JP2019156242A - Flight body system - Google Patents

Abstract

To provide a flight body system comprising a reel device with good responsibility.SOLUTION: A flight body system comprises: a ground part 10 with a power supply 11; a cable 20; a flight body 30; a reel device 70 for winding a cable 20; and a controller 50 of the flight body 30. The flight body 30 comprises an atmospheric pressure sensor 47, and a GPS receiver 48, the reel device 70 comprises a drum 72, a motor 77, a rotary sensor 78, current detection means 771a for detecting a motor current 77, a motor controller 772 for controlling a torque based on a detected current value, an atmospheric pressure sensor 773, and a GPS receiver 774. The motor controller 772 can cause the detected current value to match a reference set value, basically, for generating torque in a winding direction for controlling the motor 77, when the controller 50 is operated, then, it is determined that, the flight body 30 is separated from the reel device 70 at a prescribed or faster speed, the motor controller sets a set value of the current value to be smaller than the reference set value.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a wired powered aircraft system.

  As this type of aircraft system, the one described in Patent Document 1 has been proposed. The aircraft system described in Patent Document 1 includes a cable winder that winds up an excess of a cable connecting the aircraft and the power supply device.

  However, since the cable winder of Patent Document 1 adjusts the feeding and winding of the cable only by the distance between the flying object and the power supply device, it cannot perform control with good responsiveness.

JP-T-2006-121008

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide a wired power supply flying object system including a reel device with good responsiveness.

  In order to solve the above-described problem, a flying object system according to the present invention is a flying object system that flies by a driving force of a motor, and is provided on the ground and has a ground unit having a power supply unit, and a first end part. A cable connected to the ground part, a flying object connected to the second end of the cable, a reel device installed on the ground and winding the excess of the cable, and maneuvering the flying object The vehicle includes a DC motor that drives the main rotor, a vehicle altitude measuring unit that measures its own altitude, and a vehicle location grasping unit that grasps its own position, The reel device includes a cylindrical drum around which the cable is wound, a motor that rotationally drives the drum, a rotation sensor that can measure a rotation direction and a rotation speed of the drum, and a current that flows through a coil of the motor. Current detecting means for detecting; motor controller for controlling torque generated by the motor based on the current value detected by the current detecting means; reel device height measuring means for measuring its own altitude; Reel device position grasping means for grasping, and the motor controller is basically configured so that the current value detected by the current detection means matches a preset standard setting value, The drum generates torque in the direction of winding the cable to control the motor, and when the operator operates the controller, the flying object height measuring means, the flying object position grasping means, and the reel device height Based on the information obtained from the measuring means, the reel device position grasping means, and the operation information of the controller, the flying object is then The gist is that when it is determined to move away from the reel device at a predetermined speed or more, the set value of the detected current value is corrected and controlled to be smaller than the standard set value.

  Another aspect of the present invention is an aircraft system that flies by a driving force of a motor, the ground unit having a power supply device installed on the ground, and a cable having a first end connected to the ground unit, A flying object connected to the second end of the cable, and a reel device installed on the ground and winding the excess of the cable, wherein the flying object drives a main rotor. And a flying object height measuring means for measuring its own altitude, and a flying object position grasping means for grasping its own position, wherein the reel device includes a cylindrical drum around which the cable is wound, A motor for rotationally driving the drum, a rotation sensor capable of measuring the rotation direction and rotation speed of the drum, current detection means for detecting a current flowing through the coil of the motor, and a current value detected by the current detection means. A motor controller for controlling the torque generated by the motor, a reel device altitude measuring means for measuring its own altitude, and a reel device position grasping means for grasping its own position. Specifically, the motor is controlled by generating torque in the direction in which the drum winds up the cable by making the current value detected by the current detection means coincide with a preset standard setting value. Based on the information obtained from the flying object height measuring means, the flying object position grasping means, the reel device height measuring means, and the reel device position grasping means, the flying object is removed from the reel device. The elevation angle when viewed is calculated, and when the elevation angle is greater than a predetermined value, the set value of the detected current value is more continuous or stepped than the standard set value as it increases. When the elevation angle is smaller than a predetermined value, the set value of the detected current value becomes larger continuously or stepwise than the standard set value when the elevation angle is smaller than a predetermined value. The gist of this is to control with correction.

