JP2020117118A - Portable drone port - Google Patents

Abstract

To provide a portable drone port that enables highly precise landing of a logistics drone when in use, can be used in a place with undulations, and facilitates disassembly, assembly and conveyance.SOLUTION: A portable drone port includes: a taking-off/landing port 10 capable of holding a horizontal plane where the logistics drone can take off and land in a place with undulations; an outside fence 20 for surrounding the outside of the taking-off/landing port across an interval, and enabling height adjustment; and a marker sheet 30 for fixing an outer edge to the outside fence 20, and capable of stretching horizontally. The outside fence 20 has the longest part being foldable to the size shorter than the taking-off/landing port 10. The marker sheet 30 has multiple AR markers 38 capable of being recognized by the logistics drone on the upper surface, and is configured so that a person can access to the taking-off/landing port 10.SELECTED DRAWING: Figure 1

Description

The present invention relates to a drone port for a logistics drone to take off and land.

"Drone" is a type of small unmanned helicopter and means a rotorcraft equipped with three or more rotors.
In recent years, it has been planned to use drones to carry small packages unmanned. Such a drone is called a “distribution drone”.

In order to realize safe takeoff and landing of logistics drones, a drone port for logistics drones to take off and land is essential. Such a drone port is disclosed in Non-Patent Document 1, for example.

Blue Innovation Co., Ltd., “Distribution drone port system” [online], [October 26, 2018 search], Internet <URL:https://www. blue-i. co. jp/service/logistic/dps/>

The logistics drone port system of Non-Patent Document 1 enables highly accurate landing by recognizing an image on the drone port.
However, in order to achieve highly accurate landing, large and small AR markers are arranged in combination, and the top surface of the drone port becomes large. For example, even if the plane dimension of the physical distribution drone is within 1 m×1 m, the top dimension of the drone port needs to be about 3 m×3 m, for example.
Therefore, the conventional drone port is large and difficult to carry.

Also, if the drone port was omitted, it was difficult to take off and land the logistics drone in a rugged place.

The present invention was created to solve the above-mentioned problems. That is, an object of the present invention is to provide a transportable drone port that enables highly accurate landing of a logistics drone when used, can be used even in an uneven place, and is easy to disassemble, assemble, and transport. It is in.

According to the present invention, a takeoff and landing port capable of holding a horizontal plane on which a logistics drone can take off and land at a rugged place,
An outer fence that surrounds the outside of the takeoff and landing port at intervals and has a height adjustable,
A marker sheet that can be spread horizontally by fixing the outer edge to the outer fence,
The outer fence is foldable to have a maximum length shorter than the takeoff and landing port,
Provided is a portable drone port, wherein the marker sheet has a plurality of AR markers on the upper surface thereof, which enables the logistics drone to be recognized, and is configured so that a person can access the takeoff/landing port.

According to the configuration of the present invention, the take-off and landing port can hold a horizontal plane on which the physical distribution drone can take off and land in an uneven place, so that the physical distribution drone can be landed with high accuracy during use.
Further, since the outer fence surrounds the outside of the takeoff/landing port with a space and the height is adjustable, the marker sheet can be spread horizontally with the outer edge fixed to the outer fence.
Further, since the marker sheet has a plurality of AR markers on the upper surface thereof, which enables the physical distribution drone to be recognized, highly accurate landing of the physical distribution drone is possible.

In addition, since the marker sheet is configured so that a person can access the takeoff/landing port, a person can access the logistics drone and luggage located above the takeoff/landing port.
Further, since the outermost fence can be folded into a size in which the longest part is shorter than the takeoff/landing port, by folding the outer fence, the entire drone port can be folded below the size of the takeoff/landing port and easily transported.

