JP2000289695A - Moored flight body and its utilizing system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a moored flight body which is made possible to control to move or hold it at a specific altitude and position. SOLUTION: This moored flight body is provided with the means to measure the altitude, the position, and the direction of the flying body respectively, a winding device 10, a fan 3 for propelling, and a fan 4 for direction converting, are provided as the means to convert the altitude, the position, and the direction, respectively, and a control means to move or hold the flight body at a specific altitude and position is provided at a control terminal 20. As a result, it is made possible to control to move or hold the moored flight body at a specific altitude and position, and the utilizing scope of the moored flight body can be expanded extremely.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mooring vehicle and a system for using the same, and more particularly, to a mooring vehicle using the characteristics of the vehicle while controlling the vehicle at a predetermined position, and a system for using the same.

[0002]

2. Description of the Related Art As a conventional mooring type flying object, there is known a type in which the inside is filled with a gas lighter than air to obtain buoyancy and the buoyancy is maintained at a predetermined altitude by a mooring rope. Ad balloons are a familiar example of advertising. Further, as a method of using a mooring type flying object that can be held in the air for a long time, as described in JP-A-7-237595, a moored flying object is equipped with a camera and used for monitoring, As described in JP-A-8-166400, there is known an apparatus that creates a wind observation diagram from an image captured from a flying object.

[0003]

In the conventional moored aircraft, it is possible to adjust the height from the ground by a mooring rope from the ground, but the horizontal position is controlled by the influence of wind. There was a problem that was difficult. If the length of the mooring rope is short, it is possible to limit the horizontal position to some extent by using a plurality of mooring ropes, but in this case, it is not possible to move to any location. there were. Due to the characteristics of such moored aircraft, their use has been limited to cases where there is no need to control the horizontal position. In the case of non-moored aircraft, such as airplanes, helicopters, and airships, it is possible to use power to control the position in the air within a certain range, but since it is necessary to refuel, continuous operation is required. There is a problem that the time during which you can ascend in the air is limited.

[0004] It is an object of the present invention to enable control of moving or holding a moored aircraft at a predetermined altitude and position, thereby greatly expanding the range of use of the moored aircraft.

[0005]

According to the present invention, there is provided a moored flight comprising a flying body containing a gas lighter than air and levitating, and a cable connecting the flying body to the ground. Means for measuring the altitude, position, and orientation of the flying object, means for changing the altitude, position, and orientation of the flying object, and control means for moving or holding the flying object at a predetermined altitude and position. In addition, it is possible to control to move or hold the flying object at a predetermined altitude and position.

If the mooring type flying body is provided with means for rotating the cable connecting the flying body and the ground, the direction of the flying body can be easily changed according to the wind direction.

[0007] Further, a cable connecting the mooring type vehicle and the ground is provided with means for transporting a gas lighter than air between the vehicle and the ground, and an energy source between the vehicle and the ground. By using a composite cable including means for transporting and means for communicating various signals between the flying object and the ground, a mooring function and various transport functions can be used.

[0008] Further, means for transporting a gas lighter than air contained in the composite cable connecting the mooring type vehicle and the ground between the vehicle and the ground, and an energy source for the vehicle and the ground. And a means for separating various means for internally communicating various signals between the flying object and the ground, and a winding device having a means for winding the composite cable. The height of the flying object can be changed by adjusting the length of the composite cable wound by the winding device.

Further, by providing the mooring type flying vehicle with an information collecting device having a view range changing function and a view direction changing function, and an information projecting device having a view direction changing function,
Necessary information can be collected and projected according to the user's instructions.

Further, by providing a crane below the mooring type flying object, a heavy object can be lifted while the flying object is held in a fixed position, or the flying object can be moved while the heavy object is wound up. Can be easily transported.

Further, by providing a lightning rod above the mooring type flying object, it is possible to escape to the ground while controlling the current at the time of lightning strike.

Also, by providing a wireless communication means between the mooring type flying object and the ground, the amount of gas contained in the flying object can be controlled by a wireless signal from the ground.

If a plurality of flying vehicles are moored in series, the altitude and position of each flying vehicle can be controlled independently.

In addition, if a mooring type flying object that can be moved or held at a predetermined position can be used, a temporary roof can be held.

Further, if a mooring aircraft capable of being moved or held at a predetermined position can be controlled, a temporary roof is held above a building, and the weather such as rain and snow affects construction workability. The effects can be eliminated.

Further, if means for opening a part of the temporary roof held by using a mooring type air vehicle capable of being moved or held at a predetermined position is provided, a route for carrying in / out of large-sized materials or equipment can be provided. Can be secured.

Further, if a plurality of mooring type flying vehicles capable of controlling movement or holding to a predetermined position are used, a temporary screen can be held.

Further, an information collecting apparatus having a view range changing function and a view direction changing function for a plurality of mooring type flying vehicles capable of controlling movement or holding to a predetermined position, If wireless communication means is provided,
The collected information can be communicated between the vehicle and the ground and the vehicle.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIGS. The present embodiment shows a basic configuration of a mooring type flying vehicle capable of controlling movement or holding at a predetermined position and altitude.

The mooring type flying object 1 shown in FIG. 1 is an airship that levitates by buoyancy of a gas lighter than air, for example, helium or the like. Is attached. A connecting rope 11 is provided between the connecting device 2 and the winding device 10. Electricity as an energy source can be supplied to the propulsion fan 3 and the direction change fan 4 from the portable generator 30 via the connecting rope 11. Also, by operating the valves 35, 36, 37,
A gas such as helium is supplied to the mooring vehicle 1 from the gas cylinder 31 via the connecting rope 11 or the mooring vehicle 1
Can be collected in the tank 32 and the gas in the tank 32 can be collected in the gas cylinder 31 via the compressor 33. Further, a control terminal 20, for example, a portable personal computer for enabling control to move or hold the moored aircraft 1 at a predetermined position and altitude is provided. In this embodiment, a semi-rigid structure having a keel in the lower part is assumed as the structure of the mooring type flying object 1, but a so-called soft structure or rigid structure may be used.

The connecting rope 11 has a multilayer structure as shown in FIG. 2, for example, from the outside, a surface coating 111 of nylon or the like, a copper shield 112, a Kevlar 113, an internal coating.
114, Kevlar 115, and a mooring aircraft 1 inside
1 for transporting energy sources between the ground and the ground
16. Gas flow path 11 for transporting gas lighter than air
7. It has a signal line 118 for communicating various signals.