  According to the aircraft system of the present invention, the reel device basically generates torque in the winding direction to control the motor, so that the responsiveness when the aircraft approaches the reel device can be improved. it can. Further, since the torque generated by the motor is changed according to the situation, the movement resistance when the flying object leaves the reel device can be reduced.

It is a block diagram which shows the outline of the flying body system which concerns on 1st embodiment. It is sectional drawing of a composite cable. It is explanatory drawing which shows the outline of a flying body system. It is a block diagram which shows the outline of the flying body system which concerns on 2nd embodiment. It is sectional drawing which shows the modification of a composite cable. It is explanatory drawing which shows the outline of a reel apparatus.

  Hereinafter, an aircraft system including a reel device according to an embodiment of the present invention will be described with reference to the drawings. However, the technical scope of the present invention is not limited to this, of course. A detailed description of known techniques is omitted.

(First embodiment)
First, the configuration of the flying object system 1 will be described with reference mainly to FIGS. As shown in FIG. 3, the flying vehicle system 1 mainly includes a ground unit 10, a composite cable 20 (corresponding to a cable), a flying vehicle 30, and a reel device 70. The ground unit 10 and the reel device 70 are installed on the ground and are movable by a caster (not shown). One end of the composite cable 20 is connected to the ground unit 10, and the other end is connected to the flying object 30 via the reel device 70. That is, the ground unit 10 and the flying object 30 are connected by the composite cable 20 via the reel device 70.

  FIG. 1 is a block diagram showing an outline of the air vehicle system 1. In FIG. 1, a power flow for driving the DC motor 33 is shown between the power supply device 11 and the control device 44, and a flow of an electric signal or an optical signal is shown otherwise. As shown in FIG. 1, the ground unit 10 includes a power supply device 11 that generates a DC voltage of 360V. The power supply device 11 is a known technique. In the present embodiment, the DC voltage generated by the power supply device 11 is 360V, but is not limited thereto as long as it is 200V or more.

The upper limit of the DC voltage is not particularly defined. However, if the voltage is too high, a DC-DC converter 41 (to be described later) will be large and costly, so that it is preferably about 400V.
Further, the power supply device 11 has a function of automatically stopping power supply when a conductive wire 21 in a composite cable 20 described later is short-circuited or disconnected. This mechanism is a well-known technique.

  The ground unit 10 includes a photoelectric converter 12 (first photoelectric converter) that converts an optical signal transmitted from the flying object 30 into an electrical signal. This photoelectric converter 12 is also a well-known technique.

(Reel device)
The reel device 70 is a device that is installed in the vicinity of the ground portion 10 and winds up the excess of the composite cable 20. As shown in FIG. 6, the reel device 70 mainly includes a support 71, a drum 72, a first side plate 73, a blower device 74, and a second side plate 77.
FIG. 6A is a plan view schematically showing the reel device 70 and a block diagram of accessory parts. FIG. 6B is a left side view schematically showing the reel device 70. FIG. 6C is a front view showing an outline of the reel device 70. FIG. 6D is a right side view illustrating the outline of the reel device 70.

  The support 71 is formed in a rectangular frame shape by curving a round pipe. A bridge portion 711 is provided at a portion where the frame is located above and below, and a bearing portion 712 is provided at the center of the bridge portion 711. A drum 72 is attached to the bearing portion 712 in a cantilevered manner via a rotating shaft (not shown). More specifically, the first side plate 73 and the second side plate 75 are fixed to a rotation shaft (not shown), so that the drum 72 is rotatably supported with respect to the support 71.

  The drum 72 has a cylindrical shape and is formed with a large number of holes 721 that allow communication between the inside and the outside of the drum 72. As described above, the drum 72 is rotatably supported by the support 71. The drum 72 is a portion around which the composite cable 20 is wound.

  The first side plate 73 is attached to one end in the axial direction of the drum 72 (rightward in FIG. 6C). The first side plate 73 is provided with four air blowers 74 at equal intervals on a circumference centered on the central axis. The blower 74 is a known AC electric fan that sends air outside the drum 72 into the drum 72. In this embodiment, the air outside the drum 72 is sent into the drum 72, but the air inside the drum 72 may be sent out to the outside of the drum 72.

  The second side plate 75 is attached to the other end of the drum 72 in the axial direction, and has a plurality of holes 751 that communicate the inside of the drum 72 with the outside of the drum 72.

  As described above, the second side plate 75 is fixed to a rotation shaft (not shown). The second side plate 75 is provided with a handle (not shown) so that the drum 72 can be manually rotated by a handle (not shown).