It is a top view of a portable drone port of a 1st embodiment of the present invention. FIG. 2 is a plan view of the portable drone port with the flexible sheet removed from FIG. 1. FIG. 3 is a partially enlarged view of FIG. 2. It is a side view of a portable drone port, (A) is a side view of a takeoff and landing port, (B) is a side view of an outer fence. It is a top view of the portable drone port of 2nd Embodiment of this invention, and has shown the state which removed the flexible sheet similarly to FIG. It is a top view (A) and a side view (B) in the storage position of an outer fence.

Embodiments of the present invention will be described below with reference to the drawings. In addition, in each figure, the same parts are denoted by the same reference numerals, and redundant description will be omitted.

FIG. 1 is a plan view of a portable drone port 100 according to a first embodiment of the present invention, and FIG. 2 is a plan view of the portable drone port 100 with the marker sheet 30 removed from FIG.

1 and 2, the portable drone port 100 includes a takeoff/landing port 10, an outer fence 20, and a marker sheet 30.

In FIG. 2, the takeoff/landing port 10 is located in the central portion of the portable drone port 100, and has a horizontal plane on which the logistics drone can takeoff and land.
The takeoff and landing port 10 has a fixed top plate 12 on which the drone can take off and land. The fixed top plate 12 is preferably a single plate having a flat upper surface, but may be a plurality of dividable plates.
The inclination of the horizontal surface of the fixed top plate 12 is within 3 degrees, the plane size is 1.2 m×1.2 m, and the load resistance is not less than the weight of the drone and the luggage, and is set to, for example, 50 kg or more.
In this case, a physical distribution drone having a plane size within 1 m×1 m and a payload of 2 to 10 kg can be taken off and landed on the upper surface of the takeoff and landing port 10.
Hereinafter, the logistics drone is simply referred to as "drone".

The outer fence 20 in FIG. 2 shows a use state (a deployed position B described later).
In this figure, the outer fence 20 is located so as to surround the outside of the takeoff/landing port 10 at a distance from the outer peripheral surface of the takeoff/landing port 10. This distance is set to a distance that can prevent a person from coming into contact with the drone from the outside of the outer fence 20. This interval is, for example, 1 m.
Therefore, the plane size of the outer fence 20 in the used state is, for example, 3 m×3 m or more (3.2 m×3.2 m in this example), and in order to achieve highly accurate landing, the AR markers 38 of different sizes are used. It can be arranged in combination.
The height of the upper end of the outer fence 20 is set to be the same as the upper surface of the takeoff/landing port 10 in order to avoid interference with the drone during flight. Further, the upper end height of the outer fence 20 is set to a height that allows a person to easily get over the access to the takeoff/landing port 10. This height is, for example, 30 to 50 cm.

In FIG. 1, the marker sheet 30 is a sheet-shaped member that can be spread horizontally by fixing the outer edge to the outer fence 20. It is preferable that the marker sheet 30 has little elasticity, is foldable, and is lightweight. The marker sheet 30 is made of cloth such as canvas or nylon.

The marker sheet 30 has a plurality of AR markers 38 on the upper surface of which the drone can be recognized.
The AR marker 38 is a mark for designating a position to display additional information in the image recognition type AR system, and is, for example, a simple and clear black and white figure.
In this example, the plurality of AR markers 38 are arranged by combining the large and small AR markers 38 in order to realize highly accurate landing.
With this configuration, the image recognition device built into the drone can recognize the small AR marker 38 as it approaches from a distance, and land accurately at the center position of the takeoff/landing port 10.

In FIG. 1(A), the marker sheet 30 has a rectangular central sheet 32 located at the takeoff/landing port 10 and a rectangular ring-shaped outer sheet 34 located at an intermediate portion between the takeoff/landing port 10 and the outer fence 20.
AR markers 38 of different sizes are displayed on the upper surfaces of the central sheet 32 and the outer sheet 34.