The connecting device 2 is divided into an upper structure 120 and a lower structure 121 as shown in FIG. 3, for example, and is configured to be rotatable by a rotating mechanism 122 such as a bearing. The connecting rope 11 is connected to the connecting device 2 via a joint 123 and a reinforcing rope 124 is attached thereto. The electric wire 116, the gas flow path 117, and the signal line 118 are branched inside the connecting device 2 and penetrate the center of the connecting device 2.

As shown in FIG. 4, a motor 130 for winding the connecting rope 11 is attached to the winding device 10, and an electric wire 116 and a gas flow path 11 are internally provided therein.
7. The signal line 118 is separated. Winding device 10
Are provided with rotating mechanisms 131 and 132 such as bearings, and the rotating unit 141 is rotatable with respect to the stationary unit 140. Electric wire 11 in rotating part 141
6 is a brush 133 and a slip ring 135, and a signal line 118 is a brush 134 and a slip ring 136, respectively.
Is electrically connected to Here, the signal line 118
Are connected at two locations, but it is easy in principle to increase the number of connection portions. Further, as shown in the drawing, the gas flow path 117 is configured to be capable of transporting gas between the stationary unit 140 and the rotating unit 141 regardless of the presence or absence of rotation. Electric wire 116, gas channel 117, signal line 1
Reference numeral 18 designates an electric wire 116, a gas flow path 117, and a signal line 11 on the ground through joints 142, 143, and 144, respectively.
8 can be connected. A valve 145 is provided near the joint 143 of the gas flow path 117,
When the connection of the gas flow path 117 in the above-ground part is changed, the movement of gas can be temporarily interrupted. Next, a control method for moving or holding the mooring type flying object 1 at a predetermined altitude and position according to the present embodiment will be described with reference to FIGS.

An altitude sensor 40 for measuring altitude, a GPS sensor 41 for measuring position, an azimuth sensor 42 for measuring azimuth, and a gas pressure of a gas lighter than air in the aviation body are measured for the flying object. A pressure sensor 43 is attached. The altitude sensor 40 is, for example, a laser altimeter that can measure the altitude with high accuracy, and is installed when it is desired to obtain the altitude of the flying object with high accuracy. In order to improve the accuracy of the GPS sensor 41, it is preferable to use a differential GPS device that corrects a measurement result only by the GPS based on a signal from a differential GPS reference station installed at a clear position, and is further installed in the winding device 10. Based on the GPS sensor 46
It is desirable to be able to accurately measure the relative positional relationship between the two. The direction sensor 42 utilizes, for example, magnetism. In order to measure the flow rate of the gas, a flow meter 44 for obtaining the flow rate from the differential pressure at the orifice is provided in the gas flow path 117 in the above-ground portion. Winding device 10
Is provided with a rotation speed sensor 45, and the winding device 1
0 is measured, and the GPS sensor 4
6, the position is measured. The control terminal 20 includes a control unit 21, an information input unit 22, and an information output unit 23. The control unit 21 communicates with various measuring instruments and various devices via communication means 200, 201, 202, 203, 204,
205, 206, 207, 210, 211, 212, 2
13, 214 and 215 enable transmission and reception of various signals.

As shown in FIG. 6, various kinds of information such as a target altitude and a position are input from the information input unit 22 and the information output unit 2
3 outputs various information such as the position information of the flying object.
The control unit 21 includes basic data storage means 1000, integrated gas flow rate calculation means 1010, timer 1020, connected rope length calculation means 1030, display screen creation means 1100, flying object buoyancy calculation means 1200, additional load calculation means 1201, and altitude control determination means. 1202, a position control determining means 1300.

The basic data storage means 1000 stores airship data, physical property values, map information, and the like in advance, and also stores information such as the altitude, position, azimuth, gas pressure, and take-up device position of the flying object at predetermined time intervals. Captured and stored. The gas flow rate is calculated by the gas integrated flow rate calculating means 10.
10 and time integrated using the time information from the timer 1020 to obtain an integrated flow rate. This value is sent to the basic data storage unit 1000. The integrated rotation speed of the winding device 10 is taken into the connecting rope length calculating means 1030, and the feeding length of the connecting rope is calculated in consideration of the diameter of the winding portion of the winding device 10 and the degree of overlap of the connecting rope 11, This value is sent to the basic data storage unit 1000. The display screen creating means 1100 superimposes the actually measured position of the flying object on a map of the area where the flying object is moored, outputs the position to the information output unit 23, and outputs various useful information, for example, the flying object. The altitude, available buoyancy (payload), flight direction, target altitude and position of the flight, and the like are output to the information output unit 23. Flying object buoyancy calculation means 1200
First, the excluded volume of gas lighter than air is calculated from the integrated flow rate of gas lighter than air introduced into the flying object, the gas pressure at the flying object, and the physical properties of gas at the height of the flying object. The excluded volume is a value obtained by dividing the introduced gas weight by the density when the in-flight gas pressure is equal to or less than the air pressure at the aircraft height, and the gas pressure exceeds the air pressure at the aircraft height. In such a case, the maximum volume that can be used is a gas lighter than air determined by the shape of the vehicle. The total buoyancy is calculated by multiplying the excluded volume by the buoyancy coefficient, the difference between the density of the air at the vehicle altitude and the density of the gas lighter than the air introduced into the vehicle. The available buoyancy (payload) is calculated by subtracting the weight of the vehicle, for example, the weight of the membrane, the weight of the structural material, the weight of the fan, the weight of the tail, etc., from the total buoyancy. The additional load calculating means 1201 calculates the additional load by multiplying the payout length of the connecting rope calculated by the connecting rope length calculating means 1030 and stored in the basic data storage means 1000 by the weight per unit length of the connecting rope. I do. The altitude control determining means 1202 first compares the available buoyancy calculated by the flying vehicle buoyancy calculating means 1200 with the additional load calculated by the additional load calculating means 1201, and determines that the available buoyancy is a predetermined value, for example, 50 kg. If the difference between the gas pressure in the flight body and the air pressure at the height of the flight body is smaller than a predetermined value, for example, 50 kg / m ² , the control unit 21 controls the valve 35 shown in FIG. A control signal for opening is issued, and a gas lighter than air is introduced from the gas cylinder 31 into the flying object.