  A rotary joint (slip ring) 76 is provided around the rotation axis of the first side plate 73. The rotary joint 76 is a rotary connector that can transmit electric power and electric signals (including optical signals) from a stationary body to a rotating body, and is a well-known technique.

  The rotary joint 76 serves to connect the composite cable 20 on the ground portion 10 side and the composite cable 20 on the aircraft 30 side. Further, it plays a role of connecting a power transmission line to the blower 74.

The reel device 70 includes a motor 77 and a rotation sensor 78.
In this embodiment, the motor 77 is a DC motor with a brush, is fixed to the bridge portion 711 of the support 71, and is connected to a rotating shaft (not shown) via a built-in gear train.

  The rotation sensor 78 is a rotary encoder, and outputs a pulse signal for every predetermined angle rotation of the drum 72 when the motor 77 (and consequently the drum 72) rotates. As is well known, this pulse signal is composed of two pulses having different phases, and the rotation direction of the drum 72 can be discriminated by the phase difference between the two signals.

As shown in FIG. 6, the reel device 70 further includes a motor driver 771, a motor controller 772 including a microprocessor, an atmospheric pressure sensor 773 (corresponding to a reel device altitude measuring means), a GPS receiver 774 (as a reel device position grasping means). Equivalent).
The motor driver 771 includes a drive circuit that supplies a drive current to the motor 77, and also includes a current detection circuit 771 a (corresponding to a current detection unit) that detects a current flowing through the coil of the motor 77.

  The motor controller 772 controls the motor driver 30 based on the information from the rotation sensor 78, the current detection circuit 771a, the atmospheric pressure sensor 773, the GPS receiver 774, the altitude and position information of the flying object 30, and the controller operation information of the flying object 30. A control signal is sent, and the motor 77 is PWM-controlled.

  Hereinafter, specific control of the motor 77 by the motor controller 772 will be described.

  The motor controller 772 basically controls the motor 77 so as to generate torque in the winding direction. Specifically, the supply current to the motor 77 is PWM-controlled so that the current detected by the current detection circuit 771a becomes a predetermined value.

  The detection current can be set stepwise within the range of zero to a predetermined value (in this embodiment, three steps of small, medium, and large). The set value is small <medium <large, and the winding torque is larger in the middle and larger than the middle. In the present embodiment, such a configuration is used, but it is not necessary to have three stages, and for example, five stages may be used. Also, the steps need not be equally spaced. Moreover, you may enable it to set continuously instead of stepwise. More specifically, torque may be generated in the delivery direction.

(Standard condition)
In the standard state, the motor controller 772 controls the motor 77 so that the current detected by the current detection circuit 771a is medium. Thereby, the composite cable 20 can be wound up with appropriate tension.

(Correction 1)
The detection current can be set based on the following information.

(1) Rotation direction When the flying body 30 moves in a direction away from the ground portion 10, tension is generated in the composite cable 20, and the drum 72 rotates in a direction in which the composite cable 20 is fed out. When the motor controller 772 detects that the drum 72 is rotating in the feeding direction at a predetermined speed or higher based on information from the rotation sensor 78, the motor controller 772 changes the setting of the detection current to one smaller by one step. For example, the inside is made small. However, if it is already small by another correction, it is not changed.

(2) Elevation angle Considering the slack caused by the mass of the composite cable 20. When the elevation angle when the flying object 30 is viewed from the position of the reel device 70 is 0 degree to 45 degrees, the setting of the detection current is changed to one step larger. On the other hand, when the angle is between 76 degrees and 90 degrees, the setting of the detection current is changed to one smaller. No change is made when the angle is between 46 and 75 degrees. The elevation angle is obtained by the altitude / position information of the flying object 30 obtained by the pressure sensor 47 and the GPS receiver 48 built in the flying object 30 and the pressure sensor 773 and the GPS receiver 774 built in the reel device 70. It is calculated from the altitude / position information of the reel device 70. The motor controller 77 acquires altitude / position information of the flying object 30 via the wireless controller 50. Further, the altitude / position information of the reel device 70 is directly acquired from the atmospheric pressure sensor 773 and the GPS receiver 774. In the present embodiment, such a configuration is used, but the threshold setting and the like should be changed as needed.