In FIG. 1(A), the central seat 32 is horizontally positioned in close contact with the upper surface of the fixed top plate 12, and the fixed top plate 12 supports the drone and luggage to be taken off and landed on the central seat 32.
Further, the rectangular ring-shaped outer seat 34 is horizontally positioned in close contact with the lower surface (floor surface) of the intermediate portion of the takeoff/landing port 10 and the outer fence 20, and a person can enter on it. ..
With this configuration, a person can get over the outer fence 20 and stand on the outer seat 34, so that the person can access the logistics drone on the takeoff/landing port from the position of the outer seat 34.

In FIG. 1B, the marker sheet 30 is an integrated sheet that is horizontally stretched from the upper surface of the takeoff/landing port 10 to the outer fence 20 with its outer edge fixed. The integral marker sheet 30 is horizontally stretched from the upper surface of the takeoff/landing port 10 to the outer fence 20 with its outer edge fixed.
A central portion of the marker sheet 30 (a portion corresponding to the central sheet 32 in FIG. 1A) is positioned horizontally in close contact with the upper surface of the fixed top plate 12, and the drone and luggage for takeoff/landing on the fixed top plate are fixed. It is supposed to be supported by 12.

The outer portion of the marker sheet 30 (the portion corresponding to the outer sheet 34 in FIG. 1A) is horizontally deployed between the takeoff/landing port 10 and the outer fence 20, but the middle portion is not supported. Therefore, the outer portion of the marker sheet 30 cannot support the drone and luggage.
However, in this example, the slit 35 is provided outside the takeoff and landing port 10. The slit 35 can be opened and closed by a surface fastener (for example, Velcro (registered trademark)), a chuck, or the like.
With this configuration, the slit 35 is opened, a part of the integrated seat is opened, and the person can access the drone of the takeoff/landing port 10 by overriding the outer fence 20 and standing on the floor surface under the integrated seat. Becomes

FIG. 3 is a partially enlarged view of FIG.
In FIG. 3, the takeoff and landing port 10 has a rectangular frame 14 that supports the fixed top plate 12.
The rectangular frame 14 is a hollow rectangular integral member in this example, but may be a combination of lightweight pipes or a thin plate.

2 and 3, the outer fence 20 has four sets of four corner members 22 and a pair of side frames 24 fixed to the four corner members 22, respectively.
The side frame 24 is composed of a plurality of (three in this example) side segments 24a connected in order.
The plurality of side segments 24a have two holding positions, that is, a storage position A in which the side segments 24a are folded on top of each other and a deployment position B that is linearly connected.
In the storage position A, the pair of side frames 24 are positioned orthogonal to each other and stored in close contact with the four corners of the takeoff/landing port 10.

In this example, the plurality of side segments 24a are connected at their end faces with hinges 25. The hinge 25 preferably has a function of holding (locking) the storage position A and the deployed position B at the positions.
Further, one of the side segments 24a of the pair of side frames 24 is fixed to the four corner members 22 at right angles to each other.
With this configuration, the outer fence 20 can be changed from the storage position A shown in FIG. 3 to the deployed position B. Further, at the storage position A, the longest part of the outer fence 20 can be folded into a size shorter than the takeoff/landing port 10.

Although FIG. 3 shows the outer fence 20 located at the upper right in the figure, the other parts are the same.
Further, the four sets of outer fences 20 shown in FIG. 3 have their ends connected to each other by a connecting tool to form the outer fence 20 shown in FIG. 2 that is square in plan view as a whole.

2 and 3, the portable drone port 100 further includes four sets of diagonal frames 28.
The four sets of diagonal frames 28 are fixed to the four corners of the takeoff/landing port 10 (rectangular frame 14), respectively, and can be drawn out in the diagonal direction of the takeoff/landing port 10 from the accommodation position accommodated inside the takeoff/landing port 10.
Further, the outer ends of the diagonal frame 28 are fixed to the four corner members 22 so as to be rotatable around the vertical axis.
The diagonal frame 28 preferably has a function of holding (locking) the position between the accommodation position and the extended position where the diagonal frame 28 is pulled out.
With this configuration, the takeoff/landing port 10 and the outer fence 20 can be integrated, and the outer fence 20 can be accurately positioned with respect to the takeoff/landing port 10 when the outer fence 20 is deployed.

