JP2020011592A - Mobile air vehicle device - Google Patents

Abstract

To provide a mobile air vehicle device which prevents falling of an air vehicle during transportation to achieve improvement of durability of the air vehicle and secure the operation rate for a long time and is advantageous for performing monitoring work reliably.SOLUTION: An air vehicle takeoff and landing part 44 is provided with a falling prevention part 62 which prevents an air vehicle 38 from falling from the air vehicle takeoff and landing part 44 when the air vehicle takeoff and landing part 44 is transported by an unmanned work machine 12A for transportation in a state where the air vehicle 38 is placed on the air vehicle takeoff and landing part 44. Even if an area where the unmanned work machine 12A for transportation travels is an off-road area and swinging and vibration occurring during traveling act on the air vehicle 38 placed on the air vehicle takeoff and landing part 44, the falling prevention part 62 prevents falling of the air vehicle 38 from the air vehicle takeoff and landing part 44.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a mobile aircraft device.

2. Description of the Related Art Conventionally, in a dangerous work site where humans cannot enter, for example, in a work site that transports sediment deposited due to an eruption of a volcano, work such as a crawler dump, a bulldozer, a backhoe, etc., which is remotely operated by unmanned operation. Machines are used, and various operations are performed unattended.
In addition, a remote control device connected to the work machine via a wireless line is installed at a control station away from the work site, and when the operator operates the remote control device, command information is transmitted via the wireless line. The work machine is transmitted to the machine and remotely operated based on the command information.
Further, the work machine is provided with a camera, image information captured by the camera is transmitted to a work place via a wireless line, and the image information is displayed on a monitor device installed at the control center. Remote control of the work machine while monitoring
However, when a plurality of working machines work simultaneously at a work site, it is difficult to accurately grasp the positional relationship between the working machines that are close to each other only by image information from the cameras of the respective working machines, and There is room for improvement in avoiding contact situations.
On the other hand, in recent years, a flying object (drone) equipped with a camera and a battery has been used for surveillance purposes, and such a flying object is flown over the work site to image a plurality of work machines and obtain image information. It is conceivable that the position relationship between the working machines can be accurately grasped by obtaining the information.

JP 2007-13554 A

However, since the capacity of the battery mounted on the flying object is limited, the flying time of the flying object can usually be secured only about 15 minutes.
The flying object needs to fly to a work site remote from the control center, monitor for a predetermined time, and then fly again to the control center to charge the battery.
Since the battery power is consumed by the flight required for the round trip between the control center and the work site, the flight time for monitoring the work machine must be short, and the monitoring of the work machine is prolonged. The disadvantage is that it cannot be performed continuously over time.

Therefore, a housing containing a power supply unit such as a large-capacity battery and a power generator is provided, and a flying object connected to the power supply unit via a power supply cable is placed on top of this housing, and an unmanned vehicle for transportation is placed. It is conceivable that the housing is carried to the work site by a work machine, and the flying object is caused to fly at the work site by supplying power from the power supply unit to the flying object via a power supply cable.
According to such a method, it is possible to continuously monitor the work machine by the flying object for a long time.
However, when the work machine is monitored, when it is transported from the control center to the work site by an unmanned transport machine, or when it is transported from the work site to the control center by an unmanned transport machine after monitoring. In many cases, the location where the unmanned working machine for transportation travels is rough terrain, and shaking or vibration during traveling acts on the flying object on the housing.
Therefore, depending on the magnitude of shaking and vibration, the flying object falls from the housing to the ground, and the flying object is dragged and moved by the power supply cable. There is a concern that the member may be damaged or deteriorated.
The present invention has been made in view of such circumstances, and its purpose is to prevent a flying object from dropping during transportation, improve the durability of the flying object, secure an operation rate for a long time, and perform monitoring work. It is an object of the present invention to provide a mobile aircraft device that is advantageous in reliably performing the operation.

  In order to achieve the above-described object, the present invention includes a housing in which a power supply unit is housed and an upper part of which is an airplane landing unit, and a flying object connected to the power supply unit via a power supply cable. In a mobile aircraft device, a drop-off prevention unit that prevents the flying object from dropping off from the landing unit for the flying object when the mobile aircraft device moves is provided at the landing unit for the flying object. It is characterized by having.

ADVANTAGE OF THE INVENTION According to this invention, when a flying object landing part is conveyed by the unmanned working machine for conveyance in a state where a flying object is mounted on the landing part for flying object, flight of the flying object A drop-out prevention part is provided to prevent the drop-off from the body landing part.
Therefore, even if the unmanned working machine for transportation travels on uneven terrain, and the shaking or vibration during traveling affects the flying object placed on the landing part for the flying object, it will not fall out. The part prevents the flying object from dropping out of the landing part for the flying object.
Therefore, the flying object falls to the ground from the housing due to shaking or vibration, and the flying object is impacted by dragging the flying object with the power supply cable, and the components and members constituting the flying object are damaged or deteriorated. Is prevented, the durability of the flying object can be improved, the operation rate can be secured for a long period of time, and it is advantageous in that the monitoring operation is reliably performed.

FIG. 1 is a configuration diagram illustrating an overall configuration of a remote control system for a work machine to which a mobile flying machine device for a work machine according to a first embodiment is applied. It is an explanatory view for explaining the operation of the mobile flying device. It is a side sectional view of a case. It is a top view of a case. It is a side sectional view showing the state where the flying object was mounted on the deck of the case. It is a block diagram showing composition of a control place, a case, and a flying object in a 2nd embodiment. It is a side view of a case in a 2nd embodiment, and shows a state where an arm is located in the 1st swing position. It is a top view of a case in a 2nd embodiment, and shows the state where an arm was located in the 1st swing position. It is a side view showing the state where the flying object was mounted on the housing in the second embodiment, and shows the state where the arm was located at the first swing position. It is a top view showing the state where the flying object was mounted in the case in a 2nd embodiment, and shows the state where an arm was located in the 2nd swing position. It is a side view showing the state where the flying object was mounted on the housing in the second embodiment, and shows the state where the arm was located at the second swing position. It is XX sectional drawing of FIG. It is a block diagram showing composition of a control place, a case, and a flying object in a 3rd embodiment. It is a side view showing the state where the flying object was mounted in the case in a 3rd embodiment. It is a block diagram showing composition of a control place, a case, and a flying object in a 4th embodiment. It is a side view of a case in a 4th embodiment, and shows the state where a drive arm was located in the 1st swing position. It is a top view of a case in a 4th embodiment, and shows the state where a drive arm was located in the 1st swing position. It is a side view showing the state where the flying object was mounted on the housing in a 4th embodiment, and shows the state where the drive arm was located in the 2nd swing position. FIG. 19 is a sectional view taken along line XX of FIG. 18.

(First Embodiment)
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
First, a remote control system for a work machine to which the mobile aircraft device according to the present invention is applied will be described.
As shown in FIG. 1, the remote operation system includes a control center 10 and a plurality of work machines 12.
The control center 10 is provided at a place apart from a dangerous work site where a person who performs the work of the work machine 12 cannot enter, and is a place where a worker remotely controls the work machine 12.
In this specification, the work site includes a work area 13 where a plurality of work machines 12 work, and a location around the work area 13 where the housing 36 is placed.
The control center 10 is provided with a work machine remote control command unit 14, a first communication unit 16, a first display unit 18, a flying object remote control command unit 22, a second communication unit 24, and a second display unit 26. ing.
Further, the control station 10 is provided with a fuel tank (not shown) that is larger than a fuel tank 48 of the casing 36 described later.

The work machine remote control command unit 14 generates work machine operation command information for remotely controlling the work machine 12 by operating an operation member such as a joystick.
The first communication unit 16 communicates with the work machine-side communication unit 30 of the work machine 12 via the first wireless line C1, and has a first antenna 1602 for the first wireless line C1.
That is, the first communication unit 16 transmits the work machine operation command information to the work machine side communication unit 30 of the work machine 12 via the first wireless line C1.
In the present embodiment, the frequency band of the first wireless line C1 is the 2.4 GHz band, and is relatively distant even if there is an obstacle between the first communication unit 16 and the work machine-side communication unit 30. The radio waves reach the station so that communication can be performed without any trouble.
Further, the first communication unit 16 receives image information captured by the work machine side camera 28 from the work machine side communication unit 30 of the work machine 12 via the first wireless line C1.
The first display unit 18 displays the image information received by the first communication unit 16.
Therefore, the worker is designed to be able to remotely operate the work machine 12 based on the image information displayed by the first display unit 18.