(3) Cable feeding length This is in consideration of the slack caused by the mass of the composite cable 20 as well as the elevation angle. For example, when the feeding length of the composite cable 20 becomes 50 meters or more, the setting of the detection current is changed to one step larger. If the elevation angle is 76 degrees or more, the feeding length threshold may be changed depending on the elevation angle, such as not changing.
However, in the present embodiment, the setting of the detection current is not changed depending on the feeding length of the composite cable 20. When the payout length of the composite cable 20 becomes long, it is necessary to apply a large torque so as to wind the composite cable 20 with a stronger force (increase the setting of the detection current). Of these, the outer shape of one turn of the composite cable 20 located on the outermost side is reduced, and the tension applied to the composite cable 20 is increased even with the same detection current setting. In this way, it is considered that it is offset to some extent.

  When the detection current setting is changed depending on the feeding length of the composite cable 20, the integrated encoder value N of the rotation sensor 78 is calculated in order to obtain the feeding length of the composite cable 20. The integrated encoder value N is calculated assuming that the state where the composite cable 30 is fully wound around the drum 72 is zero. When the drum 72 is rotating in the winding direction, the number of pulses of the rotation sensor 78 is subtracted. When the drum 72 is rotating in the feeding direction, the number of pulses of the rotation sensor 78 is added. N is obtained.

  The integrated encoder value N and the length L of the composite cable 20 sent out are not in a proportional relationship, and the gradient gradually decreases as the integrated encoder value N increases. This is because the length of the composite cable 20 wound by one rotation of the drum 72 increases as the composite cable 20 is wound more. Based on this point, the transmission length L of the composite cable 20 may be calculated from the integrated encoder value N, or simply the average length per turn × N.

  Even when it is necessary to obtain the outer shape D of one turn portion of the composite cable 20 located on the outermost side of the composite cable 20 wound around the drum 72, it may be calculated based on the fact that it varies depending on the integrated encoder value N. The average diameter may be used.

(Correction 2)
In the correction of the rotation direction in the correction 1, when the flying object 30 moves in the direction away from the ground portion 10, the setting of the detected current is changed after the drum 72 rotates in the direction in which the composite cable 20 is fed out. On the other hand, the correction 2 changes the setting of the detection current before the drum 72 rotates in the feeding direction based on the operation information of the wireless controller 50 of the flying object 30.
That is, the altitude / position information of the flying object 30 obtained by the atmospheric pressure sensor 47 (corresponding to the flying object height measuring means) and the GPS receiver 48 (corresponding to the flying object position grasping means) incorporated in the flying object 30, and the reel Based on the altitude and position information of the reel device 70 obtained by the atmospheric pressure sensor 773 and the GPS receiver 774 built in the device 70, the electrical generated by the inclination of the lever (not shown) of the wireless controller 50 or the like. The speed at which the flying object 30 moves away from the ground part 10 is calculated from the magnitude of the signal, and when this speed exceeds a predetermined value, the setting of the detection current is changed to one smaller.

  Note that when the detection current setting is changed by the correction 1 and / or the correction 2, the detection current is not changed instantaneously but is gradually changed.

  In this embodiment, the motor 77 is used to control the torque for the drum 72 by setting the current detected by the current detection circuit 771a to a predetermined value. However, the rotational torque can be controlled. When the torque is applied in the reverse rotation direction beyond the set torque, a substitute can be used as long as the reverse rotation is possible. As an alternative possibility, for example, an air friction shaft can be considered.

  In the present embodiment, although not shown, the reel device 70 is provided with an alignment mechanism. When the composite cable 20 is wound around the drum 72, the alignment mechanism moves the composite cable 20 in the axial direction of the drum 72 as the drum 72 rotates, and moves the composite cable 20 when reaching the end position of the moving process. This is a well-known mechanism capable of winding the composite cable 20 around the drum 72 substantially uniformly in the axial direction by reversing the direction and repeating this.

As shown in FIG. 2, the composite cable 20 is composed of two conductive wires 21 for feeding power, one optical fiber 22, and a tension member 23 made of aramid fiber.
The conductive wire 21 is an annealed copper stranded wire having a cross-sectional area of approximately 0.5 square millimeters. More specifically, 64 conductors having a diameter of 0.10 mm are twisted together. In order to give the composite cable 20 flexibility, an annealed copper stranded wire is desirable as in this embodiment. The conductive wire 21 is provided with a coating 24 made of polypropylene.

