JP2016215874A - Capture device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a capture device capable of prevention of collision or crash, removal or the like of a capturing object unmanned aircraft by capturing aerially the capturing object unmanned aircraft such as an unmanned aircraft falling into an uncontrollable state or a maliciously used unmanned aircraft.SOLUTION: A capture device 1 for capturing aerially a capturing object unmanned aircraft 10 of a wireless control type, includes: an unmanned aircraft 2 of the wireless control type; a storage part 4 mounted on the unmanned aircraft 2; capture means 3 to be stored in the storage part 4 in the state where a part is connected to the storage part 4; and discharge means 5 for discharging the capture means 3 from the storage part 4 toward the capturing object unmanned aircraft 10.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a capture device that captures an unmanned aircraft to be captured such as an unmanned aircraft that has become uncontrollable in the air.

It is known to perform photographing using a wirelessly operated unmanned aircraft equipped with a photographing device such as a camera or a video camera (see, for example, Patent Documents 1 to 3).
In recent years, the deterioration of infrastructure such as tunnels, bridges, dams, roads, etc. has become obvious, and the degradation status of the surveyed parts of these infrastructures is photographed using the above-mentioned unmanned aircraft, and the photographing data is obtained. Attempts have also been made to determine whether or not it is necessary to repair the part to be investigated.

JP 2005-269413 A JP 2006-027331 A Japanese Patent Laid-Open No. 2006-027448

The above-mentioned unmanned aerial vehicle called UAV (Unmanned Aerial Vehicle) or drone may be uncontrollable due to radio interference or battery shortage. In this case, the unmanned aircraft will collide or crash. There is fear and it is dangerous.
In addition, there is a case where the above-described unmanned aircraft of the radio control system is used maliciously (for example, when it is used for terrorism), and a technology that can safely and reliably eliminate the unmanned aircraft used in this manner is desired. .
In view of the above problems, the present invention captures unmanned aircraft that have been captured, such as unmanned aircraft that has become uncontrollable or unmanned aircraft that has been used maliciously, in order to prevent, eliminate, etc. Provide the capture device that made it possible.

A capture device according to the present invention is a capture device that captures an unmanned aircraft to be captured in a radio control system in the air, and includes a wireless control unmanned aircraft, a storage unit attached to the unmanned aircraft, and a storage unit. It is equipped with capture means that is connected to the storage part and stored in the storage part, and release means that releases the capture means from the storage part toward the unmanned aircraft to be captured. The unmanned aircraft to be captured such as the unmanned aircraft thus captured can be captured in the air, and the collision and crash of the unmanned aircraft to be captured can be prevented and eliminated.
In addition, since the capture means is a mesh or string that can be entangled with the rotor blades of the unmanned aircraft to be captured, the mesh or string is entangled with the rotor blades of the unmanned aircraft to be captured. The capture target unmanned aircraft can be stopped and the capture target unmanned aircraft can be moved to a safe place in a state where the capture target unmanned aircraft is suspended (hanging) on a net or string. .

The capture device is shown, (a) is a perspective view, (b) is a front view, and (c) is a side view (Embodiment 1). The perspective view which shows the accommodating part which accommodates a capture means (Embodiment 1). Sectional drawing which shows the accommodating part which accommodates a capture means, and discharge | release means (Embodiment 1). The figure which shows the capture procedure of the unmanned aircraft to be captured by the capture device (Embodiment 1). The figure which shows the capture procedure of the unmanned aircraft to be captured by the capture device (Embodiment 2). Sectional drawing which shows the accommodating part which accommodates a capture means, and discharge | release means (Embodiment 3).

Embodiment 1
As shown in FIG. 4, the capture device 1 is a device that captures the above-described unmanned aircraft 10 to be captured in the air, and as shown in FIG. 1, a radio control called UAV (Unmanned Aerial Vehicle) or drone. An unmanned aircraft 2 of the type, a capture means 3, a storage section 4, a discharge means 5, and a photographing device 6 such as a camera or a video camera are provided.
That is, the capture device 1 has a configuration in which a capture unit 3, a storage unit 4, a release unit 5, and a photographing device 6 are provided in a wirelessly maneuvered unmanned aircraft 2.

  The unmanned aerial vehicle 2 controls at least the airframe 21, a plurality of rotor blades (rotors) 22, a rotational drive source such as a motor (not shown) of each rotor blade 22, and the rotation and stop of each rotor blade 22. An external control device and a landing gear 29, and the control device is configured to receive a command from the remote control device and control the rotation and stop of each rotor blade 22 to perform the flight by remote control. Yes. The power necessary for driving the unmanned aerial vehicle 2 is supplied from an unillustrated power source mounted on the airframe 21 or is supplied from an unillustrated power source installed on the ground via a power cable.