The flying object remote control command unit 22 generates flying object operation command information for remotely operating the flying object 38 by an operator operating an operation member such as a joystick.
The second communication unit 24 communicates with the flying vehicle 38 via the second wireless line C2 and the housing-side communication unit 50 of the housing 36, and transmits flying vehicle operation command information to the flying vehicle 38, It receives image information transmitted from the body 38 and has a second antenna 2402 for the second wireless channel C2.
In the present embodiment, the frequency band of the second wireless channel C2 is a 25 GHz band, which is higher than the frequency band of the first wireless channel C1.
The second display unit 26 displays the image information received by the second communication unit 24.
Therefore, the operator remotely controls the flying object 38 based on the image information displayed by the second display unit 26, and also operates the plurality of work machines 12 and the work machines 12 based on the image information. It is designed so that the positional relationship can be grasped.

The work machine 12 includes a work machine-side camera 28, a work machine-side communication unit 30, a work machine-side control unit 32, an actuator 34, and an operation lever 35.
The work machine-side camera 28 is attached to the vehicle body of the work machine 12 and captures an image of the periphery of the work machine 12 to generate image information.
The work machine side communication unit 30 communicates with the first communication unit 16 via the first wireless line C1, has a work machine side antenna 3002, and receives a work machine operation command via the first wireless line C1. The information is received, and the image information generated by the work machine-side camera 28 is transmitted to the first communication unit 16 via the first wireless line C1.
The work machine control unit 32 operates the actuator 34 based on the work machine operation command information received by the first communication unit 16 via the first wireless line C1.
The operation lever 35 is operated when running, stopping, and performing various operations of the work machine 12, and a plurality of operation levers 35 are provided.
The actuator 34 is provided for each operation lever 35 and operates each operation lever 35.

Next, the mobile flying device 20 of the present embodiment will be described.
The mobile aircraft device 20 monitors a plurality of work machines 12 remotely controlled via the first wireless line C1.
The mobile flying device 20 includes a housing 36, a flying vehicle 38, and a connection cable 40 that connects the housing 36 to the flying vehicle 38.
The connection cable 40 includes a power supply cable 4002 for supplying power of a generator 4604 (see FIG. 4) described later to the flying vehicle 38 and a communication cable for transmitting information between the housing-side communication unit 50 and the flying vehicle-side communication unit 54. 4004.

The housing 36 is placed on the ground near the work area 13 of the work machine 12.
As shown in FIG. 2, specifically, the housing 36, together with the flying vehicle 38 and the connection cable 40, transports the forklift or the like between the control center 10 and a location near the work area 13 of the work machine 12. The work machine 12A is transported by the unmanned work machine 12A and is placed on the ground near the work area 13 of the work machine 12 when the work machine 12 is monitored.
The unmanned work machine 12A for transport is also remotely controlled by the work machine remote control command unit 14 of the control center 10, similarly to the work machine 12 performing work at the work site.

As shown in FIGS. 3 and 4, the upper portion of the housing 36 is a flying body landing / deploying portion 44, and inside the housing 36 is a power generating device 46 for generating power using fuel, and a fuel tank for storing fuel. The housing, the housing-side communication unit 50, and the winding unit 52 are housed therein, and the housing 36 is waterproof so that rainwater does not enter the inside during rainfall.
The housing 36 has a rectangular shape in a plan view, and has a rectangular bottom wall 3602, four side walls 3604 rising from four sides of the bottom wall 3602, an upper wall 3606 connecting upper portions of the four side walls 3604, and a bottom wall. It is provided with four legs 3608 vertically provided from four corners of the wall 3602.
Since the four legs 3608 are placed on the ground to form a space between the ground and the bottom wall 3602, the fork of the unmanned working machine 12A is inserted into this space to transport the housing 36. It is designed to be easily performed.

The power generator 46 includes an engine 4602 and a generator 4604.
Engine 4602 generates power by burning fuel supplied from fuel tank 48.
Generator 4604 is driven by the power of engine 4602 to generate power.
The fuel tank 48 is configured to include a tank body 4802 and a fuel supply port 4804.
The engine 4602, the generator 4604, and the tank body 4802 are arranged on one side in the housing 36, and an oil supply pipe 4806 protruding from the tank body 4802 penetrates the side wall 3604, and oil is supplied to an end of the oil supply pipe 4806. The port 4804 is located outside the housing 36, and the refueling port 4804 can be opened and closed by a refueling cap 4808.
The tank body 4802 can store, for example, about 10 to 15 liters of fuel, and the electric power generated by the generator 4604 ensures a continuous flight time of the flying object 38 of about 9 hours to 10 hours.
The start of the power generation device 46 is provided to the engine 4602 in the control station 10 before being transported from the control center 10 to a location near the work area 13 of the work machine 12 by the unmanned working machine 12A for transportation, for example. This is accomplished by manually pulling the recoil starter rope and forcibly rotating the crank of engine 4602.
The stop of the power generation device 46 is performed, for example, by operating a stop button provided on the engine 4602.
In the present embodiment, a power supply unit is configured by the power generation device 46.

As shown in FIG. 1, the casing communication unit 50 communicates with the air vehicle remote control command unit 22 provided in the control center 10 and communicates with the air vehicle communication unit 54 of the air vehicle 38. As shown in FIG. 4, the power of the generator 4604 is supplied to the housing-side communication unit 50 via the wiring unit 51, and the housing-side communication unit 50 is connected to the other side of the housing 36, as shown in FIG. Are located in
The housing-side communication unit 50 has a housing-side antenna 5002 for the second wireless line C2, and transmits the flying object operation command information transmitted from the flying object remote control command unit 22 via the second wireless line C2 to a communication cable. The image information transmitted to the flying object 38 via the communication cable 4004 and received via the communication cable 4004 via the communication cable 4004 is transmitted to the flying object 38 via the second wireless line C2. Send to

The winding unit 52 winds and unwinds the connection cable 40 including the power supply cable 4002 and the communication cable 4004.
The winding unit 52 is configured to include a winding drum 5202. The winding drum 5202 is constantly urged in the rotational direction for winding the connection cable 40, and the flying body 38 flies with a thrust against the urging force. As a result, the connection cable 40 is paid out from the winding cylinder 5202.
Therefore, a fixed tension acts on the connection cable 40 that has been fed out, so that the connection cable 40 is prevented from sagging.

As shown in FIG. 5, the flying body 38 includes a flying body 3802, legs 3804 provided below the flying body 3802, and a plurality of rotors 3806 provided on the flying body 3802. By rotating the rotor 3806, it flies in the air or stops (hovers) in the air. In the drawing, reference numeral 3810 denotes a guard ring for protecting the rotor 3806.
As shown in FIG. 1, the flying vehicle 38 further includes a flying vehicle communication unit 54, a flying vehicle camera 56, a flying vehicle control unit 58, and a plurality of motors 60 provided for each rotor 3806 to rotate the rotor 3806. It is comprised including.
The projectile-side communication unit 54 receives the flight object operation command information from the case-side communication unit 50 via the communication cable 4004, and transmits the image information captured by the projectile-side camera 56 via the communication cable 4004 to the case-side communication unit. 50.
The flying object camera 56 is attached to the flying object main body 3802 and supplies captured image information to the flying object communication unit 54.
The flying object-side control unit 58 controls the rotation of each motor 60 based on the flying object operation command information received by the flying object-side communication unit 54, so that the flying object 38 flies and stops.
The vehicle-side communication unit 54, the vehicle-side camera 56, the vehicle-side control unit 58, and the motor 60 operate with power supplied from the power generation device 46 of the housing 36 via the power supply cable 4002.

As shown in FIGS. 4 and 5, the vehicle landing / deployment unit 44 is provided at an upper portion of the housing 36 and is a place where the vehicle 38 takes off and land. It is composed of a wall 3606.
An insertion hole 3610 for the connection cable 40 that is wound and fed out by the winding unit 52 is provided at the center of the flying object landing / deploying unit 44.
A sealing material 41 is mounted in the insertion hole 3610, and the connection cable 40 is configured to be wound up and taken out by the winding unit 52 via the sealing material 41.
Therefore, rainwater is prevented from entering the inside of the housing 36 from the insertion hole 3610.
Further, the flying body landing section 44 is configured to include a cushion material 45, and the surface of the flying body landing section 44 is formed of the cushion material 45 in the present embodiment.
By configuring the landing / deployment section 44 for a vehicle including the cushioning material 45 in this way, the mobile aircraft apparatus 20 can perform unmanned work for transportation while the flying body 38 is mounted on the landing / deployment section 44 for a vehicle. When transported by the machine 12A, the vibration received by the housing 36 is prevented from being directly transmitted to the flying vehicle 38, and the durability of the flying vehicle 38 is enhanced.
As the cushion material 45, various conventionally known materials such as urethane foam, soft rubber, and sponge can be used.