The optical fiber 22 is a single mode (SM) optical fiber. The optical fiber 22 is provided with an aramid fiber outer sheath 25 on a 0.9 mm core and a polyethylene outer sheath 26 on the outer side thereof.
The tension members 23 are polyparaphenylene terephthalamide, and three concentric circles are arranged.
A press-wound tape (plastic tape) 27 is provided on the outer side of all the conductive wires 21, the optical fiber 22, and the tension member 23, and a polyolefin jacket 28 is provided on the outer side thereof. The mass of the composite cable 20 is approximately 30 grams per meter.

  As shown in FIG. 3, the flying body 30 includes an airframe 31, six main rotor blades (rotors) 32, six DC motors 33, an imaging device 35, and a housing unit 40. As shown in FIG. 1, the accommodating portion 40 includes two DC-DC converters 41, an electro-optical converter 42 (first electro-optical converter), a battery 43, a control device 44, and a gyro sensor. 45, an acceleration sensor 46, an atmospheric pressure sensor (corresponding to a flying body altitude measuring means) 47, a GPS receiver 48 (corresponding to a flying object position grasping means), and a wireless communication unit 51 are accommodated.

The flying body 30 is a so-called hexacopter (six-rotor) type multi-copter, and the main mechanism is similar to a well-known technique. For example, a gyro sensor 45 and an acceleration sensor 46 are used for posture control. The number of the main rotor blades 32 is not limited to six and is appropriately selected, but any of four, six, and eight is preferable.
In the present embodiment, the number of DC-DC converters 41 is two, but may be one depending on the relationship between the output current of the DC-DC converter 41 and the power consumption consumed by the entire vehicle 30. And it can also be 3 or more.

  The DC motor 33 is a brushless motor with a rated voltage of 24 V, and the rotation speed is PWM-controlled by the control device 44. Each DC motor 33 is connected to each main rotor blade 32.

  The DC-DC converter 41 lowers the high-voltage direct current transmitted from the ground unit 10 to the rated voltage of the DC motor 33, and is a well-known technique. The reason why the power supply device 11 transmits high-voltage power is to reduce the current flowing through the conductive wire 21 in the composite cable 20. In addition, the reason why the direct current is used is that when the alternating current is used, the transformer for stepping down the high voltage becomes heavier than the direct current.

  The photographing device 35 is for photographing a still image or a moving image, and is a so-called color camera.

  The electro-optical converter 42 converts the electric signal output from the photographing device 35 into an optical signal, and is a well-known technique.

  The battery 43 has a capacity capable of landing safely (can fly for several minutes) even when power transmission from the ground unit 10 stops for some reason while the flying object 30 is flying at the highest altitude. . The battery 43 is normally connected to a charging circuit, and is automatically connected to the control device 44 when power transmission is stopped.

  The air vehicle system 1 performs power feeding to the air vehicle 30 and transmission of video and image signals from the air vehicle by the composite cable 20, but the maneuvering is performed by a general wireless system. This is because a wireless flying object system is generally commercially available and can be manufactured at a lower cost by using many of its functions.

  The operator controls the angle between the flying object 30 and the imaging device 35 using the wireless controller 50 while visually checking the flying object 30. At that time, the altitude / position information transmitted from the flying object 30 may be referred to. In this embodiment, the air pressure sensor (altimeter) 47 and the GPS receiver 48 are mounted on the flying object 30, and altitude / position information is transmitted to the wireless controller 50 via the control device 44 and the wireless communication unit 51. It has become so. The altitude / position information is displayed on a display screen provided in the wireless controller 50. The wireless controller 50 is electrically connected to the motor controller 772 of the reel device 70.

  The wireless communication unit 51 receives a signal wirelessly transmitted from the wireless controller 50 and transmits the signal to the control device 44 and the imaging device 35. The control device 44 controls the rotational speed of the DC motor 33 based on the signal, and controls the altitude and the traveling direction of the flying object 30. The photographing device 35 changes the photographing direction based on the signal.

The aircraft system 1 can be used for a long time without worrying about the remaining amount of the battery. In addition, since the photographing device 35 and the monitor display 60 are connected by a cable, it is possible to view beautiful images and images free from noise in real time. Because it is wired, it is not bound by the restrictions of the Radio Law. In addition, when the video is confidential information, there is less risk of information leakage compared to wireless.
The monitor display 60 can be a notebook computer, a tablet computer, or the like.