The difference between the in-flight gas pressure and the air pressure at the height of the flying object is a predetermined value, for example, 50 kg / m ² ,
If greater, or if the available buoyancy is greater than the additional load plus a predetermined value, for example 50 kg,
The control unit 21 closes the valve 35, opens the valves 36 and 37, and sends a control signal for starting the compressor 33 to each device. Thereby, gas lighter than the air in the flying body is collected in the gas cylinder 31 via the tank 32. If the in-flight gas pressure reaches the air pressure at the height of the vehicle plus a predetermined value, for example 50 kg / m ² , and if the available buoyancy is less than the additional load, the vehicle will reach the climb limit. This information is displayed on the information output unit 23 via the display screen creation unit 1100. When the available buoyancy is larger than the additional load and the altitude of the flying object is lower than the target altitude, or the payout length of the connecting rope 11 is shorter than the distance from the winding device 10 to the target altitude and position of the mooring air vehicle 1 The control unit 21
, A control signal for rotating the motor 130 to feed the connecting rope 11 by an appropriate length is output, and the motor 130 rotates at a constant speed to feed the connecting rope 11. Here, as an appropriate length for feeding out the connecting rope 11, for example,
The time interval at which the control signal is output is multiplied by the rope feed-out length of the winding device 10 per unit time.

If the available buoyancy is less than the additional load,
Alternatively, when the altitude of the flying object is higher than the target altitude and the payout length of the connecting rope 11 is longer than the distance from the winding device 10 to the target altitude and position of the mooring type flying object 1,
The control unit 21 rotates the motor 130 to rotate the connection rope 11
A control signal to wind the motor 13
0 rotates at a constant speed to wind up the connecting rope 11.
By the above operation, the altitude of the flying object is moved or maintained at the target altitude.

The position control determining means 1300 first compares the target altitude and position with the mooring position on the ground, and determines that the angle of the connecting rope 11 with respect to the ground plane is a predetermined value, for example, 4 degrees.
If the angle is smaller than 5 degrees, it indicates that it is difficult to achieve the target position.
00 on the information output unit 23. In this case, the user re-enters an appropriate target altitude and position via the information input unit 22. When the angle of the connecting rope 11 with respect to the ground plane is larger than a predetermined value, for example, 45 degrees, the azimuth of the target position with respect to the flying object is calculated, and the control unit 21 sends the azimuth of the flying object to the target azimuth. A control signal is sent to the direction changing fan 4 via the connecting rope 11. It is desirable that the direction changing fan 4 be capable of adjusting the forward / reverse rotation and the rotation speed. The rotation speed is large when the deviation between the flying object direction and the target direction is large, and the rotation speed is small when the deviation is small. Reduce the number to improve controllability. When the deviation between the azimuth of the flying object and the target azimuth is smaller than a predetermined value, for example, 10 degrees, a control signal is sent from the control unit 21 to the propulsion fan 3 via the connecting rope 11. It is desirable that the propulsion fan 3 be capable of adjusting the number of revolutions. When the distance between the flying object position and the target position is large, the number of revolutions is increased, and when the distance is small, the number of revolutions is decreased. Improve controllability. Furthermore, the condition regarding the deviation between the azimuth of the flying object and the target azimuth for rotating the propulsion fan 3 is relatively increased, for example, when the distance between the flying object position and the target position is large or when the wind speed is high. Thus, controllability can be improved.

The operation of the control unit 21 described above is repeated at a constant cycle, and thereby the altitude and the position of the moored flying object 1 can be reliably controlled.

It is possible to set the target altitude and the position while the mooring type flying object 1 is installed on the ground, and to automatically move the flying object to the target altitude and the position. Control, for example, if you want to reduce the moving speed near the ground, increase the moving speed in the middle, and decrease the moving speed near the target altitude, create the target altitude and position in advance as time-series data and control this What is necessary is just to make it read into the part 21. Similarly, the moored aircraft 1
The movement at the time of collection of the vehicle can be controlled more precisely by creating the target altitude and the position as time-series data in advance.

According to this embodiment, the altitude, position,
The means to measure the heading respectively, the altitude, position,
The provision of the means for changing the azimuth and the control means for moving or holding the flying object at the predetermined altitude and position enables the control of moving or holding the moored flying object at the predetermined altitude and position. effective. Further, since the flying object is rotatable with respect to the connecting rope, there is an effect that the position of the mooring type flying object can be reliably moved. Further, a connecting rope is used for transporting a gas lighter than air between the flying vehicle and the ground, a means for transporting an energy source between the flying vehicle and the ground, and transmitting various signals to the flying vehicle and the ground. Since the composite cable includes means for communicating with the section, the number of connecting ropes is reduced, and there is an effect that handling of the moored aircraft is facilitated. Furthermore, means for transporting gas lighter than air contained in the composite cable between the flying vehicle and the ground, means for transporting an energy source between the flying vehicle and the ground, and various signals for the flying vehicle. Since a winding device having both means for internally separating the means for communicating with the ground unit and means for winding the composite cable is provided,
There is an effect that the altitude of the moored flying object can be reliably changed.

Another embodiment of the present invention will be described with reference to FIGS. This embodiment shows a basic configuration of a moored flying object provided with an information collecting device and an information projecting device.

The mooring type flying object 1 of this embodiment has an information collecting device 50 and an information projecting device 51 installed on the mooring type flying object 1 and a winding device 1 in addition to the embodiment shown in FIG.
0, a control terminal 20, a portable generator 30, a gas cylinder 31, a tank 32, a trailer 6 equipped with a compressor 33 and the like.
0. The information collecting device 50 and the information projecting device 51 are configured so that a plurality of motors (not shown) can observe an arbitrary point on the ground in an arbitrary direction and range or project information. A control function for this is added to the control terminal 20.

As shown in FIG. 8, the electric wire 116, the gas flow path 117, and the signal line 118 are formed of a connecting rope 11 composed of a surface coating 111, a copper shield 112, a Kevlar 113, an internal coating 114, and a Kevlar 115. Although it can be stored inside, in this embodiment, an optical cable is used as the signal line 118 because much information is transmitted.