Further, as shown in FIGS. 3 to 5, a drop-out prevention unit 62 is provided in the flying object landing / deployment unit 44.
The drop-off prevention unit 62 is used to move the flying object 38 of the flying object 38 when the mobile flying device 20 is transported by the unmanned working machine 12A while the flying object 38 is placed on the landing / deployment unit 44 for the flying object. It is intended to prevent the dropping out of the use attaching / detaching portion 44.
In the present embodiment, the drop-out preventing portion 62 is constituted by an upright portion 64 that stands up from the periphery of the landing / deployment portion 44 for a vehicle, and the upright portion 64 rises from the entire periphery of the upper wall 3606. 6402.
The upright portion 64 only needs to be able to prevent the falling off of the flying body 38, and the upstanding portion 64 may be one in which a gap is partially formed like a fence. An upright wall may be provided upright at intervals in the circumferential direction around the entire periphery of the attaching / detaching portion 44.
In addition, the height of the upright wall 6402 and the fence may be at least half the height of the flying body 38 when the flying body 38 is mounted on the landing / deployment section 44 for the flying body. This is more advantageous in preventing the flying object 38 from dropping out.

Next, a method of using the mobile aircraft 20 will be described.
The mobile aircraft device 20 having the flying body 38 mounted on the flying body landing portion 44 is stored in the control center 10 away from the work site.
At this time, almost the entire length of the connection cable 40 is wound by the winding unit 52, and the leg portion 3804 of the flying body 38 is stably placed on the flying body landing section 44 by the tension of the connection cable 40. This is advantageous in preventing the flying body 38 from falling from the flying body landing / deployment section 44 due to vibration or impact during transportation.
Before transporting the work machine 12 to a location near the work area 13, the engine 4602 is started in the control center 10 so that the power of the generator 4604 is supplied to each unit.

Next, the fork of the unmanned working machine 12A for transportation such as a forklift is inserted into the space between the bottom wall 3602 of the housing 36 of the mobile aircraft device 20 and the ground, and the mobile aircraft device 20 is lifted. The unmanned working machine 12A is transported by remote control from the control center 10 to a location near the working area 13 of the working machine 12, and the fork is lowered to place the mobile flying machine 20 on the ground near the working area 13. Place.
During the traveling of the transporting work machine, the flying body 38 located on the flying body landing section 44 is surrounded by the upright section 64 (upstanding wall 6402) constituting the dropout prevention section 62, so that shaking and vibration are caused. Acts on the flying body 38, the falling of the flying body 38 is prevented.
In addition, the unmanned working machine 12A for transportation may be returned to the control center 10 once, or may be in a state of waiting near the housing 36.
Alternatively, the transporting work machine 12A is stopped at a location near the work area 13 while the mobile flying machine device 20 is held by the fork, and after the work is completed, the mobile flying machine 12A is moved by the transporting work machine 12A. The device 20 may be transported to the control center 10.
The operator operates the flying object remote control command unit 22 while visually recognizing the image information displayed on the second display unit 26 at the control center 10 to fly the flying object 38, and the plurality of work machines 12 The remote control of the flying object 38 is performed so that the image information obtained by capturing the work state of the aircraft 38 is displayed on the second display unit 26.
When the desired image information is displayed on the second display unit 26, remote control is performed so that the flying object 38 stops in the air.
Thereby, the state in which the flying object 38 that flies by the power of the power generation device 46 is stopped in the air is maintained, and an image obtained by imaging the working state of the plurality of work machines 12 by the flying object camera 56 to which the power of the power generation device 46 is supplied. Information can be monitored continuously.
In addition, when the work machine 12 moves with the lapse of time and the work machine 12 deviates from the shooting range of the flying object camera 56, the operator operates the flying object remote control command unit 22 to operate the flying object camera 56. The remote control of the flying object 38 is performed so that the plurality of work machines 12 enter the shooting range.
In the present embodiment, work is performed by a plurality of work machines 12 in a plurality of work areas 13 respectively, and a mobile airplane device 20 including a flying object 38 for each work area 13 is mounted near those areas. The monitoring is performed by the flying object 38 for each work area 13.

When the work end time comes, the flying object 38 is operated by operating the flying object remote operation command unit 22 while visually recognizing the image information displayed on the second display unit 26. The landing is performed on the body landing section 44.
Next, the mobile flying machine 20 is collected by the unmanned working machine 12A for transportation by remote control and transported to the control center 10.
Even if shaking or vibration acts on the flying object 38 during transportation of the mobile flying object device 20 by the unmanned working machine 12A for transportation, the flight positioned on the landing / deployment part 44 for the flying object by the dropout prevention part 62 The fall of the body 38 is prevented as in the case described above.
When the transport unmanned work machine 12A reaches the control center 10, the mobile flying machine 20 is lowered from the transport unmanned work machine 12A, and the power generation device 46 stops generating power.
Then, as preparation for the next monitoring operation, the fuel supply cap 4808 of the fuel tank 48 is removed, fuel is supplied from the large fuel tank provided at the control station 10 to the fuel supply port 4804, and a series of operations are completed to complete the mobile operation. The aircraft 20 is stored in the control center 10.

According to the present embodiment, the flying object landing section 44 is transported to the flying object landing section 44 by the unmanned working machine 12A for transport while the flying body 38 is placed on the flying body landing section 44. In this case, a drop-out preventing portion 62 is provided to prevent the flying object 38 from dropping off from the landing / deployment portion 44 for the flying object.
Therefore, even when the place where the transporting unmanned working machine 12A travels is uneven terrain, and the shaking or vibration during traveling acts on the flying object 38 placed on the flying object landing / deploying section 44, The drop-off prevention unit 62 prevents the flying object 38 from dropping from the landing / deployment unit 44 for the flying object.
Therefore, the flying object 38 falls to the ground from the housing 36 due to shaking or vibration, and the flying object 38 is impacted by dragging the flying object 38 by the power supply cable 4002, and parts and members constituting the flying object 38 are damaged. Since it is prevented from dropping or deteriorating, the durability of the flying object 38 can be improved, the operation rate can be secured for a long period of time, and this is advantageous in that the monitoring operation is reliably performed.

  Further, in the present embodiment, since the dropout prevention unit 62 is configured by a simple structure such as the upright portion 64 that stands up from the periphery of the landing / wearing portion 44 for the flying object, the size, number, and arrangement of the rotors 3806 of the flying vehicle 38 Regardless of the structure or the size and number of the leg portions 3804 and the arrangement structure thereof, the falling off of the flying body 38 from the landing / deployment section 44 for the flying body can be reliably prevented. This is advantageous in reducing costs.

Further, according to the present embodiment, the power generation device provided in mobile flying device 20 mounted on the ground near work area 13 of work machine 12 remotely controlled via first wireless line C1 Since power is supplied to the flying object 38 from the power supply cable 46 through the power supply cable 4002, for example, monitoring of the remotely operated work machine 12 is continuously interrupted for 9 hours from 8:00 am to 5:00 pm It is advantageous in performing without.
The continuous monitoring of about 9 hours by the flying body 38 can be sufficiently performed if the capacity of the fuel tank 48 is about 10 to 15 liters. Monitoring can be realized, which is advantageous in efficiently and smoothly performing work by the plurality of work machines 12.

After the monitoring operation is completed, if the mobile aircraft 20 is transported to the control center 10 by the transporting unmanned working machine 12A, the refueling cap 4808 is removed and a large fuel tank (not shown) is placed in the fuel tank 48. By refueling, the preparation work for the monitoring work on the next day can be completed easily in a short time.
Therefore, in the present embodiment, it is sufficient to install a large fuel tank in the control station 10, and a large-capacity battery is carried by the unmanned work machine 12A for transportation to a location near the work area 13 of the work machine 12. In comparison with a case where the flying object 38 is made to fly by supplying the power of the battery to the flying object 38 via the power supply cable, the preparation work for performing the monitoring work on the next day can be performed in a very short time and easily. This is advantageous.
In particular, when a plurality of flying objects 38 are provided corresponding to the plurality of work areas 13, it is extremely advantageous in that the preparation operation can be performed easily in a short time.
In addition, the control station 10 does not require expensive charging equipment, and it suffices to install an inexpensive fuel tank as compared with the charging equipment. This is advantageous in reducing costs related to monitoring.
That is, when a large-capacity battery is carried to the work site by the unmanned working machine 12A for transportation and the flying object 38 is caused to fly by the power of the battery, it is necessary to install expensive charging equipment in the control center 10. Also, it takes time to fill a large capacity battery.
In particular, when a plurality of flying vehicles 38 are provided corresponding to a plurality of work areas 13, a plurality of large-capacity batteries must be charged. This is disadvantageous in reducing costs associated with monitoring.