The fuselage 21 is configured to include, for example, a fuselage central portion 23 on which the above-described control device is mounted and a rotor blade support arm portion 24 provided so as to protrude from the fuselage central portion 23.
The rotor blade support arm portion 24 includes a hollow rod body 25 having one end connected to the airframe center portion 23 and a rotor blade support portion 26 that rotatably supports the rotor blade attached to the other end of the hollow rod body 25. This is a configuration provided.
The rotary blade support portion 26 is constituted by, for example, a case in which a motor (not shown) is accommodated and fixed, and the rotation shaft of the motor and the rotation center portion 27 of the rotary blade 22 are connected.
One end of a control line wired in the hollow rod body 25 is led into the fuselage central portion 23 and connected to the control device, and the other end of the control line is led into the rotor blade support portion 26 and the motor. By being connected, the control device is configured to be able to control the rotation and stop of the rotor blade 22.
For example, the rotation center shafts 28 of the rotary blades 22 are parallel to each other and are located on one circumference and are provided at equal intervals on one circumference.

  The landing gear 29 is, for example, connected to the hollow rod 25 and provided so as to protrude downward from the airframe 21, and is a part for supporting the airframe 21 when the unmanned aircraft 2 is landing and absorbing an impact at the time of landing. .

  As the unmanned aerial vehicle 2, for example, as shown in FIG. 1, an unmanned aerial vehicle called a multi-rotor helicopter is used to fly by simultaneously rotating six rotor blades 22 arranged radially from the airframe center 23 in a well-balanced manner. use.

  The capture target unmanned aerial vehicle 10 has the same or similar configuration as the unmanned aircraft 2.

The capturing means 3 is, for example, a mesh body (net) 31 configured such that one end side thereof is connected to the storage unit 4 and can be entangled with the rotor blades of the unmanned aircraft 10 to be captured.
The net-like body 31 has a configuration capable of forming a conical space surrounded by a net-like conical surface, for example. A plurality of weights 32; 32... (See FIG. 2) are attached to the bottom outer peripheral edge (circular opening edge) of the mesh conical surface at predetermined intervals along the bottom outer peripheral edge. When 31 is discharged from the storage unit 4 and in a state where the mesh body 31 is suspended from the storage unit 4, a conical space surrounded by the above-described mesh-shaped conical surface is easily formed. .

  As shown in FIG. 2, the storage portion 4 includes, for example, a capture means storage portion 42 that forms a conical space 41, and a cylinder that extends from the top portion 43 of the conical space 41 along the central axis 44 of the conical space 41. And an extruding means housing 46 that forms the space 45.

A net 31 as the capture means 3 is accommodated in the capture means storage section 42, and an extrusion means 47 as the discharge means 5 that pushes out the mesh 31 stored in the capture means storage section 42 in the extrusion means storage section 46. Is housed and fixed to the inner surface of the push-out means housing portion 46.
The circular front opening 48 of the capture means storage section 42 in which the capture means 3 is stored is closed with a film-like lid 49, for example.

For example, as shown in FIG. 3, the push-out means 47 includes a fixed coil 47a and a push rod (movable iron core) provided so as to reciprocate along a central axis of the cylindrical hole through a cylindrical hole surrounded by the spiral of the fixed coil 47a. ) 47b, a spring 47c, and a casing 47d having a through-hole through which the push bar 47b passes and the fixed coil 47a and the spring 47c are fixed. When the fixed coil 47a is energized, the push bar 47b is as shown in FIG. The push rod 47b is moved in the direction of being pulled out from the cylindrical hole of the fixed coil 47a by the urging force of the spring 47c when the fixed coil 47a is not energized. It is comprised by the solenoid 47X made.
A casing 47d of the solenoid 47X is fixed to the inner surface of the push-out means housing portion 46, and a pusher (piston) 47t provided at the front end of a push rod (movable iron core) 47b has a mesh-like conical surface that is one end side of the mesh-like body 31. The apex portion 33 is connected with an adhesive or the like.
Then, when the solenoid 47X is not energized to the fixed coil 47a, the push rod 47b pushes the mesh body 31 so that the film-like lid 49 that has closed the front opening 48 of the capturing means storage section 42 is broken and the mesh body 31 is broken. Is discharged from the storage portion 4.