For this reason, as shown in FIG. 9, the winding device 10 connects the signal line 118 of the optical cable to the stationary portion 140.
And the stationary unit 140 and the rotating unit 141 can exchange information via the lenses 150 and 151. The gas flow channel 117 has a configuration in which gas can be transported between the stationary portion 140 and the rotating portion 141 via a flow channel 152 formed in a ring shape, for example.

Next, the operation of this embodiment will be described.
The information collecting device 50 is, for example, a high-sensitivity video camera. Collected information, for example, an image is sent to the control terminal 20 through a signal line 118 made of an optical cable, and the information is displayed as an image. Further, a signal indicating the position of the image to be viewed and the direction of the view is generated from the control terminal 20, and this signal is transmitted to the information collecting device 50 via the signal line 118, so that the information collected by the information collecting device 50 is obtained. Change the position or viewing direction. Further, the information projection device 51 uses, for example, a laser beam, and can project information such as an arrow on the ground. Further, a signal indicating the position and direction of the information to be projected is generated from the control terminal 20, and this signal is transmitted to the information projection device 51 via the signal line 118, so that the position of the information projected by the information projection device 51 is obtained. And direction can be changed.

As described in the previous embodiment, the moored flying object 1 of this embodiment is provided with control means for moving or holding at a predetermined altitude and position, so that it is not affected by wind or the like. It is possible to collect and project information from a predetermined altitude and position in the air. Further, since the winding device 10 which is the starting point for mooring the mooring type aircraft 1 can be moved by the trailer 60, a wider range of information collection and information projection can be performed as compared with the case where the winding device 10 is fixed. Has become.
In this case, it is preferable that the position of the mooring type flying object 1 is defined by a relative positional relationship with the winding device 10 and the position is controlled.

As the information collecting device 50, an active radio wave sensor that irradiates a microwave, a millimeter wave, or the like and captures the reflected wave to perform various measurements, for example, a microwave radiometer or a synthetic aperture radar is used. Or a device that measures the concentration of greenhouse gases such as carbon dioxide, methane, or ozone by measuring various spectra, and a device that measures the concentration of greenhouse gases and ozone, and the amount of rainfall using a laser. May be used. Furthermore, it is also possible to collect climatic information such as the temperature and pressure in the sky by using various sensors. Further, the winding device 10 which is a starting point for mooring the mooring type aircraft 1 may be mounted on a ship as well as the trailer 60 so as to be movable. The method of using the information such as images collected in the present embodiment is not particularly limited. For example, surveillance of smuggling, monitoring of illegal dumping, observation of water temperature, water quality, El Nino, observation of traffic on railways, ships, cars, parking of vehicles, etc. Violation monitoring, security company monitoring of illegal intrusions, observation of greenhouse gases and ozone, observation of crops and forests, observation of fish schools, search for resources, search for missing people in mountains, etc., in cafes, restaurants and other restaurants Environmental images for backgrounds, effect effects in wedding halls, artificial reality data in amusement parks, educational uses such as geography in schools, and the like can be considered. In addition, the information collection device 5
When 0 is turned to the sky, it becomes possible to monitor aircraft, missiles, clouds, lightning, celestial bodies, space debris, meteorites, and the like. The method of using information such as images projected according to the present embodiment is not particularly limited. For example, guidance of people and vehicles in events, fires, floods, tsunamis, volcanic eruptions, etc., and projection of advertisement information, etc., can be considered. .

According to the present embodiment, an information collection device having a view range changing function and a view direction changing function is provided for a moored flying vehicle provided with control means for moving or holding at a predetermined altitude and position. By installing the information projection device having the direction changing function, there is an effect that acquisition of information such as an image at a required location and projection of information such as an image at a required location can be reliably performed.

Another embodiment of the present invention will be described with reference to FIG. The present embodiment shows a basic configuration of a moored flying object with improved controllability in an emergency such as when a connecting rope is cut.

The mooring vehicle 1 according to this embodiment is similar to the embodiment shown in FIG. 1 except that the antenna 70 and the emergency battery 71 installed on the mooring vehicle 1 and the gas inside the mooring vehicle 1 A valve 72 installed in the flow channel 117, an antenna 73 connected to the control terminal 20, a transmitter 74, an amplifier 75,
Converter 76, receiver 77, communication means 220, antenna 7
0 and an antenna 73 and a wireless communication unit 300.

Next, the operation of this embodiment will be described. Normally, the valve 72 is opened according to the control signal of the control terminal 20, and the emergency battery 71, for example, a lead storage battery, is constantly supplied with electricity as an energy source via the connecting rope 11. . Although the strength of the connecting rope 11 is designed with an appropriate margin, it may be supposed that the connecting rope 11 is cut due to aging or the like. Even in such a case, the power supply system of the moored flying object 1 is backed up by the emergency battery 71 for a certain period of time, so that control functions such as communication by the wireless communication means 300 and operation of the valve 72 are maintained. . Moored flight vehicle 1
The additional load decreases due to the cutting of the connecting rope 11, the altitude temporarily increases, and then the altitude decreases due to the release of gas lighter than air through the break. If there is no control means, the mooring vehicle 1 will fall to the ground, possibly damaging the mooring vehicle 1 body and the ground.

In this embodiment, when the connecting rope 11 is cut or the like, a signal for controlling the valve 72 is transmitted from the control terminal 20 to the antenna 73, the wireless communication means 300, the antenna 70, the receiver 77, and the converter 76. , Communication means 220
To the valve 72 and close it. The occurrence of the disconnection of the connecting rope 11 may be determined by a human, or may be determined by an unexpected drop in the internal pressure of the moored air vehicle 1. After the valve 72 is closed, the moored flying vehicle 1 drifts at an altitude where the buoyancy of the flying vehicle and the additional load balance. Thereafter, the valve 72 is opened at a constant opening by a control signal from the control terminal 20 to gradually release gas lighter than the air in the mooring vehicle 1 and gradually lower the altitude of the mooring vehicle 1. Let it. When the mooring vehicle 1 descends near the ground, the valve 72 is closed again to suspend the descending of the vehicle. In this state, the mooring type flying object 1 is recovered by using the remaining connecting rope 11 or attaching a rope to the mooring type flying object 1 from the ground.