FIG. 4 is a side view of the portable drone port 100, (A) is a side view of the takeoff/landing port 10, and (B) is a side view of the outer fence 20.

In FIG. 4(A), the takeoff/landing port 10 has a port support leg 40A capable of adjusting the height of the upper surface thereof, a level 42 capable of detecting the levelness of the upper surface, and a caster 44.

The port support leg 40A has a height adjustment range for allowing the horizontal plane of the upper surface of the takeoff/landing port 10 to be held in a rugged place. For example, it has a height adjustment range for adjusting the inclination of the horizontal surface of the fixed top plate 12 within 3 degrees.

The spirit level 42 is installed at the center of each of the four sides of the rectangular frame 14, and can detect the levelness of the upper surface in both the folded state (A of FIG. 3) and the unfolded state (B of FIG. 3) of the outer fence 20. It is like this.
The casters 44 are used to horizontally move the takeoff/landing port 10 and the outer fence 20 in the folded state (A in FIG. 3 ).

In FIG. 4(B), the outer fence 20 has a fence support leg 40B whose upper surface height can be adjusted, a detection sensor 46 for detecting an object over the fence support leg 40B, and an alarm device 48 for notifying an abnormality. ..
The fence support leg 40B has a height adjustment range for matching the upper end of the outer fence 20 with the fixed top plate 12 in a undulating place.

In this example, the detection sensors 46 are four photoelectric sensors fixed to the upper portions of the four corner members 22, and horizontally emit and receive the laser light 47, respectively. The laser light 47 extends horizontally above the outer fence 20.
With this configuration, it is possible to detect a foreign object (a person or an animal) that enters beyond the outer fence 20.

The alarm device 48 is a patrol lamp with a buzzer fixed to the upper part of the detection sensor 46 in this example, and notifies the abnormality by light and sound according to the detection signal of the detection sensor 46.

The portable drone port 100 of the first embodiment described above is an integral type in which the takeoff/landing port 10 and the outer fence 20 are connected by a diagonal frame 28.

FIG. 5 is a plan view of the portable drone port 100 according to the second embodiment of the present invention, and shows a state in which the marker sheet 30 is removed as in FIG.
In this example, the takeoff/landing port 10 and the marker sheet 30 are the same as in the first embodiment.
The outer fence 20 is located outside the takeoff/landing port 10 in this example.
That is, the portable drone port 100 of the second embodiment is a separation type in which the takeoff/landing port 10 and the outer fence 20 are separated.

FIG. 6 is a plan view (A) and a side view (B) at the storage position of the outer fence 20.
In this example, the outer fence 20 has four sets of four corner members 22 and a pair of side frames 24 fixed to the four corner members 22, respectively.
The side frame 24 is composed of a plurality of side segments 24a connected in order.
The plurality of side segments 24a have holding positions of a storage position (FIG. 6) in which the side segments 24a are folded on top of each other and a deployed position (FIG. 5) that is linearly connected.
The above configuration is similar to that of the first embodiment.

In FIG. 6A, the outer fence 20 has a pair of side frames 24 positioned in parallel with each other at the storage position A, and four sets of outer fences 20 can be stacked and conveyed.
Further, in FIG. 6B, the outer fence 20 has a fence support leg 40B whose upper surface height can be adjusted.
Other configurations are similar to those of the first embodiment.

In addition, in FIG. 5, in order to firmly hold the right angles of the four corners of the outer fence 20, a right angle holding member may be added.
Further, in order to accurately position the outer fence 20 with respect to the takeoff/landing port 10 when the outer fence 20 is deployed, a connecting member may be added to connect the takeoff/landing port 10 and the outer fence 20.

