JP2020192967A - Flight area restriction device of unmanned aircraft - Google Patents

Abstract

To provide a flight area restriction device of an unmanned aircraft, which can be installed in an object without use of such a tool for ascent/descent as a stepladder and a ladder.SOLUTION: A flight area restriction device 1 of an unmanned aircraft restricts a flyable area for the unmanned aircraft 3 so that the unmanned aircraft 3 can fly only in an area near the object 5. The flight area restriction device comprises a restriction device body part 7 that surrounds the object 3 while making a clearance between itself and the object 3 and that can freely move in a longitudinal direction of the object 3 with respect to the object 3, and an unmanned aircraft installation part 9 that is provided in the restriction device body part 7 and in which the unmanned aircraft 3 is installed.SELECTED DRAWING: Figure 2

Description

The present invention relates to a flight area limiting device for an unmanned aerial vehicle, and more particularly to a device capable of limiting the flight area of an unmanned aerial vehicle even when a failure occurs in the unmanned aerial vehicle.

Conventionally, in the event of a failure in an unmanned aerial vehicle such as a drone, a device that uses a cable or wire to prevent the drone from falling (falling) and limits the flight range of the drone has been known (for example, a patent). See Document 1 and Patent Document 2).

JP-A-2017-024573 Japanese Unexamined Patent Publication No. 2017-141009

By the way, when a drone flies in a high place, there is a problem that it is necessary to install cables and wires in a high place using tools for raising and lowering such as stepladders and ladders in the conventional device that limits the flight range of the drone. is there.

The present invention has been made in view of the above problems, and provides a flight area limiting device for an unmanned aerial vehicle that can be installed on an object without using tools for raising and lowering such as stepladders and ladders. The purpose.

The invention according to claim 1 is the flight of an unmanned aerial vehicle that limits the flightable area of the unmanned aerial vehicle so that the unmanned aerial vehicle flies only in the vicinity of the object when installed at the object. A region limiting device, which is a limiting device main body that surrounds the target and is movable in the longitudinal direction of the target when installed at the target, and the limiting device. It is a flight area limiting device for an unmanned aerial vehicle provided in the main body and having an unmanned aerial vehicle installation unit on which the unmanned aerial vehicle is installed.

The invention according to claim 2 is the flight area limiting device for an unmanned aerial vehicle according to claim 1, wherein the limiting device main body is formed by combining a plurality of main body components. It is a flight area limiting device.

The invention according to claim 3 is the flight area limiting device for an unmanned aerial vehicle according to claim 2, and the object is placed on the main body of the limiting device in a state before being installed at the object. The flight area limiting device is provided with an opening larger than the diameter, or the limiting device main body is linearly formed.

The invention according to claim 4 is the flight area limiting device for an unmanned aerial vehicle according to claim 3, and is configured such that the limiting device main body is annular when installed at the object. The flight area limiting device is provided with an annular state maintaining portion for maintaining the annular state in the limiting device main body.

The invention according to claim 5 is the flight area limiting device for an unmanned aerial vehicle according to any one of claims 1 to 4, and when installed at the object, the object. This is a flight area limiting device for an unmanned aerial vehicle having a longitudinal movement range limiting portion that limits the moving range of the main body of the limiting device in the longitudinal direction.

The invention according to claim 6 is the flight area limiting device for an unmanned aerial vehicle according to any one of claims 1 to 5, which is at least one of the limiting device main body and the unmanned aerial vehicle. It is a flight area limiting device for an unmanned aerial vehicle provided with an inspection device installation unit on which an inspection device for inspecting the object is installed.

The invention according to claim 7 is the flight area limiting device for an unmanned aerial vehicle according to any one of claims 1 to 6, and when installed at the object, the object. A flight area limiting device for an unmanned aerial vehicle having a posture maintaining unit that maintains the posture of the limiting device main body even when a rotational moment around an axis orthogonal to the longitudinal direction of the limiting device is generated in the limiting device main body. Is.

According to the present invention, there is an effect that it is possible to provide a flight area limiting device for an unmanned aerial vehicle that can be installed on an object without using a tool for raising and lowering a stepladder or a ladder.