(Second embodiment)
Next, the structure of the air vehicle system 2 which is 2nd embodiment is demonstrated mainly with reference to FIG. In the following description, members having the same or equivalent configuration as the aircraft system 1 are denoted by the same reference numerals in the drawings, and description thereof is omitted.
As shown in FIG. 4, the flying vehicle system 2 includes a ground unit 210, a composite cable 220, a flying object 230, and a reel device 70 provided in the vicinity of the ground unit 210. One end of the composite cable 220 is connected to the ground unit 210, and the other end is connected to the flying object 230 via the reel device 70 to the ground unit 210. That is, the ground unit 210 and the flying object 230 are connected by the composite cable 220 via the reel device 70.

  The ground unit 210 includes an engine generator 213 that generates an AC voltage of 100V. The ground unit 210 includes a power supply device 11 that generates a DC voltage of 360 V from an AC voltage of 100 V. In the present embodiment, the AC voltage generated by the generator 213 is 100V, but it goes without saying that the voltage may be other than 100V. In this embodiment, an AC voltage is generated by a generator and a high-voltage DC voltage is generated from the AC voltage. However, a large high-voltage battery (200 V or more) is used as a power source without using the generator. Also good.

The ground unit 210 includes a controller 250 for manually maneuvering the flying object 230 and a communication unit 251. The ground unit 210 includes an electro-optic converter 214 (second electro-optic converter) that converts an electrical signal transmitted from the communication unit 251 into an optical signal.
As a result, the flight does not become unstable due to radio interference.
Further, the ground unit 210 includes a monitor display 60. As a result, even in a situation where the flying object cannot be seen, it is possible to maneuver while viewing the video and information (such as altitude information) sent from the flying object 230.
Note that the communication unit 251 is also connected to the reel device 70.

  The ground unit 210 includes four wheels 215, four DC motors 216, a control device 217 that controls the DC motors, and a camera 218. The wheel 215 is connected to the DC motor 216. The control device 217 can recognize a target by the video of the camera 218 and thereby recognize its own position. Further, the control device 217 controls the DC motor 216 based on the recognized position information of the self, and autonomously moves the ground unit 210 along the set movement route. These techniques are all known techniques.

As a power source for the control device 217, 100V AC output from the engine generator 213 is stepped down to 24V DC by an AC-DC converter (not shown).
In this embodiment, four-wheel drive is used, but two-wheel drive may be used. The wheel 215 is free when manually pushed. The position signal of the ground unit 210 is sent to the communication unit 251 and sent to the flying object 230 via the electro-optical converter 214.
In addition to the flying object 230, the ground unit 210 also moves autonomously, so that a wider range can be automatically monitored.

As shown in FIG. 5, the composite cable 220 includes two power supply conductive wires 21, two optical fibers 22, and a tension member 23 made of an aramid fiber.
One tension member 23 is disposed at the center of the composite cable 220. The mass of the composite cable 220 is approximately 34 grams per meter.

  Like the flying object 30, the flying object 230 includes an airframe 31, six main rotor blades (rotors) 32, six DC motors 33, an imaging device 35, and a housing 40, as shown in FIG. As shown in FIG. 2, the housing unit 40 includes two DC-DC converters 41, an electro-optical converter 42, a battery 43, a control device 44, a gyro sensor 45, an acceleration sensor 46, and an atmospheric pressure sensor ( An altimeter 47, a GPS receiver 48, and a photoelectric converter 249 (second photoelectric converter) are accommodated. In the present embodiment, the number of DC-DC converters 41 is two. However, depending on the relationship between the output current of the DC-DC converter 41 and the power consumption consumed by the entire vehicle 230, it may be one, It is the same as the air vehicle system 1 that three or more can be used.

  The photoelectric converter 249 converts the optical signal sent from the ground unit 100 into an electrical signal, and is a well-known technique.

  The flying object 230 can recognize the altitude by an atmospheric pressure sensor (altimeter) 47. Further, the photographing device 35 and the control device 44 can recognize a target and recognize its own position. The control device 44 controls the DC motor 33 based on the recognized altitude information and its own position information, and causes the flying object 230 to fly autonomously along the set flight path. These techniques are all known techniques.