The information of various sensors mounted on the mooring aircraft 1, for example, the altitude sensor, the GPS sensor, the azimuth sensor, and the pressure sensor is transmitted to the amplifier 75, the transmitter 74, the antenna 70, the wireless communication means 300, and the antenna 73. It is desirable to adopt a configuration in which the mooring type flying object 1 is captured via the control terminal 20 via an emergency. In this way, the position of the mooring type flying object 1 can be monitored in an emergency, and the recovery thereof can be performed more reliably.

According to this embodiment, a wireless communication means is provided between the moored vehicle and the ground, and the amount of gas lighter than air contained in the vehicle can be controlled by a radio signal from the ground. The descent speed of the mooring vehicle can be controlled even in an emergency such as when the vehicle is cut off, so that the mooring vehicle can be reliably recovered.

Another embodiment of the present invention will be described with reference to FIG. This embodiment shows a basic configuration of a mooring type flying object in which a plurality of flying objects are moored in series to expand the moving range of the flying object.

In this embodiment, the mooring aircraft 1 shown in FIG.
In addition, the connecting rope 11 connecting the mooring vehicle 1 and the mooring vehicle 1a is configured by the mooring vehicle 1a moored in series with the mooring vehicle 1. Alternatively, the distance between the upper structure 120 and the lower structure 121 constituting the connecting device is increased so as not to hinder the movement of the mooring aircraft 1a. In addition, the information collection device 50a and the information projection device 5
1a is mounted.

Next, the operation of this embodiment will be described.
In the same manner as in the embodiment shown in FIG. 1, the mooring type flying object 1 can be controlled to move or hold at a predetermined altitude and position. With respect to the mooring vehicle 1a, an arbitrary shape within a spherical surface having a radius equal to the length of the connecting rope 11 between the lower structure 121 and the lower structure 121a with the lower structure 121 of the mooring vehicle 1 as a center. The movement to the position is permitted, and the movement to the target altitude and position is performed or held by the same method as the embodiment shown in FIG. The target position of the mooring vehicle 1a is within a spherical surface with the radius of the length of the connecting rope 11 between the lower structure 121 and the lower structure 121a around the lower structure 121 of the mooring vehicle 1. If not, the control terminal 20
Is displayed to prompt the user to re-enter the corrected position, and a point at which a straight line connecting the lower structure 121 of the mooring vehicle 1 and the target position of the mooring vehicle 1a intersects the spherical surface is temporarily determined. The mooring vehicle 1a is moved or held, assuming the target position of the mooring vehicle 1a. As described above, the mooring vehicle 1 a is mainly composed of the mooring vehicle 1 and the lower structure 1.
It is possible to move within an allowable range within a spherical surface having a radius equal to the length of the connecting rope 11 between the substructure 21 and the lower structure 121a, and to collect information by the information collecting device 50a installed on the moored flying object 1a and to project information. Information projection by the device 51a is possible in a wider range.

According to this embodiment, a plurality of flying vehicles are moored in series, and the altitude and position of each flying vehicle can be controlled independently. There is an effect that collection and information projection can be performed in a wider range.

Another embodiment of the present invention will be described with reference to FIG. This embodiment shows a use method in which the moored flying object of the present invention is applied to holding a temporary roof.

In this embodiment, a crane 5 and a lightning rod 80 are installed on the mooring flying object 1 described with reference to FIG. 7, and an electric wire 81 is installed between the lightning rod 80 and the ground. The electric wire 81 passes through the inside of the connecting device 2, and the mooring type flying object 1 is also rotatable with respect to the electric wire 81. The crane 5 can be supplied with electricity as an energy source from the portable generator 30 via the connecting rope 11.
The temporary roof is composed of a roof membrane 83 and a roof rope 82, and a suspension ring 84 installed above the roof rope 82 is held by hooks of the crane 5 of the mooring aircraft 1, and a lower part of the roof rope 82 is fixed. It is connected to the object 85.

Next, a method of using the present system when a temporary roof is installed at the time of an event or when a roof of simple accommodation facilities is prepared at a camp or the like will be described.
The size of the mooring type flying object 1 depends on the weight of the roof to be held and the thickness of the roof membrane 83 if the thickness is constant. However, when the size of the roof is 2500 m ² , the length is about 50 m. . The mooring aircraft 1 is assumed to have a semi-rigid structure having a keel at the lower part, and is transported to a use place by being towed by a truck or a movable aircraft while being held in the air.
Note that the mooring type flying object 1 may have a flexible structure, and may be loaded on a truck or the like and transported to a place of use in a state where the internal gas is released and folded. After the mooring vehicle 1 is transported to the place of use, the take-up device 10 is installed, the lightning rod 80 is installed above the mooring vehicle 1, and the lightning rod 80
The electric wire 81 is attached to. Next, the target altitude and the position are input from the control terminal 20, and the mooring aircraft 1 is held at an appropriate position in the air, for example, 5 m above the ground where a temporary roof is installed. In order to install a temporary roof, first, the position of the fixed object 85 is determined and installed, and then the fixed object 85 and the roof rope 82 are connected. Next, the hook 8 of the crane 5
Hold 4. In this state, the mooring aircraft 1 is raised to complete the temporary roof. Although not shown, the crane 5 is provided with a load cell for measuring the weight of the object to be lifted, and the measured weight is sent to the control terminal 20 through a signal line in the connecting rope 11. In the control terminal 20, the additional rope 1
The weight of the object lifted by the crane 5 is added to the weight of 1 to calculate an additional load as a whole.

In this state, when the moored flying vehicle 1 receives wind, the connecting device 2 is configured to be rotatable. Therefore, the moored flying vehicle 1 rotates in a direction in which the resistance is minimized, and is affected by the wind. Is minimized. Removing the temporary roof is
This can be easily realized by lowering the crane 5 close to the ground while holding the moored flying object 1 at an appropriate position in the air, and removing the suspension ring 84 from the crane 5. After removing the temporary roof, the mooring aircraft 1 is instructed by the control terminal 20.
Can be easily recovered. Conventional temporary roofs are extremely small in the case of a membrane structure, or in the case of a large-scale roof, they are kept close to a sealed state by generating a pressure difference between inside and outside using a blower, etc. I needed to.