In addition, since the control station 10 disposed at a position away from the housing 36 and the housing 36 are connected by the second wireless line C2 and the housing 36 and the flying object 38 are connected by the communication cable 4004, Interference between the second wireless circuit C2 and the first wireless circuit C1 can be avoided, which is advantageous in stably performing the remote operation of the plurality of work machines 12 and the remote operation of the flying object 38. This is advantageous in improving the stability and stabilizing the monitoring operation by the flying object 38.
In this case, since power is supplied from the power generation device 46 to the housing-side communication unit 50, communication with the control center 10 and communication with the flying object 38 are also stably performed, and monitoring of the work machine 12 is performed. This is advantageous for performing.
In addition, since the power generation device 46, the fuel tank 48, the housing-side communication unit 50, and the winding unit 52 of the housing 36 are housed in the waterproof housing 36, the work machine 12 can be monitored even during rainfall. This is advantageous in performing the work smoothly.

In addition, according to the present embodiment, since the insertion hole 3610 of the connection cable 40 that is wound and fed out by the winding unit 52 is provided at the center of the flying body landing / deploying unit 44, the flying body 38 is It can be stably placed at the center of the application part 44.
Therefore, when the mobile flying machine device 20 is carried by the carrying unmanned working machine 12A, it is advantageous in preventing the flying body 38 from being shifted or dropped from the flying body landing / deployment section 44, and the carrying unmanned working machine is used. This is advantageous in preventing the flying body 38 from being damaged during transportation by 12A and improving the durability of the flying body 38.

  Further, according to the present embodiment, since the surface of the flying body landing section 44 is formed of the cushioning material 45, the mobile flight with the flying body 38 placed on the flying body landing section 44 is performed. When the body device 20 is carried by the carrying unmanned working machine 12A, the vibration received by the housing 36 is not directly transmitted to the flying body 38, which is advantageous in increasing the durability of the flying body 38.

Further, according to the present embodiment, since the frequency band of second radio channel C2 is higher than the frequency band of first radio channel C1, interference between second radio channel C2 and first radio channel C1 is reliably avoided. This is advantageous in stably performing the remote operation of the plurality of work machines 12 and the remote control of the flying body 38, thereby improving the work efficiency of the work machine 12 and stabilizing the monitoring operation by the flying body 38. The above is advantageous.
Further, by increasing the frequency band of the second wireless line C2 connecting the casing 36 and the control center 10, the wireless transmission speed of the second wireless line C2 can be increased. This is advantageous in transmitting the image information of the capacity to the second display unit 26 of the control center 10 at high speed.
In addition, radio waves in a high frequency band have a property of being highly rectilinear and making it difficult for radio waves to reach a wide range, but since the housing 36 hardly needs to move once it is placed on the ground, the control Since the relative positional relationship between 10 and the housing 36 is substantially fixed, there is no problem in performing stable communication using the second wireless channel C2.
Specifically, if the direction of the second antenna 2402 of the second communication unit 24 of the control center 10 is adjusted in accordance with the direction of the housing antenna 5002 of the housing communication unit 50 of the housing 36, the second wireless Communication using the line C2 can be performed stably.

Further, in the present embodiment, the frequency band of the first wireless line C1 is set to the 2.4 GHz band, and the frequency band of the second wireless line C2 is set to the 25 GHz band. It can be advantageous.
Note that the frequency bands of the first wireless line C1 and the second wireless line C2 are not limited to the 2.4 GHz band and the 25 GHz band.
However, at least when the frequency band of the second wireless line C2 is higher than the frequency band of the first wireless line C1, interference between the first wireless line C1 and the second wireless line C2 can be avoided, and therefore, a plurality of work machines 12 This is advantageous in stably performing the remote operation of the flying object 38 and the remote operation of the flying object 38, and is advantageous in improving the working efficiency of the work machine 12 and stabilizing the monitoring operation by the flying object 38. Since the wireless transmission speed of the second wireless line can be increased, it is advantageous in transmitting high-capacity image information supplied from the vehicle-side camera 56 at high speed.

(Second embodiment)
Next, a second embodiment will be described with reference to FIGS.
In the following embodiments, the same parts and members as those in the first embodiment are denoted by the same reference numerals as those in the first embodiment, and description thereof will be omitted.
The second embodiment is different from the first embodiment in that the dropout prevention unit 62 is configured using a sheet 74 that covers the flying object 38.

As shown in FIG. 6, the control center 10 is provided with a remote control command unit 66 for preventing dropout in addition to the configuration of the first embodiment.
When the operator operates the dropout prevention remote control command unit 66, the dropout prevention remote control command unit 66 generates the dropout prevention unit operation command information and transmits the dropout prevention unit operation command information to the second position. The data is supplied to a later-described housing-side control unit 68 via the communication unit 24, the second wireless line C2, and the housing-side communication unit 50.

The housing 36 includes a housing-side control unit 68 in addition to the configuration of the first embodiment.
The housing-side control unit 68 controls an actuator 72, which will be described later, based on drop-out prevention unit operation command information received from the drop-out prevention remote operation command unit 66 via the second wireless line C2 and the housing-side communication unit 50. Things.
The housing-side control unit 68 and the actuator 72 operate by being supplied with power from the power generation device 46.

As shown in FIGS. 7 to 10, the dropout prevention unit 62 includes an arm 70, an actuator 72, and a seat 74.
The arm 70 is provided on the housing 36 and is swingable between a first swing position P1 (FIG. 7) and a second swing position P2 (FIG. 11).
In the present embodiment, the arm 70 includes a pair of arm bodies 7002 and a rod 7004.
The pair of arm main bodies 7002 is provided so as to sandwich the pair of opposed side walls 3604 of the housing 36.
The bases of the pair of arm bodies 7002 are arranged at the center in the width direction of the pair of side walls 3604, and as shown in FIGS. 7, 9 and 11, the first swing position P1 where the arm body 7002 is horizontally inclined. In the second swing position P <b> 2, the front ends of the pair of arm bodies 7002 are located at positions distant to the side of the housing 36.
In FIG. 11, the two-dot chain line connecting point A and point B indicates the movement of the tip of arm body 7002 when arm body 7002 swings from first swing position P1 to second swing position P2. Show the trajectory.

The actuator 72 is supported inside one side wall 3604 of the pair of side walls 3604, and the base of one arm main body 7002 is connected to the drive shaft 7202 of the actuator 72 that penetrates the one side wall 3604.
The actuator 72 is configured by a motor 72A, and the rotation of the motor 72A is controlled by the housing-side control unit 68.
When the drive shaft 7202 of the motor 72A rotates in the forward / reverse direction, the arm 70 moves to the first swing position P1 shown in FIGS. 7, 8, and 9, and the second swing position shown in FIGS. It is rocked between P2.
A bearing 76 is supported inside the other side wall 3604 of the pair of side walls 3604, and a support shaft 7010 is provided at the base of the other arm body 7002, and the support shaft 7010 penetrates the other side wall 3604 and rotates with the bearing 76. Supported as possible.
Note that the drive shaft 7202 and the support shaft 7010 are located coaxially and serve as a fulcrum of the pair of arm bodies 7002.
The rod 7004 extends in a direction orthogonal to the extending direction of the pair of arm bodies 7002, and connects the distal ends of the pair of arm bodies 7002.