It is a perspective view which shows the flight area limiting device of the unmanned aerial vehicle which concerns on embodiment of this invention. It is a perspective view which shows the flight area limiting device of the unmanned aerial vehicle which concerns on embodiment of this invention. (A) is a plan view of the flight area limiting device of the unmanned aerial vehicle according to the embodiment of the present invention, and (b) is a front view of the flight area limiting device of the unmanned aerial vehicle according to the embodiment of the present invention. It is a top view of the main body of the limiting device which constitutes the flight area limiting device of the unmanned aerial vehicle which concerns on the modification. (A) is a plan view of the flight area limiting device of the unmanned aerial vehicle according to the modified example, and (b) is a front view of the flight area limiting device of the unmanned aerial vehicle according to the modified example. (A) is a plan view of the flight area limiting device of the unmanned aerial vehicle according to the modified example, and (b) is a front view of the flight area limiting device of the unmanned aerial vehicle according to the modified example. It is a figure which shows the installation mode to the object of the flight area limiting device which concerns on a modification. It is a top view which shows the flight area limiting device which concerns on a modification. It is a top view which shows the flight area limiting device which concerns on a modification. It is a figure which shows the ring-shaped state maintenance part of the limiting device main body which constitutes the flight area limiting device which concerns on a modification, (b) is a figure which shows the cross section of XB-XB in (a), and (c) is a ring state. It is a figure which shows the state which formed the limiting device main body part in an annular shape in the maintenance part.

The flight area limiting device (hereinafter referred to as "flying area limiting device") 1 of the unmanned aerial vehicle according to the embodiment of the present invention is when installed at the object 5 as shown in FIGS. 1 and 2. It is a device that limits the flight area of an unmanned aerial vehicle (for example, a drone) 3. By limiting the flight area, the drone 3 will always fly only in the vicinity of the object 5. For example, the drone 3 will only fly along the object 5 in the longitudinal direction of the object 5.

Further, the flight area limiting device 1 is an unmanned aerial vehicle guide device that guides the drone 3 so that the drone 3 flies only within a finite predetermined area, and even if the drone 3 becomes uncontrollable, a predetermined one. It is a device that prevents the drone 3 from flying out of a predetermined area by using an object (equipment) having a shape.

Here, a predetermined horizontal direction is defined as a vertical direction, another predetermined horizontal direction is defined as a horizontal direction, and a direction orthogonal to the vertical direction and the horizontal direction. Is the vertical direction (height direction).

The object 5 is an object (unmanned aerial vehicle flight object) that exists in the vicinity of the drone 3 when the drone 3 flies, and is formed in a columnar shape, for example. Here, as the object 5, an infrastructure such as a road exhaust tower is taken as an example. In the exhaust tower 5, the height direction (longitudinal direction) of the pillar is the vertical direction, but the longitudinal direction of the object 5 does not necessarily have to be the vertical direction, and the longitudinal direction of the object 5 May be diagonally up and down or horizontally.

Further, the flight area limiting device 1 is configured to include a limiting device main body (frame) 7 and an unmanned aerial vehicle installation unit 9.

The limiting device main body 7 surrounds the exhaust tower 5 in the vertical or horizontal direction (diametrical direction of the exhaust tower 5) while surrounding the exhaust tower 5 (for example, the exhaust tower 5 is non-contacted). It is designed to be installed in the exhaust tower 5 (as if surrounding it). The limiting device main body 7 installed in the exhaust tower 5 is movable with respect to the exhaust tower 5 in the height direction of the exhaust tower 5.

The unmanned aerial vehicle installation unit 9 is provided in the restriction device main body 7, and the drone 3 (the housing 11 of the drone 3) is integrally installed in the unmanned aerial vehicle installation unit 9. Then, as the rotor blade 13 of the drone 3 on which the unmanned aerial vehicle installation unit 9 is installed rotates, the limiting device main body 7 (flying area limiting device 1) installed in the exhaust tower 5 acts on the exhaust tower 5. It is designed to move in the vertical direction.

The limiting device main body 7 has rigidity that can be regarded as a rigid body, and is formed in an annular shape, for example. The inner diameter of the ring of the limiting device main body 7 is larger than the outer diameter of the columnar exhaust tower 5.