If the mooring aircraft 1 which can be moved or held at a predetermined altitude and position as in this embodiment is used, a large-scale roof can be easily installed. Furthermore, since a lightning rod 80 is installed, even if a lightning strike strikes, the lightning rod 80 passes through the wire 81 and goes into the ground. Participant safety is ensured. In addition, the information collecting device 50 and the information projecting device 51
Is installed, and observes the movement of people and vehicles before and after the start of an event such as a concert with the information collecting device 50,
If there is a place where the movement of people or vehicles is locally blocked, a detour is clearly indicated by the information projection device 51, and the movement of people or vehicles is made smooth. It is needless to say that information for guiding a person or a car may be transmitted not only by the information projection device 51 but also by another means, for example, a speaker, a character information display device, or an image display device installed on the ground. .

According to this embodiment, a large-scale roof can be easily installed because the mooring aircraft capable of being moved or held at a predetermined altitude and position is used for holding a temporary roof. Has the effect of becoming Further, since the crane is installed in the mooring type flying object, there is an effect that the installation and removal of a heavy object such as a roof can be easily performed. Furthermore, since a lightning rod is provided, even if a lightning strike occurs, there is an effect that the safety of participants in an event or the like is ensured. In addition, since people and vehicles can be guided from a high point of view from an overall viewpoint, there is an effect that local congestion can be quickly eliminated or avoided in advance.

Note that the buoyancy of the moored aircraft is sufficient to hold a plurality of people of average weight, and as part of the event, it is possible to hold a person on a gondola with a crane in the air or as a modular accommodation as part of the event. Various ancillary applications, such as holding the facility in the air with a crane and staying there, are also possible. As a modified example of this embodiment, an anemometer is installed on a mooring type flying object, the information is displayed on a control terminal, and when the average wind speed exceeds a predetermined value, for example, 15 m / s, the mooring is performed. It is also possible to configure so that the type flying vehicle is automatically guided to the ground.

FIGS. 13 and 14 show still another embodiment of the present invention.
This will be described below. In this embodiment, the provision of a temporary roof by a mooring type flying object is applied to a construction method of a building such as a reactor building.

A temporary roof composed of a roof membrane 83 and a roof rope 82 is, for example, a building 86 such as a reactor building.
And the lower part is held by a fixed object 85.

Next, a method of applying the present system to the construction method of a building 86 such as a reactor building will be described. After transporting the moored aircraft 1 near the place of use, the control terminal 2
With the input from 0, the mooring aircraft 1 is held at a predetermined position, for example, 5 m from the ground at a position near the building 86. Next, the hooks of the crane 5 hold the suspension rings 84 of the temporary roof composed of the roof membrane 83 and the roof ropes 82. In this state, the moored flying object 1 is moved to an upper part of the building 86 on which a temporary roof is installed by an input from the control terminal 20. Next, the fixed object 85 is installed at a predetermined place, for example, at an upper part of a building 86 such as a nuclear reactor building. However, since the weight of the roof rope 82 and the roof membrane 83 is held by the buoyancy of the mooring aircraft 1, , This task is easy. After installing a plurality of fixed objects 85 in a predetermined place,
The mooring aircraft 1 is raised to complete the temporary roof. As described above, the roof membrane 83 is placed on the upper part of the building 86 such as the reactor building.
By installing a temporary roof made of rain, snow, heat,
It is possible to prevent a decrease in workability due to so-called weather such as cold. Here, the case where the fixed object 85 is installed on the upper part of the building 86 is illustrated. However, in the case where the building 86 is not high or at the stage of the foundation work of the building 86, the fixed object 85 is set.
Needless to say, it may be arranged on the ground so as to cover the entire building 86.

When the building 86 is a reactor building or the like, large materials and equipment are carried in and out using a large crane. In this case, it is necessary to remove a part of the roof membrane 83 and open the upper part, but this can be easily realized by the present system as described below.
FIG. 14A shows a state where the roof membrane 83 is installed as viewed from above. For convenience of explanation, the positions of the fixed objects 85 are indicated by A, B, C, and D. If you want to carry in or out large materials or equipment near the position C, remove the fixed object 85 at the position C and the tip of the roof rope 82 and fix the tip of the roof rope 82 at the position C to the position A. Attach to object 85. At this time, the roof membrane 83 and the roof rope 82
Of the roof rope 82 is easily moved because the weight of the roof rope 82 is held by the moored flying vehicle 1. This allows
As shown in FIG. 14 (b), the roof in the lower right half is open, and large materials and equipment can be carried in and out near position C. When it is desired to carry large materials and equipment into and out of the center of the building, the fixed object 85 and the tip of the roof rope 82 are removed at two positions, for example, at positions C and D, and a temporary position C shown in FIG. 'And D'. As a result, the roof at the center of the building is opened, and large-sized materials and equipment can be carried in and out of this position. Here, the case where the shape of the roof when viewed from above is substantially square is illustrated, but the shape of the roof is not limited to this, and even if it is substantially triangular,
Alternatively, even in the case of other substantially polygonal shapes, it is needless to say that a part of the roof film 83 can be removed and the upper portion can be opened by the same method.

According to the present embodiment, a temporary roof can be easily installed on the upper part of a building, and there is an effect that a so-called deterioration in workability due to weather can be prevented. Further, it is possible to remove a part of the roof membrane and open the upper part, and there is an effect that large materials and equipment can be easily carried in and out using a large crane.

Another embodiment of the present invention will be described with reference to FIG. The present embodiment provides a more advanced use method in an example in which a temporary roof installation using a mooring type flying body is applied to a construction method of a building such as a reactor building.

This system is different from the embodiment shown in FIG. 13 in that a membrane opening / closing device 88 is installed on the roof membrane 83 so that a part of the roof membrane 83 can be opened and closed, and a building such as a reactor building is constructed. The crane 89 installed inside the building 86 and the crane 87 installed inside the building 86 can be operated.

The method of installing the roof film 83 in this system is the same as that in the embodiment shown in FIG. Building 8
When 6 is a reactor building or the like, large materials and equipment are carried in and out using a large crane. In such a case, in the present system, first, a part of the roof membrane 83 is opened by operating, for example, a roll curtain type membrane opening / closing device 88. It is desirable that the membrane opening / closing device 88 be electrically driven and remotely controllable. Next, large materials and equipment are transferred to the building 86 by a crane 89 installed outside the building 86.
Carry inside. Next, the load is moved to a predetermined position by using a crane 87 installed inside the building 86. When transporting large materials and equipment, the crane 87,
89 can be realized in the same manner. As compared with the embodiment shown in FIG. 13, the area where the roof membrane 83 is open is small, and the effects of so-called weather can be minimized even during the work of carrying in and out large-sized materials and equipment.