According to the above-described embodiment of the present invention, since the takeoff/landing port 10 can hold the horizontal plane on which the physical distribution drone can takeoff and land in an undulating place, it is possible to land the physical distribution drone with high accuracy during use.
Further, the outer fence 20 surrounds the outside of the takeoff/landing port 10 with a space and the height can be adjusted, so that the marker sheet 30 can be spread horizontally with the outer edge fixed to the outer fence 20.
Furthermore, since the marker sheet 30 has a plurality of AR markers 38 on the upper surface of which the physical distribution drone can be recognized, highly accurate landing of the physical distribution drone is possible.

Further, since the marker sheet 30 is configured so that a person can access the takeoff/landing port 10, a person can access the logistics drone and luggage located on the takeoff/landing port 10.
Furthermore, since the outermost fence 20 can be folded into a size in which the longest part is shorter than the takeoff/landing port 10, by folding the outer fence 20, the entire drone port can be folded up to the size of the takeoff/landing port 10 or less and easily transported. You can

It should be noted that the present invention is not limited to the above-described embodiment, and it goes without saying that various modifications can be made without departing from the gist of the present invention.

10 takeoff and landing port, 12 fixed top plate, 14 rectangular frame,
20 outer fence, 22 four corner members, 24 side frame, 24a side segment,
28 diagonal frame, 30 marker sheet, 32 center sheet,
34 outer sheet, 35 slits, 38 AR marker,
40A port support leg, 40B fence support leg, 42 level, 44 casters,
46 detection sensors, 48 alarm devices, 100 portable drone ports

Claims (7)

A takeoff and landing port that can hold a horizontal plane where a logistics drone can take off and land in an uneven place,
An outer fence that surrounds the outside of the takeoff and landing port at intervals and has a height adjustable,
A marker sheet that can be spread horizontally by fixing the outer edge to the outer fence,
The outer fence is foldable to have a maximum length shorter than the takeoff and landing port,
A portable drone port, wherein the marker sheet has a plurality of AR markers on the upper surface thereof that the logistics drone can recognize, and is configured to be accessible to a person up to the takeoff/landing port. The takeoff and landing port has a port support leg whose upper surface height can be adjusted, and a level that can detect the levelness of the upper surface,
The portable drone according to claim 1, wherein the outer fence includes a fence support leg whose upper surface height can be adjusted, a detection sensor that detects an object passing over the fence support leg, and an alarm device that notifies an abnormality. port. The portable drone port according to claim 1, wherein the take-off and landing port includes a fixed top plate on which the physical distribution drone can take off and land, and a rectangular frame that supports the fixed top plate. The outer fence has four sets of four corner members and a pair of side frames respectively fixed to the four corner members,
The side frame is composed of a plurality of side segments connected in order,
The portable drone port according to claim 1, wherein the plurality of side segments have a holding position of a storage position in which the side segments are folded on top of each other and a deployed position in which the side segments are linearly connected. Fixed at the four corners of the takeoff and landing port, having four sets of diagonal frames that can be pulled out in a diagonal direction of the takeoff and landing port from a storage position housed inside the takeoff and landing port,
The portable drone port according to claim 4, wherein an outer end of the diagonal frame is rotatably fixed to the four corner members. The marker sheet has a rectangular central sheet located above the takeoff/landing port, and a rectangular ring-shaped outer sheet located at the lower surface of the intermediate portion of the takeoff/landing port and the outer fence,
The portable drone port of claim 1, wherein a person standing on the outer seat over the outer fence accesses the logistics drone on a takeoff and landing port. The marker sheet, from the upper surface of the takeoff and landing port to the outer fence, is an integrated sheet that is horizontally stretched by fixing the outer edge, and has a slit on the outside of the takeoff and landing port,
Open the slit, open a part of the integrated seat, get over the outer fence, and a person stands on the floor located under the integrated seat to access the logistics drone on the takeoff and landing port, The portable drone port according to claim 1.

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