The sheet 74 is formed of a flexible material, has a rectangular shape in plan view in the present embodiment, and has a rectangular shape in the present embodiment.
As shown in FIGS. 7 and 8, one short side of the sheet 74 is attached to a portion of the housing 36 near the base of the arm main body 7002 located at the first swing position P1. Are attached to the rod 7004.
The seat 74 opens above the vehicle landing section 44 at the first swing position P <b> 1 of the arm 70, takes off the flying body 38 from the vehicle landing section 44, and flies to the vehicle landing section 44. The body 38 is ready for landing.
As shown in FIGS. 9 to 12, the seat 74 covers the flying object 38 located on the landing / deployment unit 44 for the flying object at the second swing position P2 of the arm 70, and the flying object 38 is It is difficult to move on the flying object landing / departing portion 44, and the falling-off from the flying object landing / departing portion 44 is prevented.
In the present embodiment, when viewed in a plan view, the seat 74 is formed with an outline larger than the flying object 38, and the arm 70 is in the second swing position P2 and the seat 74 is unfolded. As shown in FIG. 12, the seat 74 hangs down due to the weight of the seat 74 and the fulcrum of the pair of arm bodies 7002 (support shaft 7010 and drive shaft 7202). 11, a portion 74 </ b> B located on each side of the rotor 3806 on both sides of the flying object 38, as shown in FIG. 74C located on the side of the rotor 3806 of the airplane 38, and the upward movement of the flying vehicle 38 is prevented by the portion 74A. Min 74B, the movement of the flying body 38 in two orthogonal directions on the flight-body landing portion 44 is prevented by 74C, which is advantageous in preventing the 抜落 flight body 38 from the flight-body landing portion 44.
Also, as shown in FIGS. 11 and 12, when the seat 74 covers the flying body 38 located on the flying body landing portion 44, each rotor 3806 is covered by the sheet 74 via the guard ring 3810. The weight of the sheet 74 does not act on each rotor 3806, which is advantageous in protecting each rotor 3806.

Next, a method of using the mobile aircraft 20 will be described.
As in the first embodiment, the mobile aircraft 20 in which the flying vehicle 38 is located on the landing / deployment unit 44 for the flying vehicle is stored in the control center 10 away from the work site.
In this case, the arm 70 of the dropout prevention unit 62 is located at the second swing position P2, and the flying object 38 located on the landing / deployment unit 44 for the flying object is covered with the sheet 74.
Then, before transporting the work machine 12 to a location near the work area 13, the engine 4602 is started in the control center 10 so that the power of the generator 4604 is supplied to each unit.
Then, as in the case of the first embodiment, the mobile flying machine 20 is lifted by using the unmanned work machine 12A for transportation such as a forklift, and the unmanned work machine 12A for transportation is controlled by the remote control. From the work machine 12 to a place near the work area 13, the fork is lowered, and the mobile aircraft 20 is placed on the ground.
During the traveling of the work machine for transportation, the flying object 38 located on the landing / departure portion 44 for a vehicle is covered with the sheet 74, and the flying member 38 is hardly moved on the landing / departure portion 44 for the vehicle by the seat 74. Therefore, even if the swing or vibration acts on the flying body 38, the falling of the flying body 38 is prevented.
Then, the operator operates the drop-out prevention remote control command unit 66 at the control center 10, and the drop-out prevention unit operation command information is transmitted from the drop-out prevention remote control command unit 66 to the second wireless line C2 and the housing side. The data is transmitted to the housing-side control unit 68 via the communication unit 50.
As a result, the housing-side control section 68 rotates the motor 72A to swing the arm 70 from the second swing position P2 to the first swing position P1.
As a result, the upper part of the flying body landing section 44 is opened, and the flying body 38 can take off and land from the flying body landing section 44.
Therefore, the operator controls the flying object 38 by operating the flying object remote control command unit 22 while visually recognizing the image information displayed on the second display unit 26 at the control center 10, and the flying object side camera By 56, the image information of the working state of the plurality of working machines 12 is continuously monitored.

When the work end time comes, the flying object 38 is operated by operating the flying object remote operation command unit 22 while visually recognizing the image information displayed on the second display unit 26. The landing is performed on the body landing section 44.
Next, when the worker operates the drop-out prevention remote control command unit 66, the drop-out prevention unit operation command information is transmitted from the drop-out prevention remote control command unit 66 to the second wireless line C2 and the housing-side communication unit 50. The data is transmitted to the housing-side control unit 68 via the control unit.
As a result, the housing-side control section 68 rotates the motor 72A to swing the arm 70 from the first swing position P1 to the second swing position P2.
As a result, the seat 74 covers the flying body 38 located on the flying body landing section 44.
Next, the mobile flying machine 20 is collected by the unmanned working machine 12A for transportation by remote control and transported to the control center 10.
Even if shaking or vibration acts on the flying object 38 during transportation of the mobile flying object device 20 by the unmanned working machine 12A for transportation, the flight positioned on the landing / deployment part 44 for the flying object by the dropout prevention part 62 The fall of the body 38 is prevented as in the case described above.
When the transport unmanned work machine 12A reaches the control center 10, the mobile flying machine 20 is lowered from the transport unmanned work machine 12A, and the power generation device 46 stops generating power.
Then, as preparation for the next monitoring operation, fuel is supplied to the fuel tank 48, a series of operations is completed, and the mobile flying device 20 is stored in the control center 10.
When the mobile flying device 20 is stored in the control center 10, the arm 70 of the drop-out prevention unit 62 is changed from the second swinging position P2 to the first swinging position P1 of the flying body landing unit 44. The upper part is opened, and the flying body 38 is stored in a place different from the landing part 44 for the flying body.
In this case, prior to transporting the mobile flying device 20 to the work site, the flying vehicle 38 is placed on the landing / deployment unit 44 for the flying vehicle, and the arm 70 of the dropout prevention unit 62 is moved to the first position. The flying body 38 placed on the flying body landing section 44 may be covered by the sheet 74 from the swinging position P1 to the second swinging position P2.

According to the second embodiment, the flying object 38 is hardly moved on the flying object landing section 44 by the sheet 74 by covering the flying object 38 placed on the flying object landing section 44 with the sheet 74. In this state, the flying object 38 can be prevented from dropping due to shaking and vibration acting on the flying object 38 during transportation, so that the durability of the flying object 38 can be improved, the operation rate can be secured for a long period, and monitoring can be performed. This is more advantageous in performing the operation reliably.
In addition, the dropout prevention section 62 covers the flying object 38 placed on the flying body landing section 44 with the sheet 74 from above, so that the flying body 38 is difficult to move on the flying body landing section 44. Therefore, the dropping of the flying body 38 from the landing / deployment portion 44 for the flying body 38 regardless of the size and number of the rotor 3806 and the arrangement structure thereof, or the size and number of the leg portions and the arrangement structure thereof. This is advantageous in reliably preventing the occurrence.
In addition, during rainfall, the sheet 74 covers the flying object 38 located on the landing / deployment section 44 for the flying object, so that the flying object 38 can be protected from rainwater, and the failure or deterioration of the flying object 38 can be prevented. This is advantageous in terms of suppression, and is advantageous in improving the durability of the flying body 38.
In the present embodiment, a case has been described where the arm 70 is configured to include the pair of arm bodies 7002 and the rod 7004. However, the arm 70 may be configured to include the single arm body 7002 and the rod 7004. Good. However, when the arm 70 includes the pair of arm bodies 7002 as in the embodiment, it is advantageous in smoothly opening and closing the seat 74.

(Third embodiment)
Next, a third embodiment will be described with reference to FIGS.
The third embodiment is different from the first and second embodiments in that the dropout prevention unit 62 is configured using an electromagnet.

As shown in FIG. 13, the control center 10 is provided with a drop-out prevention remote control command unit 66, as in the second embodiment.
When the operator operates the dropout prevention remote control command unit 66, the dropout prevention remote control command unit 66 generates the dropout prevention unit operation command information and transmits the dropout prevention unit operation command information to the second position. The power is supplied to the housing-side control unit 68 via the communication unit 24, the second wireless line C2, and the housing-side communication unit 50.

The housing 36 includes a housing-side control unit 68, as in the second embodiment.
The housing-side control unit 68 controls a later-described energizing unit 80 based on the drop-out prevention unit operation command information received from the drop-out prevention remote operation command unit 66 via the second wireless line C2 and the housing-side communication unit 50. Is what you do.
The housing-side control unit 68 and the power supply unit 80 operate by being supplied with power from the power generator 46.
As shown in FIGS. 13 and 14, the dropout prevention unit 62 includes an electromagnet unit 78 and a power supply unit 80.
The electromagnet section 78 is provided on the flying body landing section 44 and generates a magnetic force when energized.
In the present embodiment, the electromagnet portion 78 is provided over substantially the entire upper surface of the upper wall 3606 except for the periphery of the insertion hole 3610.
Further, a cushioning material 45 is provided over substantially the entire area between the electromagnet portion 78 and the upper surface of the upper wall 3606, and the mobile flying device 20 is placed in a state where the flying vehicle 38 is mounted on the landing / deployment portion 44 for the flying vehicle. When the vehicle is transported by the unmanned working machine 12A, the vibration received by the housing 36 is not directly transmitted to the flying vehicle 38, and the durability of the flying vehicle 38 is enhanced.
The energization unit 80 switches between energization and non-energization of the electromagnet unit 78, and is operated under the control of the housing-side control unit 68.