As a result, when the limiting device main body 7 is installed in the exhaust tower 5 so that the exhaust tower 5 penetrates the ring of the annular limiting device main body 7, the limiting device main body 7 is installed in the height direction of the exhaust tower 5. The 7 can travel a relatively long distance with respect to the exhaust tower 5. On the other hand, in the radial direction of the exhaust tower 5, the limiting device main body 7 compares with the exhaust tower 5 according to the difference between the outer diameter value of the exhaust tower 5 and the inner diameter value of the ring of the limiting device main body 7. It is designed so that it can only move a small distance.

In the present application, the limiting device main body 7 in which a notch is formed in a part of the ring and is formed in a “C” shape is also formed in an annular shape.

When the limiting device main body is formed in a "C" shape, the value of the width (length) of the ring notch of the limiting device main body 7 is the outer diameter of the columnar exhaust tower 5. It is smaller than the value. As a result, the limiting device main body 7 is prevented from coming off the exhaust tower 5 in the radial direction of the exhaust tower 5 while the limiting device main body 7 is installed in the exhaust tower 5.

Further, in the present application, it is assumed that the limiting device main body 7 formed in multiple windings such as double winding is also formed in an annular shape, and the limiting device main body 7 formed in a spiral shape is also the limiting device main body. If it has the function of the part 7, it is assumed that it is formed in a ring shape.

Further, not only when the stretching direction of the ring is in the horizontal direction such as the horizontal direction and the vertical direction, but also by including a portion where the stretching direction of the ring is in the vertical direction as shown in FIG. It is assumed that the limiting device main body 7 having a large value in the vertical direction is also formed in an annular shape.

The limiting device main body 7 may be made of a material such as a string. A material such as a string has resistance only to this tensile force in the longitudinal direction, and is not resistant to other forces and can bend freely. In this case, the limiting device main body 7 is formed in an annular shape by joining both ends of a material such as a string in the longitudinal direction to each other.

The housing 11 of the drone 3 can be easily attached to and detached from the unmanned aerial vehicle installation unit 9 (for example, with one touch). Further, the unmanned aerial vehicle installation units 9 are provided in a plurality (at least three locations) in a well-balanced manner so as to be separated from each other in the circumferential direction (direction in which the ring extends) of the ring of the limiting device main body portion 7.

For example, as shown in FIG. 3A, in the embodiment in which the limiting device main body 7 is formed in a rectangular ring shape (“square shape”), each of the four corners of the limiting device main body 7 is unmanned. Aircraft installation units 9 (9A, 9B, 9C, 9D) are provided, and when the flight area limiting device 1 is used, each of the four unmanned aerial vehicle installation units 9 (9A, 9B, 9C, 9D). Drones 3 (3A, 3B, 3C, 3D) are installed in the vehicle.

Further, when the limiting device main body 7 is formed in an annular shape, the unmanned aerial vehicle installation portion 9 is provided at a position where the circumference of the annular limiting device main body 7 is arranged in four equal parts. Then, when the flight area limiting device 1 is used, each of the four drones 3 (3A, 3B, 3C, 3D) is installed in each of the four unmanned aerial vehicle installation units 9. That is, the four drones 3 are installed at positions where the circumference of the annular limiting device main body 7 is arranged in four equal parts.

Further, as shown in FIG. 4, the limiting device main body 7 is formed by combining a plurality of main body constituent members (15, 17, 19, 21). That is, the limiting device main body 7 selects a plurality of appropriate main body constituent members from a plurality of or a plurality of types of main body constituent members according to the shape and size of the exhaust tower 5, and this selection is made. It is formed by integrally assembling a plurality of main body constituent members.

For example, as the main body constituent members, a plurality of first arc-shaped main body constituent members 15, a plurality of second arc-shaped main body constituent members (not shown), and a plurality of first linear main bodies It is assumed that the constituent member 17, a plurality of second linear main body constituent members 19, and a plurality of first elliptical arc-shaped main body constituent members 21 are prepared.

The first arc-shaped main body component 15 is bent at the first radius of curvature and extends by a predetermined length, and the second arc-shaped main body component 15 has a second radius of curvature (second radius of curvature). It bends at a second radius of curvature, which is smaller than the value of the radius of curvature of 1, and extends by a predetermined length. Further, the first linear main body component 17 is formed in a straight line and has a predetermined first length, and the second linear main body component 19 is linear. It is formed and has a predetermined second length (a second length smaller than the value of the first length). The first elliptical arc-shaped main body component 21 is bent at a predetermined radius of curvature and extends by a predetermined length.

