform the following control based on the presence / absence of detection of a human body near the ladder 130 by the human body sensor 127. For example, if the human body is detected before the power supply is started in S403, the port controller 144 may suspend or stop the charging process. Further, when a human body is detected during power supply after S403, the port controller 144 may turn off the power supply of the charging circuit 143 and stop the energization of the plane electrodes TS1 and TS2.

FIG. 12 is a flowchart showing the flow of the withdrawal process in the first embodiment. The withdrawal process is started when the charging process is completed. First, the port controller 144 determines whether or not a withdrawal request has been received from the UAV2 (S501). When the withdrawal request is not received from the UAV2 (S501-NO), the port controller 144 repeatedly executes S501 until the withdrawal request is received. On the other hand, when the withdrawal request is received from the UAV2 (S501-YES), the port controller 144 requests the outdoor control unit 160 to operate the fan F (S502).

In accordance with this request, the outdoor unit 1 starts the operation of the fan F if the fan F is stopped at the time of processing S502, and continues the operation as it is if the fan F is operating. By driving the fan F, an upward wind is blown toward the UAV2, so that the UAV2 can easily take off. The rotation speed of the fan F at the time of the UAV2 withdrawal request may be controlled to a specific high rotation speed at which the UAV2 can easily take off. Even when the fan F is in operation, the effect on the refrigeration cycle is small as the number of revolutions is increased, and the effect can be ignored if it is for a short time.

The port controller 144 generates support information for the UAV2 that leaves the own device, and transmits the generated support information to the UAV2 (S503). For example, the port controller 144 transmits information indicating the wind direction or speed near the takeoff and landing space to the UAV2 as support information. Further, the port controller 144 causes the own device to perform an operation of assisting the UAV2 withdrawal (hereinafter referred to as “withdrawal assisting operation”) (S504). For example, the port controller 144 may assist the UAV2 withdrawal by lighting the LED 126 and ensuring the brightness in the vicinity. Further, the port controller 144 may notify the UAV 2 of predetermined information predetermined according to the lighting mode of the LED 126. For example, the port controller 144 may identify an obstacle near the departure path based on the image information, and notify the presence or absence of the obstacle by the lighting mode of the LED 126, for example, the blinking of the LED 126.

Subsequently, the port controller 144 determines whether or not the withdrawal of the UAV2 is completed (S505). For example, the port controller 144 may determine whether or not the UAV2 has been detached based on the image information acquired by the imaging unit 125. Further, for example, the port controller 144 may determine whether or not the disconnection is completed by wireless communication with the UAV2. When the withdrawal of the UAV2 is not completed (S505-NO), the port controller 144 repeatedly executes S505 until the withdrawal of the UAV2 is completed. On the other hand, when the detachment of the UAV2 is completed (S505-YES), the port controller 144 requests the outdoor control unit 160 to stop the fan (S506) so as to end the forced operation of the fan F requested in S502. As a result, if the stopped fan F is forcibly operated by S502, the fan F is stopped, and if the fan F is being operated by the air conditioning operation at the time of processing S502, the fan F is operated as it is. Operation is continued.

It should be noted that the rotation speed of the fan F during the detachment of the UAV2 from S502 to S505 is maximum in order to facilitate the detachment of the UAV2 by ignoring the rotation speed appropriate for the air-conditioning operation even when the air-conditioning operation is performed. It may be the number of rotations.

Subsequently, the port controller 144 ends the withdrawal process. When the withdrawal process is completed, the port controller 144 shifts control to the standby process shown in FIG.

FIG. 13 is a flowchart showing a processing flow of the main controller 163 in the outdoor control unit 160 of the outdoor unit 1 to which the port controller 144 is connected. In the outdoor unit 1, the main controller 163 communicates with the indoor unit that air-conditions the room, and operates the compressor, fan F, and other refrigeration cycle equipment in response to the request of the indoor unit (S901). Subsequently, the main controller 163 determines whether or not the UAV port unit 120 is installed on the upper part of the outdoor unit 1 (S902).