As described above, in the present embodiment, it is possible to carry in and out large materials and equipment by using a large crane simply by opening a part of the roof membrane by remote control. The efficiency is improved, and the effect of the so-called weather can be minimized even during the work of loading and unloading large materials and equipment.

Another embodiment of the present invention will be described with reference to FIG. This embodiment shows a usage method applied to holding a temporary screen by using a plurality of moored air vehicles.

The present system comprises a temporary screen 90 and an information projection device 91 for projecting information, for example, a movie, on the screen 90, in addition to the mooring aircraft 1, 1a shown in FIG.

The moored flying vehicles 1 and 1a of the present system are separately or connected to each other while being held in the air.
It is transported to the place of use by towing by truck or movable vehicle. Next, the target altitude and position for each aircraft are input from the control terminal 20, and the mooring aircraft 1 and the mooring aircraft 1a are positioned at an appropriate position in the air, for example, 5 m from the ground and the distance between them is displayed on the screen 90. Of the same width. In this state, the hanging ring 92 of the screen 90 is held by the cranes 5 and 5a, and the lower part of the screen 90 is connected to the fixed object 85. In this state, the target altitude and the position are re-input from the control terminal 20, and the mooring aircraft 1, 1a are raised to complete the temporary screen 90 as shown in FIG. The mooring aircraft 1 of the present embodiment
Since 1a is held at a predetermined altitude and position in the air by a control signal from the control terminal 20, it is suitable for projecting information such as a movie from the information projection device 91 onto the temporary screen 90.

According to this embodiment, since a plurality of mooring aircraft capable of moving or holding at a predetermined altitude and position are used for holding a temporary screen, a large-scale screen can be easily installed. This has the effect of being feasible.

Another embodiment of the present invention will be described with reference to FIG. In the present embodiment, a wide area can be monitored using a plurality of moored flying vehicles.

This system includes the information collection devices 50 and 160 having a view range changing function and a view direction changing function on the mooring vehicle 1 shown in FIG. 10, and the mooring vehicle 1 via the antenna 70 and the ground. Radio communication means 310 and 311 for the fixed station 170 and the mobile station 171 are provided. Further, a plurality of the mooring vehicles 1 are installed, and communication means between the plurality of mooring vehicles, for example, the mooring vehicle 1 And a communication means 312 for communicating with the mooring aircraft 1a.

In the present system, information collected by the information collecting device 50, for example, an image, is transmitted from the antenna 70 via the radio communication means 310 and 311 to the fixed station 170 and the mobile station 171.
To the fixed station 1 via the antenna 70a, the wireless communication unit 312, the antenna 70, and the communication units 310 and 311.
70, to the mobile station 171. This allows the fixed station 170 or the mobile station 171 to collect information over a wide area. In addition, the information collecting device 16 installed above the mooring type flying object 1, 1a
It is also possible to centrally manage the information collected at 0, 160a, for example, an image, at a fixed station 170 on the ground, and monitor the movement of a moving object such as an airplane or a missile in the air.
Further, the moored air vehicles 1 and 1a are used as relay stations for communication.
0, information can be transmitted to the fixed station 170a via the wireless communication means 312, the antenna 70a, and the wireless communication means 310a, and conversely, information can be received from the fixed station 170a. Note that, as the information collecting device 50, a radio wave monitoring device that can measure the emission direction, intensity, frequency, and the like of the radio wave may be used.

The method of using information such as images collected in the present embodiment is not particularly limited. Examples of suitable applications utilizing the fact that information can be collected over a wide area include, for example,
Surveillance and tracking support for smuggling, monitoring and tracking of illegal dumping, monitoring of water temperature, water quality and El Nino, traffic monitoring and control of railways, ships, cars, etc., monitoring of car parking violations, monitoring and tracking of illegal entry by security companies, greenhouses Observation of effect gas and ozone, observation of crops and forests, observation of fish school, search for resources, search for missing people in mountains, coffee shops,
Environmental images for backgrounds in restaurants and restaurants, effects in wedding halls, artificial reality data in amusement parks, education for geography in schools, aircraft, missiles, clouds, lightning, astronomical objects, space debris, meteorites, etc. Monitoring, illegal radio wave monitoring and tracking support, and the like are conceivable. Also, the method of use as a communication relay station is not particularly limited. For example, automation of various billing operations such as utility bills, inventory management of vending machines, elimination of difficult-to-view areas, large-capacity dedicated data lines, etc. Conceivable.

According to this embodiment, it is possible to collect information by using a plurality of moored air vehicles and to transmit this information to each other, which has the effect of enabling wide area information collection. .

[0076]

According to the present invention described above, it is possible to control to move or hold the mooring type flying object at a predetermined altitude and position, and it is possible to greatly expand the use range of the mooring type flying object.

[Brief description of the drawings]

FIG. 1 is a diagram showing a basic configuration of a moored air vehicle capable of controlling movement or holding at a predetermined position and altitude.

FIG. 2 is a cross-sectional view of a connecting rope having a composite function.

FIG. 3 is a detailed view of a connecting device having a rotatable configuration.

FIG. 4 is a sectional view of a winding device for a composite cable.

FIG. 5 is a diagram showing a control system of a mooring type air vehicle capable of controlling movement or holding at a predetermined position and altitude.

FIG. 6 is a block diagram showing a specific operation of a control unit.

FIG. 7 is a diagram showing a basic configuration of a moored air vehicle including an information collection device and an information projection device.

FIG. 8 is a sectional view of a connecting rope including an optical cable as a signal line.

FIG. 9 is a cross-sectional view of a connecting rope winding device including an optical cable as a signal line.

FIG. 10 is a diagram showing a basic configuration of a mooring type flying body with improved controllability in an emergency such as when a connecting rope is cut.

FIG. 11 is a diagram illustrating a basic configuration of a mooring type flying object in which a plurality of flying objects are moored in series to expand a moving range of the flying object.