Then, as shown in FIGS. 3 and 4A, when the limiting device main body 7 for the square columnar exhaust tower 5 is formed, for example, four of the plurality of main body constituent members are formed. The first linear main body component 17 of the above is selected, and the four selected first linear main body components 17 are assembled to form a square annular limiting device main body 7. I am trying to do it.

As shown in FIG. 4B, when the limiting device main body 7 for the columnar exhaust tower 5 is formed, for example, four first arcs from among the plurality of main body components are formed. The main body component 15 of the above is selected, and the plurality of selected first arc-shaped main body constituent members 15 are assembled to form the annular limiting device main body 7.

As shown in FIG. 4C, when the limiting device main body 7 for the regular hexagonal columnar exhaust tower 5 is formed, for example, six second straight lines are selected from the plurality of main body constituent members. The shape of the main body component 19 is selected, and the six selected second linear main body components 19 are assembled to form the hexagonal annular limiting device main body 7.

Further, as shown in FIG. 4D, when the limiting device main body 7 for the elliptical columnar exhaust tower 5 is formed, for example, four first main body members are selected from among the plurality of main body constituent members. An elliptical arc-shaped main body component 21 is selected, and the four selected first elliptical arc-shaped main body constituent members 21 are assembled to form an elliptical annular limiting device main body 7. ..

Although the shape of the limiting device main body 7 is matched with the shape of the exhaust tower 5 in FIGS. 3A and 4, the shape of the limiting device main body 7 does not have to be matched with the shape of the exhaust tower 5. .. For example, as shown in FIGS. 1 and 2, a rectangular annular limiting device main body 7 may be installed in the columnar exhaust tower 5.

Further, in FIGS. 3A and 4, a plurality of main body constituent members having the same shape are used to form the limiting device main body 7, but a plurality of differently shaped main body constituent members are used to form the limiting device main body. 7 may be formed. For example, even if the two first arc-shaped main body constituent members 15 and the three first linear main body constituent members 17 are used to form a front-rear circular and annular limiting device main body 7. Good.

As shown in FIGS. 2 and 3B, the flight area limiting device 1 is provided with a longitudinal movement range limiting portion 23. The longitudinal movement range limiting unit 23 limits the movement range (movement amount) of the limiting device main body 7 in the height direction of the exhaust tower 5.

Further explaining, the longitudinal movement range limiting unit 23 exhausts the limiting device main body 7 only within the height direction of the exhaust tower 5, for example, within the total height (total length) of the exhaust tower 5 in the height direction. It is movable by a distance slightly smaller than the height dimension of the tower 5. As a result, the state in which the limiting device main body 7 is installed in the exhaust tower 5 is maintained so that the exhaust tower 5 penetrates the limiting device main body 7.

The longitudinal movement range limiting portion 23 is, for example, an anchor (wire-to-ground fixture) 27 installed on the ground surface 25 and a string-shaped member (wire for limiting climbing altitude) extending from the anchor 27 by a predetermined length. ) 29, and it is assumed that the tip end portion of the string-shaped member 29 is fixed to the limiting device main body portion 7.

As a result, the movement of the limiting device main body 7 in the vertical direction is restricted by the longitudinal movement range limiting unit 23. That is, the limiting device main body 7 extends from the ground surface 25 (see FIG. 1) to the upper end of the exhaust tower 5 (slightly lower than the upper end; see FIGS. 2 and 3 (b)) in the vertical direction. It is possible to move with respect to the exhaust tower 5 only between.

Further, as shown in FIG. 3A and the like, the flight area limiting device 1 is provided with a plurality of inspection device installation units 31 (31A, 31B, 31C, 31D). Similar to the unmanned aerial vehicle installation unit 9, the inspection device installation unit 31 is also provided in a plurality of well-balanced parts separated from each other in the circumferential direction (direction in which the ring extends) of the ring of the limiting device main body 7. For example, an inspection device installation unit 31 is provided at the center of each of the first linear main body component 17s in the longitudinal direction.