Here, when the UAV port unit 120 is installed above the outdoor unit 1 (S902-YES), the external interface 141 in the UAV port control unit 140 and the main controller 163 of the outdoor control unit 160 are connected by a communication line. NS. Through communication via this communication line, the main controller 163 of the outdoor unit 1 recognizes that the UAV port unit 120 is installed on its own housing. In S902, when the initial communication signal from the external interface 141 is received, it is determined that the UAV port unit 120 is installed, and thereafter, the determination that the UAV port unit 120 is installed is continued.

Here, if it is determined that the UAV port unit 120 is not installed (S902-NO), the process returns to the first S901 and normal air conditioning operation is performed. On the other hand, if it is determined that the UAV port unit 120 is installed (S902-YES), the rotation speed of the fan F during the air conditioning operation is set to be increased by α (S903). For example, when the rotation speed of the fan F during operation is N, α = 50 rps is added. This is because the takeoff and landing portion 121 installed on the upper part of the fan F is made into a mesh shape or the like so as not to obstruct the air blowing of the fan F as much as possible, but it is avoided that resistance is inevitably generated in the air blowing of the fan F. Therefore, the number of revolutions is increased to compensate for the decrease in air volume. As a matter of course, when the fan F is stopped, the rotation speed for speeding up is not added while the fan F is stopped.

Subsequently, it is determined whether or not the signal of the outdoor fan stop request (S302 in FIG. 10) for preparing for landing of the UAV2 has been received from the external interface 141 (S904). If the stop request is received (S904-YES), the fan F is stopped, that is, the rotation speed of the fan motor 151 is set to "0" (S905). When the outdoor unit 1 is not performing the air conditioning operation, the fan F is stopped from the beginning, so that the state is maintained as it is. Following S905, it is determined whether or not the signal of the outdoor fan operation permission (S305a in FIG. 10) after the completion of UAV2 landing is received from the external interface 141 (S906). If the outdoor fan operation permission is received (S906-YES), the process returns to the first S901 and the refrigeration cycle equipment in the outdoor unit is operated according to the request of the indoor unit. As a result, if the operation of the fan F is necessary for the air conditioning operation, the operation of the fan F is restarted.

On the other hand, if the outdoor fan operation permission has not been received (S906-NO), the process returns to S905 and the fan F stop is continued. Therefore, the fan F maintains the stopped state from the landing preparation of the UAV2 to the completion of the landing at the UAV port unit 120 to support the landing of the UAV2. In the determination of S904, if the stop request is not received from the external interface 141 (S904-NO), the outdoor unit 1 returns to the first S901 without changing the operation. As described above, the determination of S902 following the processing of S901 after the determination of NO in S904 or the determination of YES in S906 is YES because it has already been determined in the previous determination that the UAV port unit 120 has been installed. Then, the process shifts to S903.

The outdoor unit 1 configured in this way has a UAV port unit 120 having a takeoff and landing unit that provides a takeoff and landing space for the UAV2 and a power supply unit that supplies power to the UAV2 that has landed on its own device at the top. By arranging it, it is possible to provide a highly convenient UAV port. Generally, in a building such as a building, the outdoor unit 1 is often installed in a space such as a rooftop where the sky is wide open. Therefore, like the outdoor unit 1 of the embodiment, the outdoor unit 1 capable of taking off and landing and charging the UAV2 is installed on the rooftop of the building, so that the installation space on the rooftop or the like can be effectively utilized.

Further, the installation space of the outdoor unit 1 is often an almost unmanned place such as the rooftop of a building. Therefore, the outdoor unit 1 of the embodiment that is supposed to be installed in such a place can provide the UAV port without causing environmental problems such as noise.

As described above, it is desirable that the UAV port is installed in a place that does not interfere with human activities. In that sense, it has been difficult to install a UAV port that can provide a wide takeoff and landing space in the past. However, the outdoor unit 1 of the embodiment can provide a relatively large takeoff and landing space equivalent to its own installation space. Therefore, the UAV2 can take off and land more easily, and accidents such as a fall and a collision are less likely to occur. As described above, the outdoor unit 1 of the embodiment can realize a safer UAV port.