FIG. 12 is a diagram showing a usage method in which the moored flying object of the present invention is applied to holding a temporary roof.

FIG. 13 is a diagram showing a usage method in which the installation of a temporary roof by a mooring aircraft is applied to a construction method of a building such as a reactor building.

FIG. 14 is a diagram showing a method of making a part of a temporary roof openable.

FIG. 15 is a view showing a modified example of a method of making a part of a temporary roof openable.

FIG. 16 is a diagram showing a usage method in which the moored flying object of the present invention is applied to holding a temporary screen.

FIG. 17 is a diagram showing a usage method applied to information collection over a wide area by using a plurality of moored flying vehicles of the present invention.

[Explanation of symbols]

1, 1a ... mooring type flying object, 2 ... connecting device, 3 ... propulsion fan, 4 ... direction changing fan, 5, 5a ... crane, 1
0 ... winding device, 11 ... connecting rope, 20 ... control terminal, 21 ... control unit, 22 ... information input unit, 23 ... information output unit, 30 ... portable generator, 31 ... gas cylinder, 32
... Tank, 33 ... Compressor, 35,36,37,72,1
45 ... valve, 40 ... altitude sensor, 41 ... GPS sensor, 42 ... direction sensor, 43 ... pressure sensor, 44 ... flow meter, 45 ... rotation speed sensor, 46 ... GPS sensor, 50,
50a ... information collecting device, 51, 51a ... information projecting device,
Reference numeral 60: trailer, 70, 70a: antenna, 71: emergency battery, 73: antenna, 74: transmitter, 75:
Amplifier, 76 ... converter, 77 ... receiver, 80 ... lightning rod,
81 ... electric wire, 82 ... roof rope, 83 ... roof membrane, 84 ...
Hanging ring, 85: fixed object, 86: building, 87, 89 ... crane, 88 ... membrane opening / closing device, 90 ... screen, 91 ...
Information projection device, 92: suspension ring, 111: surface coating, 11
2. Copper shield, 113, 115 Kevlar, 114
Internal coating, 116: electric wire, 117: gas flow path, 118 ...
Signal lines, 120, 120a ... Upper structure, 121, 12
1a: Lower structure, 122: Rotating mechanism, 123: Joint, 124: Rope, 130: Motor, 131, 132
... Rotating mechanism, 133,134 ... Brush, 135,136 ...
Slip ring, 140: stationary part, 141: rotating part, 1
42, 143, 144 ... joint, 150, 151 ...
Lens, 152, flow path, 160, 160a, information collecting device, 170, 170a, fixed station, 171, mobile station, 20
0, 201, 202, 203, 204, 205, 21
0, 211, 212, 213, 214, 215, 220
... Communication means, 300, 310, 310a, 311, 31
2: wireless communication means, 1000: basic data storage means, 1
010: integrated gas flow rate calculating means, 1020: timer,
1030 connecting rope length calculating means 1100 display screen creating means 1200 flying vehicle buoyancy calculating means 1201
Additional load calculation means, 1202 ... Altitude control determination means, 1300
... Position control determining means.

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Tetsuo Horiuchi 4-6 Kanda Surugadai, Chiyoda-ku, Tokyo Within the Electric Power Business Unit, Hitachi, Ltd. (72) Toshiharu Yamamori 4-6 Kanda Surugadai, Chiyoda-ku, Tokyo Hitachi, Ltd. Electric Power Business Unit (72) Inventor Akira Uemura 4-6, Kanda Surugadai, Chiyoda-ku, Tokyo Tokyo Electric Power Company (72) Inventor Kuniaki Matsumoto 4-6-Kanda, Surugadai, Chiyoda-ku, Tokyo Address: Hitachi, Ltd. Defense Technology Promotion Headquarters (72) Inventor: Takeaki Nitta 4-6, Kanda Surugadai, Chiyoda-ku, Tokyo

Claims (14)

[Claims] 1. A moored flying object comprising a flying object containing a gas lighter than air and levitating, and a cable connecting the flying object and a ground part, wherein the altitude, position, and orientation of the flying object are respectively determined. A mooring flight comprising: means for measuring; means for changing the altitude, position, and orientation of the flying object; and control means for moving or holding the flying object at a predetermined altitude and position. body. 2. The moored flying object according to claim 1, further comprising means for rotating the connecting rope connecting the flying object and the ground. 3. The mooring vehicle according to claim 1, wherein the connecting rope transports a gas lighter than air between the vehicle and the ground, and supplies energy to the vehicle and the ground. And a means for transporting various signals between the flying object and the ground unit. 4. The mooring vehicle according to claim 3, wherein means for transporting gas lighter than air contained in the composite cable between the vehicle and the ground is provided, and wherein the energy source is provided between the vehicle and the ground. A means for transporting the composite signal between the aircraft and a means for communicating the various signals between the vehicle and the ground, and a means for winding the composite cable. A moored flying object, comprising: 5. An information collection device according to claim 1, wherein said flying object has a view range changing function and a view direction changing function, and an information projection device having a view direction changing function. A mooring type flying object comprising a device. 6. The moored flying vehicle according to claim 1, wherein a crane is provided below the flying vehicle. 7. The moored flying object according to claim 1, wherein a lightning rod is provided above the flying object. 8. The moored flying object according to claim 1, further comprising a wireless communication means for communicating between the flying object and the ground, and detecting a gas contained in the flying object by a wireless signal from the ground. A moored air vehicle characterized in that the amount of release can be controlled. 9. A mooring aircraft according to claim 1, wherein a plurality of aircraft are moored in series so that the altitude and position of each aircraft can be controlled independently. Characterized moored aircraft. 10. A system for utilizing a mooring type flying object, wherein the mooring type flying object according to claim 1 holds a temporary roof. 11. A use system of a mooring type flying object, wherein the mooring type flying object according to claim 1 holds a temporary roof on an upper part of a building. 12. The mooring type flying object utilization system according to claim 10, further comprising means for opening a part of a temporary roof. 13. A use system of a mooring type flying object, comprising using a plurality of mooring type flying objects according to claim 1 and holding a temporary screen. 14. An information collecting apparatus having a field-of-view range changing function and a line-of-sight direction changing function, and wireless communication means between the flying object and the ground and the flying object. A use system for a mooring type flying object, which is provided to enable wide area information collection.