Inspection devices 33 (33A, 33B, 33C, 33D) for inspecting the exhaust tower 5 are installed in each of the inspection device installation units 31 (31A, 31B, 31C, 31D).

As an inspection device installed in the inspection device installation unit 31, for example, a camera for photographing the exhaust tower 5 can be raised. Then, these cameras 33 (33A, 33B, 33C, 33D) can photograph the entire outer circumference of the exhaust tower 5. The image captured by the camera 33 may be either a moving image or a still image, or may be both a moving image and a still image. Still images and moving images shot by the camera 33 are stored in the memory of the camera together with the shooting time, for example.

Further, when the camera 33 is provided with a position information acquisition unit (for example, a part for acquiring position information by receiving radio waves emitted by GPS satellites), the position information acquisition unit acquires the position information (for example, (Including altitude) is associated with the still image or moving image taken by the camera 33 and the shooting time, and is stored in the memory of the camera.

Further, when the camera 33 is provided with the tilt angle detection unit, the tilt angle of the camera 33 is associated with the still image, the moving image, or the shooting time taken by the camera 33 in the same manner as the position information acquisition unit. Is stored in the memory of the camera 33.

Further, the housing of the camera 33 can be easily attached to and detached from the inspection device installation unit 31 (for example, with one touch). Further, the posture of the camera 33 installed in the inspection device installation unit 31 can be manually adjusted, for example. Since the posture can be easily adjusted, the position to be photographed by the camera 33 can be easily adjusted in advance.

The inspection device installation unit 31 is provided in the restriction device main body 7, but instead of or in addition to providing the inspection device installation unit 31 in the restriction device main body 7, the inspection device installation unit is attached to the drone 3. 31 may be provided. That is, the inspection device installation unit 31 may be provided in at least one of the restriction device main body 7 and the drone 3.

Further, the inspection device installation unit 31 may be configured so that an inspection device having another function can be installed in place of or in addition to the camera 33. As an inspection device having another function, for example, a distance sensor that detects the distance (amount of gap) between the inspection device and the exhaust tower 5 in a non-contact manner can be mentioned.

By adopting a distance sensor as an inspection device, it is possible to measure the outer diameter of the exhaust tower 5 and detect the presence or absence of unevenness on the side surface of the exhaust tower 5.

Further, the flight area limiting device 1 may be provided with the attitude maintaining unit 35 as shown in FIG. The attitude maintenance unit 35 has, for example, that the thrusts and speeds of the drones 3 (3A, 3B, 3C, 3D) installed in each unmanned aerial vehicle installation unit 9 (9A, 9B, 9C, 9D) are slightly different. Therefore, even when a rotational moment around an axis (an axis extending in the horizontal direction) orthogonal to the height direction of the exhaust tower 5 is generated in the limiting device main body 7, the posture of the limiting device main body 7 Is supposed to be maintained.

In other words, even if a rotational moment around an axis extending in the horizontal direction is generated, the posture maintaining unit 35 prevents the limiting device main body 7 from being tilted diagonally.

Further, the posture maintaining unit 35 regulates the movement of the limiting device main body 7 in the radial direction of the exhaust tower 5. Further, the posture maintaining unit 35 prevents the limiting device main body 7 from rotating around an axis extending in the height direction of the exhaust tower 5 (for example, the central axis of the exhaust tower 5). .. Even if the posture maintaining portion 35 is provided, the limiting device main body portion 7 may be configured so as to be able to rotate around an axis extending in the height direction of the exhaust tower 5.

Here, the flight area limiting device 1 will be described in more detail.

The drones 3 (3A, 3B, 3C, 3D) installed in each of the unmanned aerial vehicle installation units 9 (9A, 9B, 9C, 9D) automatically make these thrusts and velocities equal to each other, for example, and fly. It is desirable that it is like this. As a result, the limiting device main body 7 is prevented from being tilted diagonally.

For example, the limiting device main body 7 is provided with a control unit (not shown) provided with a memory and a CPU and an inclination angle detection sensor (not shown) for detecting the inclination of the limiting device main body 7. Under control, adjust the thrust and speed of each drone 3 (3A, 3B, 3C, 3D) according to the limiting device main body 7 detected by the tilt angle detection sensor, and keep the limiting device main body 7 horizontal. It is desirable to.