In addition, the space such as the roof of a building has a high place and a large area, has good accessibility, and is very easy to maintain as a place for installing a UAV port. The outdoor unit 1 of the embodiment assuming that it is installed in such a place has a new distribution form in which a space such as the roof of a building is used not only as a place for installing an outdoor unit but also as a warehouse for delivery. It can greatly contribute to the realization.

Further, since the outdoor unit 1 that houses the compressor inside is installed horizontally, it is easy to keep the surface of the takeoff / landing portion 121 for the UAV2 provided above the UAV2 to take off and land horizontally, and the takeoff / landing space of the UAV2. Is optimal as. In the above-described embodiment, the UAV port unit 120 is attached to the existing outdoor unit 1, but the UAV port unit 120 is installed on the upper part of the outdoor unit 1 at the manufacturing stage in the factory and integrated. May be shipped at.

(Second embodiment)
14 and 15 are external views showing a specific example of the UAV port portion 120a of the second embodiment. FIG. 14 is an external view of the outdoor unit 1a when viewed from diagonally above, and FIG. 15 is an external view of the outdoor unit 1a when viewed from above. By operating the outdoor unit 1a of the second embodiment in cooperation with another outdoor unit 1a, it is possible to realize a UAV port in which a plurality of UAV2s can be used at the same time. FIG. 14 shows an example of a UAV port in which a maximum of 6 UAV2s can be used at the same time by providing a UAV port unit 120a above each of the 6 outdoor units 1a and operating them in cooperation with each other.

In general, a plurality of outdoor units are often installed on the rooftop of a building, and the operating amount of each outdoor unit is controlled according to the air conditioning condition of the building. For the outdoor unit 1a of the second embodiment, an outdoor unit capable of stopping the fan by a cooperative operation with another outdoor unit 1a is selected, and the selected outdoor unit 1a provides a takeoff and landing space for the UAV2. In this case, the anemometer 124 does not necessarily have to be provided in the UAV port portion 120a of all the outdoor units 1a, but may be provided in at least one of the outdoor units 1a or the UAV port portion 120a. In this case, the measurement information may be shared between the outdoor unit 1a and the UAV port unit 120a by communication.

FIG. 16 is a block diagram showing a specific example of the functional configuration of the outdoor unit 1a of the second embodiment, the UAV port 120a detachable from the outdoor unit 1a, and the UAV2. The functional configuration of UAV2 is the same as that of the first embodiment. The outdoor unit 1a of the second embodiment is different from the outdoor unit 1 of the first embodiment in that the port controller 144a is provided in place of the port controller 144 and the main controller 163a is provided in place of the main controller 163. Since the other functional units are the same as those in the first embodiment, the description thereof will be omitted by adding the same reference numerals as those in FIG.

The main controller 163a has a second communication interface for communicating with another outdoor unit 1a (between the outdoor units in the figure) in addition to the first communication interface for communicating with the indoor unit (corresponding to the indoor communication in the figure). Supports communication). The main controller 163a shares information on the operation of the fan F (hereinafter referred to as “fan information”) with the other outdoor unit 1a by communicating with the other outdoor unit 1a via the second communication interface. do. The fan information may be any information as long as it can determine the priority of operation for the fan F of the own device and the other outdoor unit 1a.

The port controller 144a acquires the fan information of the outdoor unit 1a (hereinafter referred to as "own outdoor unit") installed by itself via the main controller 163a and the fan information of another outdoor unit 1a. The port controller 144a selects an outdoor unit 1a (hereinafter referred to as a “target unit”) for stopping the fan F based on the acquired fan information. For example, the port controller 144a determines the priority regarding the operation of the fan F for the own outdoor unit and the other outdoor unit 1a based on the acquired fan information, and selects the outdoor unit 1a having the lowest priority as the target unit. When the port controller 144a selects its own device as the target aircraft, the port controller 144a instructs the main controller 163a to stop the fan F, and provides support and power supply for takeoff and landing of the UAV2 in the same manner as in the first embodiment.