That is, in the capturing device 1, the apex portion 33 of the net-like conical surface of the net-like body 31 is connected to the push body (piston) 47t at the tip of the push rod 47b, so that one end side (part) of the net-like body 31 is the extrusion means. The mesh body 31 is stored in the capture means storage section 42 while being connected to the storage section 46, and then the front opening 48 of the capture means storage section 42 is closed with a film-like lid 49. When the control device receives a command from the remote controller and controls the solenoid 47X as the pushing means 47, the mesh body 31 housed in the capturing means housing section 42 receives the pressing force from the push rod 47b and receives the membrane. It has a structure in which the lid 49 is broken and released from the capture means storage portion 42 to the outside.
Further, since the trapping means storage portion 42 having the front opening 48 that is the discharge port of the mesh body 31 is formed in the conical space 41 corresponding to the conical space formed by the mesh body 31, the mesh body 31. When the is released from the storage portion 4, a conical space is formed easily by the mesh body 31.

  The imaging device 6 is configured to be attached to a movable platform 7 such as a camera platform attached to the lower surface (belly) 23u (see FIG. 1) of the unmanned aircraft 2, for example, the central part 23 of the fuselage, so that the imaging direction F1 can be changed. Has been.

And the storage part 4 mentioned above has the movable stand 7 via the connection member 71 (refer FIG.1 (c)) so that the front part opening 48 as a discharge port may face the same direction as the imaging | photography direction F1 of the imaging device 6. FIG. Installed on.
In the first embodiment, in the reference state, the imaging device 6 and the storage unit 4 are movable table 7 so that the imaging direction F1 of the imaging device 6 and the discharge direction F2 of the capturing means 3 are orthogonal to the machine body central axis 21C. The control device receives a command from the remote controller and controls the driving means (not shown) of the movable base 7 to move the movable base 7 so that the photographing direction F1 and the capturing means 3 of the photographing device 6 are moved. The discharge direction F2 is configured to be oscillated by a predetermined angle in the horizontal direction and the vertical direction, for example.

  That is, by controlling the driving means (not shown) of the movable table 7 by moving the movable table 7 with the radio control device, the imaging direction F1 of the imaging device 6 and the discharge port of the storage unit 4 are controlled so as to be in a desired direction. The photographing direction F1 of the photographing device 6 and the discharge direction F2 of the capture means 3 discharged from the storage unit 4 are configured to be the same direction. As a result, the pilot operating the unmanned aerial vehicle 2 confirms that the imaging device 6 has captured the unmanned aircraft 10 to be captured within the range while confirming the captured image transmitted from the imaging device 6 on the monitor screen. By determining the release timing of the capture means 3, the capture target unmanned aircraft 10 can be captured with a high success rate.

Next, a method for capturing the capture unmanned aircraft 10 using the capture device 1 will be described with reference to FIG.
The wirelessly maneuvered unmanned aerial vehicle 2 equipped with the capture means 3, the storage unit 4, and the discharge means 5 is wirelessly operated and brought close to the unmanned aircraft 10 to be captured, as shown in FIG. By confirming that the unmanned aerial vehicle 10 is captured in the range, and actuating the solenoid 47X, the reticulated body 31 is discharged toward the capture-target unmanned aircraft 10 as shown in FIG. 4B. Then, after the trapped unmanned aerial vehicle 10 enters the conical space surrounded by the reticulated conical surface formed by the discharged reticulated body 31, a part of the reticulated body 31 is obtained as shown in FIG. Entangled with the rotor blades of the capture target unmanned aircraft 10, the capture target unmanned aircraft 10 stops, and the capture target unmanned aircraft 10 hangs on the net 31. Accordingly, the unmanned aerial vehicle 2 is controlled to fly while the capture target unmanned aerial vehicle 10 is suspended from the reticulated body 31, and the capture target unmanned aircraft 10 is moved to a safe place.

  By using the capture device 1 of the first embodiment, it is possible to prevent a collision or a crash of the capture target unmanned aircraft 10 that has become uncontrollable due to radio interference or a shortage of batteries, and the suspicious capture target unmanned used maliciously. The aircraft 10 can be safely and reliably excluded, and is useful for crime prevention.

Embodiment 2
As shown in FIG. 5, in the reference state, the imaging device 6 and the storage unit are arranged so that the imaging direction F1 of the imaging device 6 and the discharge direction F2 of the capturing means 3 are directed in the same direction as the aircraft central axis 21C of the aircraft 21 of the unmanned aircraft 2. 4 is attached to the movable base 7, and the movable base 7 is moved so that the photographing direction F1 of the photographing device 6 and the discharge direction F2 of the capturing means 3 can be swung, for example, by a predetermined angle in the vertical direction. May be.
In this case, as shown in FIG. 5 (a), the unmanned aircraft 2 is wirelessly operated and moved above the capture unmanned aircraft 10, and then toward the capture target unmanned aircraft 10 as shown in FIG. 5 (b). By releasing the reticulate body 31, a part of the reticulated body 3 is entangled with the rotor wing of the unmanned aircraft 10 to be captured and the unmanned aircraft 10 to be captured stops, and the unmanned aircraft 10 to be captured hangs on the reticulated body 31. Therefore, the unmanned aerial vehicle 2 may be operated and flew while the capture target unmanned aerial vehicle 10 is suspended from the reticulated body 31, and the capture target unmanned aircraft 10 may be moved to a safe location.