  Further, at least the lower ends of the plurality of legs 3804 of the flying body 38 are formed of a material 82 that is attracted to the magnet. As such a material, various conventionally known materials such as iron and alloy can be used.

Next, a method of using the mobile aircraft 20 will be described.
As in the first and second embodiments, the mobile flying device 20 in which the flying vehicle 38 is located on the landing / deployment unit 44 for the flying vehicle is stored in the control center 10 away from the work site.
Then, before transporting the work machine 12 to a location near the work area 13, the engine 4602 is started in the control center 10 so that the power of the generator 4604 is supplied to each unit.
Next, the worker operates the drop-prevention remote control command unit 66 at the control center, so that the drop-prevention unit operation command information is transmitted from the drop-prevention remote control command unit 66 to the second wireless line C2 and the casing-side communication. The data is transmitted to the housing-side control unit 68 via the unit 50.
As a result, the housing-side control unit 68 controls the energizing unit 80 to energize the electromagnet unit 78 to generate a magnetic force of the electromagnet unit 78, and the material 82 of each leg 3804 of the flying object 38 is absorbed by the magnet. The formed lower end is brought into a state of being attracted by the electromagnet portion 78.
Then, similarly to the first and second embodiments, the mobile flying machine 20 is lifted by using the unmanned work machine 12A for transportation such as a forklift, and the unmanned work machine 12A for transportation is controlled by the remote control. The mobile aircraft device 20 is transported from the work machine 10 to a location near the work area 13 of the work machine 12, and the fork is lowered to place the mobile aircraft device 20 on the ground.
During the traveling of the work machine for transportation, the lower end of each leg 3804 is attracted to the electromagnet 78 by the magnetic force of the electromagnet 78 so that the flying vehicle 38 located on the landing / deployment section 44 for the airplane is attached to the airplane. Since it is difficult to move on the arrival / departure portion 44, even if the swing or vibration acts on the flying object 38, the falling of the flying object 38 is prevented.
Then, when the worker operates the dropout prevention remote control command unit 66, the dropout prevention unit operation command information is transmitted from the dropout prevention remote control command unit 66 to the second wireless line C2 and the housing side communication unit 50. The data is transmitted to the housing-side control unit 68 via the control unit.
Accordingly, the housing-side control unit 68 controls the energizing unit 80 to de-energize the electromagnet unit 78, stops the generation of the magnetic force of the electromagnet unit 78, and lowers the lower ends of the legs 3804 of the flying body 38 by the electromagnet unit 78. Release the adsorbed state.
As a result, it is possible to take off the flying body 38 from the landing / deployment unit 44 for the flying body.
Therefore, the operator controls the flying object 38 by operating the flying object remote control command unit 22 while visually recognizing the image information displayed on the second display unit 26 at the control center 10, and the flying object side camera By 56, the image information of the working state of the plurality of working machines 12 is continuously monitored.

When the work end time comes, the flying object 38 is operated by operating the flying object remote operation command unit 22 while visually recognizing the image information displayed on the second display unit 26. The landing is performed on the body landing section 44.
Next, when the worker operates the drop-out prevention remote control command unit 66, the drop-out prevention unit operation command information is transmitted from the drop-out prevention remote control command unit 66 to the second wireless line C2 and the housing-side communication unit 50. The data is transmitted to the housing-side control unit 68 via the control unit.
As a result, the housing-side control unit 68 controls the energizing unit 80 to energize the electromagnet unit 78 to generate a magnetic force of the electromagnet unit 78, and the lower end of each leg 3804 of the flying body 38 is attracted by the electromagnet unit 78. And
Next, the mobile flying machine 20 is collected by the unmanned working machine 12A for transportation by remote control and transported to the control center 10.
Even if shaking or vibration acts on the flying object 38 during transportation of the mobile flying object device 20 by the unmanned working machine 12A for transportation, the flight positioned on the landing / deployment part 44 for the flying object by the dropout prevention part 62 The fall of the body 38 is prevented as in the case described above.
When the transport unmanned work machine 12A reaches the control center 10, the mobile flying machine 20 is lowered from the transport unmanned work machine 12A, and the power generation device 46 stops generating power.
As a result, the power supply to the energizing section 80 is stopped, the electromagnet section 78 is de-energized, the generation of magnetic force of the electromagnet section 78 is stopped, and the lower ends of the legs 3804 of the flying body 38 are attracted by the electromagnet section 78. The state is released.
Then, as preparation for the next monitoring operation, fuel is supplied to the fuel tank 48, a series of operations is completed, and the mobile flying device 20 is stored in the control center 10.

The third embodiment has the same advantages as the first and second embodiments.
Further, in the third embodiment, the lower end formed of the material 82 that is attracted to the magnet of the leg 3804 of the flying body 38 by the magnetic force of the electromagnet section 78 is attracted, so that the flying body 38 is attached to and detached from the flying body. Since it is held on the portion 44, it is possible to prevent the flying body 38 from falling due to sway and vibration acting on the flying body 38 during transportation, so that the durability of the flying body 38 can be improved, and This is advantageous in securing the operation rate and performing monitoring work reliably.
In addition, since the dropout prevention unit 62 is configured with a simple structure in which the lower ends of the legs 3804 of the flying body 38 are attracted by the electromagnet unit 78, the size and number of the rotors 3806 of the flying body 38, their arrangement structure, or Regardless of the size and number of the leg portions 3804 and the arrangement structure thereof, the falling off of the flying vehicle 38 from the landing / deployment portion 44 for the flying vehicle can be reliably prevented, and further, the dropout preventing portion 62 is simplified and the cost is reduced. This is advantageous in achieving

(Fourth embodiment)
Next, a fourth embodiment will be described with reference to FIGS.
In the fourth embodiment, in addition to the drop-out prevention unit 62 of the third embodiment (hereinafter, referred to as a first drop-out prevention unit 62), a second drop-out prevention function having a rain-shielding function that covers the flying object 38 A portion 84 is provided in the housing 36 to protect the flying object 38 from rainwater.

As shown in FIG. 15, the control center 10 includes a second remote control command unit 66 for the drop-out prevention unit (hereinafter, referred to as a first remote control command unit 66 for the drop-out prevention unit) according to the third embodiment. A remote control command unit 86 for the drop-out prevention unit is provided.
When the operator operates the second drop prevention unit remote control command unit 86, the second drop prevention unit remote control command unit 86 generates the second drop prevention unit operation command information, and The drop-out prevention unit operation command information is supplied to the housing-side control unit 68 via the second communication unit 24, the second wireless line C2, and the housing-side communication unit 50.
In the fourth embodiment, the dropout prevention unit operation command information generated by the first dropout prevention unit remote operation command unit 66 is referred to as first dropout prevention unit operation command information.

The housing 36 includes a housing-side control unit 68 similar to that of the third embodiment. The housing-side control unit 68 receives a signal from the second dropout prevention unit remote operation command unit 86 to the second wireless line C2 and the housing-side control unit 86. It further has a function of controlling an actuator 90 described later based on the second drop prevention unit operation command information received via the communication unit 50.
The housing-side control unit 68 and the actuator 90 operate by being supplied with power from the power generation device 46.

The housing 36 includes a second dropout prevention unit 84 in addition to the configuration of the third embodiment.
As shown in FIGS. 16 to 19, the second drop-out prevention unit 84 includes a plurality of arms 88, a pair of actuators 90, and a sheet 92. In FIG. 17, the illustration of the sheet 92 is omitted to simplify the drawing.
As described above, the housing 36 has four side walls 3604 rising from the four sides of the rectangular bottom wall 3602. In other words, the housing 36 has two opposing sides of the four side walls 3604. A pair of side portions 3604A, which are composed of two side walls 3604 and oppose each other below the landing section for the aircraft, and a pair of two side walls 3604 which are the four remaining side walls 3604 and which oppose each other in a direction orthogonal to the opposing direction. And an end 3604B.
The plurality of arms 88 are provided on the housing 36 and include a total of five arms 88 including a fixed arm 88A, first, second, and third intermediate movable arms 88B, 88C, 88D, and a drive arm 88E. I have.
Each arm 88 includes a pair of arm main bodies 8802 and a rod 8804 that connects the front ends of the pair of arm main bodies 8802.
The pair of arm bodies 8802 are provided on the pair of side portions 3604A, and their bases are disposed at the center of the pair of side portions 3604A.