The port controller 144a may be configured so that the same target machine is selected by all the port controllers 144a by sharing fan information with the port controller 144a installed in the other outdoor unit 1a.

Further, as a control method of the plurality of outdoor units 1a, there is a method of controlling another outdoor unit 1a (hereinafter referred to as "terminal unit") to which the main outdoor unit 1a (hereinafter referred to as "center unit") is subordinate. .. In such a control method, the center machine has a function of acquiring information necessary for controlling the terminal machine (hereinafter referred to as "terminal information") such as fan information, and based on the acquired information, the center machine itself. Control the operation of the device and terminal machine. In this case, the port controller 144a of the center machine may select the target machine based on the terminal information, and the selected target machine may be notified to the port controller 144a of the terminal machine. Further, the port controller 144a may be configured to notify the UAV 2 to that effect when the outdoor unit 1a that can be selected as the target machine does not exist. In this case, the UAV2 may be configured to wait until it can land, or it may be configured to head towards the UAV port of another building.

The main controller 163a may select the target machine instead of the port controller 144a. In this case, when the port controller 144a detects the UAV2 requesting landing on its own device, it causes the main controller 163a to select the target aircraft for landing the UAV2 and to stop the fan F of the selected target aircraft. Instruct. The main controller 163a selects the target machine in response to this instruction, and instructs the main controller 163a of the target machine to stop the fan F.

Here, in a configuration in which a plurality of outdoor units 1a are connected on a refrigeration cycle, when the fan is stopped in order for the UAV2 to land on one of the outdoor units 1a using communication between the outdoor units 1a, it is the same. By increasing the capacity of the other outdoor unit 1a connected to the refrigeration cycle, a so-called backup operation that supplements the refrigeration capacity of the indoor unit 1a with the fan stopped becomes possible.

The outdoor unit 1a configured in this way can realize a UAV port in which a plurality of UAV2s can be used at the same time by operating in cooperation with another outdoor unit 1a.

Hereinafter, a modification common to each of the above embodiments will be described.
In each of the above embodiments, the outdoor unit installed on the roof of a building or the like has been described as an example of the heat source unit, but some or all of the above UAV port functions may be provided in the heat source unit other than the outdoor unit. .. Further, the UAV port unit 120 may be configured as a single device independent of the outdoor unit, and may be configured as a UAV port device as a device that can be attached to and detached from the existing outdoor unit.

Further, in each of the above embodiments, the port controller 144 (or 144a) requests the outdoor control unit 160 (or 160a) to stop the fan when the UAV2 lands, but the port controller 144 requests the fan to stop. Instead of stopping, the outdoor controller 160 may be required to reduce the fan speed to the speed at which the UAV2 can land. By continuing the air-conditioning operation of the outdoor unit 1 while reducing the rotation speed of the fan, the minimum air-conditioning capacity can be maintained as compared with the case where the fan is stopped, so that the comfort of the air-conditioning user in the room. It is possible to suppress the deterioration of sexuality.

Further, in each of the above embodiments, the human body sensor 127 is installed in the UAV port portion 120, but the human body sensor 127 may be installed in the housing portion 110 of the outdoor unit 1. In this case, the human body sensor 127 may be connected to the main controller 163 (or 163a) of the outdoor unit 1 and may be configured to notify the port controller 144 (or 144a) of the detection result via the external interface 141.

Further, in each of the above embodiments, an example in which one human body sensor 127 is installed in the UAV port unit 120 (or 120a) is shown, but a plurality of human body sensors 127 may be installed. For example, in addition to the human body sensor 127 that detects a human body near the ladder 130, a human body sensor 127 that detects a nearby human body may be installed on each of the four sides of the outdoor unit 1 (or 1a) or the UAV port portion 120. The port controller 144 (or 144a) can improve the safety of the outdoor unit 1 and the UAV port unit 120 by controlling each process shown in FIG. 7 based on the detection results of the plurality of human body sensors 127.