The contents described above relate to an embodiment of the present invention, and do not mean that the present invention is limited to the above contents. For example, when a predetermined condition is satisfied (for example, when the flying object 30 has entered a prohibited flight area), the forced winding mode (detection) in which the flying object 30 is wound with a winding torque that cannot be resisted. A current setting value (extra large) may be provided.
In the aircraft system 2, the composite cable 220 having the two optical fibers 22 is used. Of course, the optical fiber 22 may use the single composite cable 20 as in the aircraft system 1. It is. In this case, a well-known technique for performing bidirectional communication with one optical fiber 22 may be used.
The flying object 30 may include a sensor such as an infrared sensor, a chemical substance detection sensor, a temperature sensor, and a radiation sensor.
Further, the numerical values (dimensions) described in the present embodiment are not limited to this, but are design matters.

1-aircraft system (first embodiment)
Two-aircraft system (second embodiment)
DESCRIPTION OF SYMBOLS 10 Ground part 11 Power supply device 12 Photoelectric converter (2nd photoelectric converter)
DESCRIPTION OF SYMBOLS 13 Barometric pressure sensor 14 GPS receiver 20 Composite cable 21 Conductive wire 22 Optical fiber 23 Tension member 30 Aircraft body 31 Aircraft body 32 Main rotor blade 33 DC motor 35 Imaging device
40 housing part 41 DC-DC converter 42 electro-optic converter (first electro-optic converter)
43 Battery 44 Control Device 45 Gyro Sensor 46 Acceleration Sensor 47 Air Pressure Sensor 48 GPS Receiver 50 Wireless Controller 60 Monitor Display 70 Reel Device 71 Support 72 Drum 73 First Side Plate 74 Blower 77 Second Side Plate 210 Ground Unit 213 Engine Type Generator 214 Electric light converter (second electric light converter) 215 Wheel 216 Motor 217 Control device 218 Camera 220 Composite cable 230 Aircraft 249 Photoelectric converter (second photoelectric converter)
250 controller 251 communication unit

Claims (2)

A flying object system that flies by the driving force of a motor,
A ground unit installed on the ground and having a power supply;
A cable having a first end connected to the ground portion;
An aircraft connected to the second end of the cable;
A reel device installed on the ground and winding the excess of the cable;
A controller for maneuvering the flying object;
The aircraft is
A DC motor for driving the main rotor blade;
Aircraft altitude measuring means for measuring its own altitude,
Air vehicle position grasping means for grasping its own position,
The reel device is
A cylindrical drum around which the cable is wound;
A motor for rotating the drum;
A rotation sensor capable of measuring the rotation direction and rotation speed of the drum;
Current detecting means for detecting a current flowing through the coil of the motor;
A motor controller for controlling the torque generated by the motor based on the current value detected by the current detection means;
Reel device altitude measuring means for measuring its own altitude,
Reel device position grasping means for grasping its own position,
The motor controller is
Basically, the motor is controlled by generating torque in the direction in which the cable winds the cable by making the current value detected by the current detection means coincide with a preset standard setting value. And
When the operator operates the controller, information obtained from the flying object height measuring means, the flying object position grasping means, the reel device height measuring means, and the reel device position grasping means, On the basis of the operation information of the controller, if it is determined that the flying object moves away from the reel device at a predetermined speed or higher, the set value of the detected current value is made smaller than the standard set value. Aircraft system that compensates and controls. A flying object system that flies by the driving force of a motor,
A ground unit installed on the ground and having a power supply;
A cable having a first end connected to the ground portion;
An aircraft connected to the second end of the cable;
A reel device installed on the ground and winding the excess of the cable,
The aircraft is
A DC motor for driving the main rotor blade;
Aircraft altitude measuring means for measuring its own altitude,
Air vehicle position grasping means for grasping its own position,
The reel device is
A cylindrical drum around which the cable is wound;
A motor for rotating the drum;
A rotation sensor capable of measuring the rotation direction and rotation speed of the drum;
Current detecting means for detecting a current flowing through the coil of the motor;
A motor controller for controlling the torque generated by the motor based on the current value detected by the current detection means;
Reel device altitude measuring means for measuring its own altitude,
Reel device position grasping means for grasping its own position,
The motor controller is
Basically, the motor is controlled by generating torque in the direction in which the cable winds the cable by making the current value detected by the current detection means coincide with a preset standard setting value. And
Based on the information obtained from the flying object height measuring means, the flying object position grasping means, the reel device height measuring means, and the reel device position grasping means, the flying object is viewed from the reel device. When the elevation angle is larger than a predetermined value, the detected current value setting value is corrected so as to be continuously or stepwise smaller than the standard setting value. A vehicle system that controls and corrects and controls so that the set value of the detected current value becomes larger or larger than the standard set value as the elevation angle is smaller than a predetermined value. .

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