Embodiment 3
It is good also as a structure provided with the discharge | release means 5A as shown in FIG.
The discharge means 5 </ b> A is stored in the push-out means storage section 46 of the storage section 4, one end 51 is fixed to the bottom of the push-out means storage section 46, and a push body (piston) 52 p is attached to the other end 52. A compression spring (pressing spring) 53, a lid 54 for closing the front opening 48 of the capture means storage section 42 in which the mesh body 31 as the capture means 3 is stored, and a lid opening means 55 for opening the 54. Is done.
As the lid opening means 55, for example, a solenoid fixed to the outer surface of the capture means housing portion 42 via a connecting member 56 with the same configuration as the solenoid 47 </ b> X described above is used.
The lid 54 is configured to be able to open and close the front opening 48 via a hinge 60 provided at one end of the opening edge of the front opening 48, and a lid opening means 55 at the other end farthest from the hinge 60. The movable iron core of the solenoid is provided with a lock piece 58 having a through hole 57 into which a lock rod 59 is inserted and removed.
When the solenoid fixed coil is not energized, the lock rod (movable iron core) 59 moves in the direction of being pulled out from the cylindrical hole of the fixed coil and penetrates the through hole 57 of the lock piece 58, so that the lid 54 is moved forward. When the solenoid fixed coil is energized, the lock rod (movable iron core) 59 is moved in the direction in which it is drawn into the cylindrical hole of the fixed coil and is moved from the through hole 57 of the lock piece 58. By detaching, the pusher 49 and the mesh member 31 having the apex 33 connected to the pusher member 49 are pushed by the spring force of the compression spring 53 so that the mesh member 31 pushes the lid 54. (See the two-dot chain line in FIG. 6), the front opening 48 of the storage unit 4 is opened, and the mesh 31 is released from the storage unit 4.
Even with the capture device 1 having the discharge means 5A of the third embodiment, the same effects as in the first and second embodiments can be obtained.

Embodiment 4
As the capturing means 3, a plurality of string-like bodies configured such that one end side thereof is connected to the storage unit 4 and can be entangled with the rotor blades of the unmanned aircraft 10 to be captured may be used.

Embodiment 5
As the capturing means 3, a metal net or string may be used. In this case, due to the shielding effect of the metal mesh or string, it is difficult for radio waves from the radio pilot of the capture target unmanned aircraft 10 to reach the capture target unmanned aircraft 10, and the capture target unmanned aircraft 10 is stopped quickly. Can be captured easily.

Embodiment 6
The discharge means may be configured to discharge the capture means 3 stored in the storage portion 4 using explosives.

Embodiment 7
The discharge means may be configured to discharge the capture means 3 stored in the storage portion 4 using gas pressure.

Embodiment 8
In order to release the capture means 3 and quickly stop the rotor blades of the unmanned aircraft 10 to be captured entangled with the capture means 3, a substance (for example, viscosity) that solidifies the rotor blades of the unmanned aircraft 10 to be captured entangled with the capture means 3. (Liquid substance) may be released.

  The storage unit 4 may have any shape as long as the capture unit 3 can be stored.

  Moreover, the capture means 3 should just be comprised so that it may discharge | release toward the downward direction rather than the rotary wing 22 of the unmanned aircraft 2 which is flying. That is, the capture means 3 is discharged in the horizontal direction as in the first embodiment, or the capture means 3 is discharged in the direction directly below the aircraft as in the second embodiment. For example, the capture means 3 is disposed obliquely below the aircraft 21. It may be configured to release.

  Moreover, when maneuvering the unmanned aerial vehicle 2 by visual confirmation, the imaging device 6 may not be provided, and thus the capturing device may be configured not to include the imaging device.

1 capture device, 2 unmanned aircraft, 3 capture means, 4 storage section, 5 discharge means,
10 Unmanned aerial vehicles to be captured, 31 mesh (capture means).

Claims (2)

A capture device that captures an unmanned aerial vehicle in the air,
Wirelessly controlled unmanned aircraft, storage unit attached to the unmanned aircraft, capture means partially connected to the storage unit and stored in the storage unit, and capture means from the storage unit to the unmanned aircraft to be captured A capture device comprising a discharge means for discharging toward the head.   The capturing device according to claim 1, wherein the capturing means is a net-like body or a string-like body configured to be able to be entangled with a rotor blade of the unmanned aircraft to be captured.