According to at least one embodiment described above, the heat source machine installed outdoors has a detachable takeoff and landing portion above the heat source unit, which provides a takeoff and landing space for the UAV. , Optimal UAV port can be provided.

Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, as well as in the scope of the invention described in the claims and the equivalent scope thereof.

1,1a ... outdoor unit, 110 ... housing part, 120, 120a ... UAV port part, 121 ... takeoff and landing part, 122 ... fixed member, 123 ... antenna, 124 ... wind direction wind speed meter, 125 ... imaging part, 126 ... LED ( Light Emitting Diode), 130 ... ladder, 140 ... port control unit, 141 ... external interface, 142 ... power converter, 143 ... charging circuit, 144, 144a ... port controller, 150 ... outdoor drive unit, 151 ... motor, 152 ... compressor , 160 ... outdoor control unit, 161 ... fan controller, 162 ... compressor controller, 163, 163a ... main controller, DP ... outlet, SP ... intake port, F ... fan, INS ... insulator, L1, L2 ... lead wire, TS1 , TS2 ... Flat electrode, 2 ... UAV (Unmanned Aerial Vehicle), 21 ... Antenna, 22 ... Battery, 23 ... Switch, 24 ... BMS (Battery Management System), 25 ... UAV controller, TU1 ... Electrode (positive electrode), TU2 ... Electrode (negative electrode)

Claims (5)

A takeoff and landing device that is installed outdoors and can be attached to and detached from the top of a heat source aircraft that has a fan that blows air above the aircraft.
A takeoff and landing section that provides space for unmanned aerial vehicles to take off and land,
A first control unit provided in the heat source machine, a second control unit that gives an instruction regarding control of the fan to the first control unit that controls the operation of the fan, and a second control unit.
With
The takeoff and landing portion is a member that is installed above the fan and serves as a space for takeoff and landing, and is configured by using a plate-shaped member having a plurality of holes that penetrate the plate surface in a substantially vertical direction.
When the unmanned aerial vehicle lands on the plate surface, the second control unit instructs the first control unit to stop the fan or reduce the rotation speed of the fan.
Takeoff and landing device. A wireless communication unit that wirelessly communicates with the unmanned aerial vehicle,
A measuring unit that measures the wind direction or speed near the takeoff and landing space,
An imaging unit that images the upper part of the takeoff and landing unit,
With more
The second control unit generates support information for supporting the takeoff and landing of the unmanned aerial vehicle based on the measurement information of the measurement unit and the image information above the takeoff and landing unit captured by the imaging unit, and the radio. The support information is transmitted to the unmanned aerial vehicle via the communication unit.
The takeoff and landing device according to claim 1. Further equipped with a detection unit for detecting a human body located near the own device or the heat source machine,
Based on the detection result of the detection unit, the second control unit suspends or cancels the process related to the takeoff / landing and charging of the unmanned aerial vehicle.
The takeoff and landing device according to claim 1 or 2. It is a heat source machine installed outdoors and
An outdoor unit including a fan that blows air above the own device and a first control unit that controls the operation of the fan.
Above the outdoor unit, there is a takeoff and landing section that provides a space for unmanned aerial vehicles to take off and land.
With
The takeoff and landing portion is a member that is installed above the fan and serves as a space for takeoff and landing, and is configured by using a plate-shaped member having a plurality of holes that penetrate the plate surface in a substantially vertical direction, and is unmanned. When the aircraft lands on the plate surface, the first control unit is provided with a second control unit that instructs the first control unit to stop the fan or reduce the rotation speed of the fan.
Heat source machine. Further provided with a detection unit for detecting a human body located near the takeoff / landing unit or the outdoor unit.
Based on the detection result of the detection unit, the second control unit suspends or cancels the process related to the takeoff / landing and charging of the unmanned aerial vehicle.
The heat source machine according to claim 4.

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