The actuators 90 are supported inside the pair of side portions 3604A, respectively, and the bases of the pair of arm bodies 8802 are connected to the drive shafts 9002 of the actuators 90 penetrating the side portions 3604A, respectively.
The actuator 90 moves the drive arm 88E to the first swing position P1 (see FIG. 16) in which the drive arm 88E is tilted to one end 3604B of the pair of ends 3604B and the other end 3604B of the pair of ends 3604B. And swings to a second swinging position P2 (see FIG. 18).
The fixed arm 88A, the first, second, and third intermediate movable arms 88B, 88C, 88D, and the drive arm 88E include a pair of arm bodies 8802 each having a base located at the center of the pair of side portions 3604A, And a rod 8804 for connecting the tip of the arm main body 8802.
As shown in FIG. 17, the base of each arm main body 8802 of the fixed arm 88A, the first, second, and third intermediate movable arms 88B, 88C, and 88D is spaced apart in the axial direction of the single drive shaft 9002. The base of each arm body 8802 of the drive arm 88E is rotatably supported at the place where it is set, and is coupled to a single drive shaft 9002 so as to rotate integrally with the drive shaft 9002.

The fixed arm 88A is fixed at the first swing position P1.
As shown in FIG. 17, at the first swing position P1, the fixed arm 88A, the first, second, and third intermediate movable arms 88B, 88C, 88D, and the drive arm 88E are connected to the rods 8804 of the arms 88A to 88E. Is located at a position distant to the side of the end 3604B of the housing 36, and the fixed arm 88A extends in the horizontal direction at the first swing position P1.
The fixed arm 88A is fixed to the first swing position P1 by, for example, engaging a pair of arm main bodies 8802 of the fixed arm 88A with hooks (not shown) projecting from the pair of side portions 3604A. I have.
As shown in FIG. 18, at the second swing position P2 of the drive arm 88E, the rod 8804 of the drive arm 88E is located at a position opposite to the fixed arm 88A and away from the end 3604B of the housing 36. Then, the drive arm 88A extends in the horizontal direction at the second swing position P2. Each actuator 90 is constituted by a motor 90A, and the rotation of the motor 90A is controlled by the housing-side control unit 68.
As the drive shaft 9002 of each motor 90A rotates in the forward and reverse directions, the drive arm 88E swings between the first swing position P1 shown in FIG. 16 and the second swing position P2 shown in FIG. Is done.

The sheet 92 is formed from a flexible material.
The seat 92 is attached to the fixed arm 88A, the first, second, and third intermediate movable arms 88B, 88C, 88D, and the rod 8804 of the drive arm 88E, and the pair of arm main bodies 8802 of the arms 88A to 88E. It is attached to the upper half of the tip side.
Then, the upper and lateral sides of the flying body landing section 44 are opened at the first swinging position P1 of the drive arm 88E, and the driving arm 88E is positioned above the flying body landing section 44 at the second swinging position P2 of the drive arm 88E. The upper and side surfaces of the flying body 38 are covered.

Therefore, as shown in FIG. 16, at the first swing position P1 of the drive arm 88E, the fixed arm 88A, the first, second, and third intermediate movable arms 88B, 88C, 88D, and the drive arm 88E swing their swings. The seats 92 are close to each other in the movement direction and are folded between the adjacent arms 88.
In other words, the seat 92 opens above and to the side of the vehicle landing section 44 at the first swing position P1 of the drive arm 88E, and takes off the flying body 38 from the vehicle landing section 44 and takes off the flying body. The landing of the flying object 38 on the landing / departure section 44 becomes possible.
Further, the first, second, and third intermediate movable arms 88B, 88C, and 88D are moved via the seat 92 by the swing of the drive arm 88E from the first swing position P1 toward the second swing position P2. The swing arm follows the drive arm 88E, and as shown in FIGS. 18 and 19, the fixed arm 88A, the first, second, and third movable arms 88B at the second swing position P2 of the drive arm 88E. 88C, 88D and the drive arm 88E are separated from each other in the swing direction thereof, and the seat 92 is deployed in the swing direction of the drive arm 88E.
That is, the seat 92 covers the upper side and the side of the flying body 38 located on the landing section 44 for the vehicle at the second swing position P2 of the drive arm 88E. It is difficult to move on the portion 44, and the falling-off from the flying object landing portion 44 is prevented.
Further, in this case, the flying object 38 can be protected from rainwater by the seat 92 covering the flying object 38 located above the landing / deployment portion 44 for the flying object from above and from the side. This is advantageous in suppressing the failure and deterioration of the flying object 38, and is advantageous in improving the durability of the flying body 38.

Next, a method of using the mobile aircraft 20 will be described.
As in the third embodiment, the mobile aircraft 20 in which the flying vehicle 38 is located on the landing / deployment unit 44 for a flying vehicle is stored in the control center 10 away from the work site.
In this case, the drive arm 88 of the dropout prevention unit 62 is located at the second swing position P2, and the upper and side surfaces of the flying body 38 located on the flying body landing unit 44 are covered with the seat 92. And keep it.
Then, before transporting the work machine 12 to a location near the work area 13, the engine 4602 is started in the control center 10 so that the power of the generator 4604 is supplied to each unit.

Next, the worker operates the first drop-out prevention remote control command unit 66 at the control center, so that the first drop-out prevention unit operation command information is transmitted from the drop-out prevention remote control command unit 66 to the second wireless line C2. And it transmits to the housing | casing side control part 68 via the housing | casing side communication part 50.
As a result, the housing-side control unit 68 controls the energizing unit 80 to energize the electromagnet unit 78 to generate a magnetic force of the electromagnet unit 78, and the material 82 of each leg 3804 of the flying object 38 is absorbed by the magnet. The formed lower end is brought into a state of being attracted by the electromagnet portion 78.
Then, as in the third embodiment, the mobile flying machine 20 is lifted using the unmanned working machine 12A for transportation such as a forklift, and the unmanned working machine 12A for transportation is operated from the control center 10 by remote control. The machine 12 is transported to a location near the work area 13, the fork is lowered, and the mobile aircraft 20 is placed on the ground.
During the traveling of the work machine for transportation, the lower end of each leg 3804 is attracted to the electromagnet 78 by the magnetic force of the electromagnet 78 so that the flying vehicle 38 located on the landing / deployment section 44 for the airplane is attached to the airplane. Since it is difficult to move on the arrival / departure portion 44, even if the swing or vibration acts on the flying object 38, the falling of the flying object 38 is prevented.
Further, while the work machine for transportation is running, the flying object 38 located on the landing / departure portion 44 for a vehicle is covered with the sheet 92, and the flying object 38 is difficult to move on the landing / departure portion 44 for the flying object by the seat 92. Therefore, even if the swing or vibration acts on the flying body 38, the falling of the flying body 38 is prevented.

Then, when the operator operates the second dropout prevention remote control command unit 86 at the control center 10, the second dropout prevention unit operation command information is transmitted from the second dropout prevention remote control command unit 86 to the second dropout prevention remote control command unit 86. The data is transmitted to the housing-side control unit 68 via the wireless line C2 and the housing-side communication unit 50.
As a result, the housing-side control section 68 rotates the motor 90A to swing the drive arm 88E from the second swing position P2 to the first swing position P1.
As a result, the upper and lateral sides of the flying body landing section 44 are opened, and the flying body 38 can be taken off and landed from the flying body landing section 44.
When the worker operates the first drop-prevention remote control command unit 66, the first drop-prevention unit operation command information is transmitted from the first drop-prevention remote control command unit 66 to the second wireless circuit C2. The data is transmitted to the housing-side control unit 68 via the housing-side communication unit 50.
Accordingly, the housing-side control unit 68 controls the energizing unit 80 to de-energize the electromagnet unit 78, stops the generation of the magnetic force of the electromagnet unit 78, and lowers the lower ends of the legs 3804 of the flying body 38 by the electromagnet unit 78. Release the adsorbed state.
As a result, it is possible to take off the flying body 38 from the landing / deployment unit 44 for the flying body.
Therefore, the operator controls the flying object 38 by operating the flying object remote control command unit 22 while visually recognizing the image information displayed on the second display unit 26 at the control center 10, and the flying object side camera By 56, the image information of the working state of the plurality of working machines 12 is continuously monitored.

When the work end time comes, the flying object 38 is operated by operating the flying object remote operation command unit 22 while visually recognizing the image information displayed on the second display unit 26. The landing is performed on the body landing section 44.
Next, when the worker operates the first dropout prevention remote control command unit 66, the first dropout prevention unit operation command information is transmitted from the first dropout prevention remote control command unit 66 to the second wireless line C2 and The data is transmitted to the housing-side control unit 68 via the housing-side communication unit 50.
As a result, the housing-side control unit 68 controls the energizing unit 80 to energize the electromagnet unit 78 to generate a magnetic force of the electromagnet unit 78, and the lower end of each leg 3804 of the flying body 38 is attracted by the electromagnet unit 78. And
When the worker operates the second drop-prevention remote control command unit 86, the second drop-prevention unit operation command information is transmitted from the second drop-prevention remote control command unit 86 to the second wireless circuit C2. The data is transmitted to the housing-side control unit 68 via the housing-side communication unit 50.
As a result, the housing-side control section 68 rotates the motor 90A to swing the drive arm 88E from the first swing position P1 to the second swing position P2.
As a result, the seat 92 is in a state of covering the upper side and the side of the flying body 38 located on the flying body landing portion 44.

Next, the mobile flying machine 20 is collected by the unmanned working machine 12A for transportation by remote control and transported to the control center 10.
Even when shaking or vibration acts on the flying object 38 during the transportation of the mobile aircraft device 20 by the unmanned working machine 12A for transportation, the first drop-out prevention unit 62 and the second drop-out prevention unit 84 fly. The fall of the flying object 38 located on the body landing section 44 is prevented as in the case described above.
When the transport unmanned work machine 12A reaches the control center 10, the mobile flying machine 20 is lowered from the transport unmanned work machine 12A, and the power generation device 46 stops generating power.
As a result, the power supply to the energizing section 80 is stopped, the electromagnet section 78 is de-energized, the generation of magnetic force of the electromagnet section 78 is stopped, and the lower ends of the legs 3804 of the flying body 38 are attracted by the electromagnet section 78. The state is released.
Then, as preparation for the next monitoring operation, fuel is supplied to the fuel tank 48, a series of operations is completed, and the mobile flying device 20 is stored in the control center 10.
Note that when the mobile flying device 20 is stored in the control center 10, the drive arm 88E of the second drop-out prevention unit 84 is changed from the second swing position P2 to the first swing position P1 for landing on and off of the flying vehicle. The upper part of the part 44 is opened, and the flying body 38 is stored in a place different from the landing part 44 for the flying body.
In this case, prior to transporting the mobile flying device 20 to the work site, the flying vehicle 38 is placed on the landing / deployment portion 44 for the flying vehicle, and the drive arm 88E of the second drop prevention portion 84 is placed. May be changed from the first swing position P1 to the second swing position P2 so that the seat 92 covers the flying body 38 placed on the flying body landing section 44.

Needless to say, the fourth embodiment has the same effect as the third embodiment. In addition to the first drop prevention unit 62, the second drop prevention unit 84 is provided. Since the falling of the flying body 38 can be more reliably prevented against the sway and vibration acting on the flying body 38 during transportation, the durability of the flying body 38 can be improved, the operation rate can be secured for a long period, and monitoring work can be performed. This is even more advantageous in ensuring the performance.
Further, in the fourth embodiment, during rainfall, the sheet 90 of the second dropout prevention unit 84 is deployed, and the sheet 90 covers the upper side and the side of the flying body 38 located on the flying body landing unit 44. In this state, the flying body 38 can be protected from rainwater, which is advantageous in suppressing breakdown and deterioration of the flying body 38, and is advantageous in improving the durability of the flying body 38.
In the fourth embodiment, the case where the second drop-out preventing portion 84 is provided in addition to the first drop-out preventing portion 62 has been described. However, the first drop-out preventing portion 62 is omitted, and the second pull-out preventing portion 62 is omitted. The drop prevention unit 84 may be configured as a single unit.

In the embodiment, the case has been described in which the power generated by the power generator 46 constituting the power supply unit is supplied to the flying object 38 via the power supply cable 4002, but the battery constituting the power supply unit is stored in the housing 36. Alternatively, the power of the battery may be supplied to the flying object 38 via the power supply cable 4002.
Further, in the present embodiment, a case is described in which case 36 and flying object 38 are connected by communication cable 4004, and communication between control center 10 and flying object 38 is performed via second wireless line C and case 36. As described above, a communication unit capable of wireless communication may be provided in the flying object 38, and transmission / reception of flying object operation command information and image information may be performed between the control center 10 and the flying object 38 via a wireless line. .

Reference Signs List 20 mobile flying object device 36 housing 3604A side portion 3604B end portion 38 flying object 3804 legs 4002 power supply cable 44 launching / departing portion 45 cushion material 46 power generation device (power supply portion)
50 Case-side communication unit 62 Dropout prevention unit (first dropout prevention unit)
64 Upright section 68 Housing side control section 70 Arm 72 Actuator 74 Seat 78 Electromagnet section 80 Current section 82 Material adsorbed by magnet 84 Second drop prevention section 88 Arm 88A Fixed arm 88B First intermediate movable arm 88C Second Intermediate movable arm 88D Third intermediate movable arm 88E Drive arm 8802 Arm main body 8804 Rod 90 Actuator 92 Sheet P1 First swing position P2 Second swing position

Claims (6)

A housing in which the power supply unit is housed and the upper part of which is an airplane landing unit,
A flying object connected to the power supply unit via a power supply cable,
A mobile aircraft device comprising:
The drop-off prevention unit for preventing the flying object from dropping off from the flying-unit landing portion when the mobile flying device is moved,
A mobile aircraft device characterized by the above-mentioned. The dropout prevention unit is configured to include an upright portion that stands up from around the landing unit for the flying object.
The mobile flying device according to claim 1, wherein: The drop-out prevention unit,
An arm provided on the housing and capable of swinging between a first swing position and a second swing position;
An actuator provided on the housing for swinging the arm between the first swing position and the second swing position;
A flexible material, one end of which is attached to a location of the housing near the arm located at the first swing position and the other end of which is attached to the arm; A sheet that opens above the landing section for the flying body at the swinging position and covers the flying body located above the landing section for the flying body at the second swinging position from above,
The housing is
A housing-side communication unit that receives dropout prevention unit operation command information via a wireless line;
A housing-side control unit that controls the actuator based on the dropout prevention unit operation command information received by the housing-side communication unit,
The mobile flying device according to claim 1, wherein: The flying object has a plurality of landing legs,
At least lower ends of the plurality of legs are formed of a material that is attracted to a magnet,
The drop-out prevention unit,
An electromagnet section that is provided in the flying object landing section and generates a magnetic force when energized;
Energizing the electromagnet section, and an energizing section for switching non-energization,
The housing is
A housing-side communication unit that receives dropout prevention unit operation command information via a wireless line;
A housing-side control unit that controls the energizing unit based on the dropout prevention unit operation command information received by the housing-side communication unit,
The mobile flying device according to claim 1, wherein: The casing has a pair of side portions facing each other below the landing section for the flying object, and a pair of end portions facing each other in a direction orthogonal to the facing direction.
The drop-out prevention unit includes a fixed arm, a plurality of intermediate movable arms, a drive arm, a sheet bridged between the arms, and the drive arm falls down to one end of a pair of ends. An actuator that swings between a first swing position and a second swing position that has fallen to the other end of the pair of ends,
The fixed arm, the plurality of intermediate movable arms, and the drive arm each include a pair of arm bodies each having a base located at the center of the pair of side parts, and a rod connecting a tip of the arm bodies. Composed,
The fixed arm is fixed at the first swing position,
The seat is attached to rods of the fixed arm, the plurality of intermediate movable arms, and the drive arm, and is attached to the upper end portions of a pair of arm bodies of the arms. Opening the upper and lateral sides of the aircraft landing section at the swing position, and above and laterally above the aircraft positioned on the aircraft landing section at the second swing position of the drive arm. ,
The housing is
A housing-side communication unit that receives dropout prevention unit operation command information via a wireless line;
A housing-side control unit that controls the actuator based on the dropout prevention unit operation command information received by the housing-side communication unit,
The mobile flying device according to claim 1, wherein: The landing unit for the flying object is configured to include a cushion material that absorbs impact.
The mobile aircraft device according to any one of claims 1 to 5, wherein:

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