Further, even if the limiting device main body 7 moves by the maximum amount with respect to the exhaust tower 5 in the radial direction of the exhaust tower 5, the drone 3 installed in the unmanned aerial vehicle installation unit 9 and the inspection device installation unit 31 are installed. The camera 33 does not come into contact with the exhaust tower 5. That is, from the state shown in FIG. 3A (a state in which the center of the exhaust tower 5 and the center of the flight area limiting device 1 and the limiting device main body 7 coincide with each other), the limiting device main body 7 is the exhaust tower. Even if the limiting device main body 7 comes into contact with the exhaust tower 5 by moving to the right side with respect to 5, the drone 3A, the drone 3D, and the camera 33A do not come into contact with the exhaust tower 5.

As described above, a distance sensor is adopted as the inspection device 33, and under the control of the control unit, the limiting device main body 7 is horizontal according to the measurement result of the distance between the exhaust tower 5 and the limiting device main body 7. The position in the direction may be adjusted. Then, when viewed in the vertical direction, the center of the exhaust tower 5 and the center of the annular limiting device main body 7 may be automatically aligned with each other. As a result, the distance between the camera 33 and the exhaust tower 5 in the horizontal direction can be kept constant.

Here, the posture maintaining unit 35 will be described in detail. As shown in FIG. 5, the posture maintaining portion 35 is configured to include a plurality of (for example, four) guide roller portions 37 (37A, 37B, 37C, 37D). The first guide roller portion 37A is the first linear main body component 17A (for example, the first linear body component 17) of the four first linear main body constituent members 17. It is provided in the central portion in the longitudinal direction of the main body component 17A).

Similarly, the second guide roller portion 37B is provided on the second first linear main body component 17B, and the third guide roller portion 37C is the third third guide roller portion 37C. It is provided on the linear main body component 17C of No. 1, and the fourth guide roller portion 37D is provided on the fourth linear main body component 17D.

The first guide roller portion 37A includes a plurality of (for example, two) rollers (short columnar rollers; wheels and rubber tires) 39 (39A, 39B) and roller support members 41 (41A). It is configured.

The roller support member 41A is integrally provided on the limiting device main body 7 (first linear main body constituent member 17A), and the roller 39A is attached to the roller support member 41A at the tip of the roller support member 41A. It is rotatably supported. The rotation center axis of the roller 39A coincides with the center axis of the roller 39A and extends in the vertical direction. Further, the outer circumference of the roller 39A rolls and is in contact with the exhaust tower 5 in a kinematic pair. Further, in the vertical direction, the position of the roller 39A and the position of the first linear main body component 17A are substantially the same as each other.

Like the roller 39A, the roller 39B is rotatably supported by the roller support member 41A at the tip of the roller support member 41A, and the outer circumference of the roller 39B rolls and is in contact with the exhaust tower 5 in a kinematic pair. In the vertical direction, the roller 39B is located below the roller 39A apart from the roller 39A.

The second guide roller portion 37B is also configured to include a plurality of rollers 39 (39A, 39B) and a roller support member 41 (41B) in the same manner as the first guide roller portion 37A. Further, in the second guide roller portion 37B, the rollers 39A and 39B are in contact with the exhaust tower 5 in a rolling kinematic pair.

Similar to the first guide roller portion 37A, the third guide roller portion 37C is also configured to include a plurality of rollers 39 (39A, 39B) and a roller support member 41 (41C). Further, in the third guide roller portion 37C, the rollers 39A and 39B are in contact with the exhaust tower 5 in a rolling kinematic pair.

However, in the third guide roller portion 37C, the roller support member 41C is a guide member 43 integrally provided with the limiting device main body portion 7 (first linear main body portion constituent member 17C), and is laterally provided. It is guided so that it can move only in the direction, and the first linear main body component 17C (rollers 39A and 39B) is attached in the direction approaching the exhaust tower 5 by an elastic body such as a compression coil spring 45. It is being pushed.

Then, the exhaust tower 5 is sandwiched by the first guide roller portion 37A and the third guide roller portion 37C facing the first guide roller portion 37A with urging force in the lateral direction. The limiting device main body 7 does not easily move in the horizontal direction, and the limiting device main body 7 does not easily rotate around an axis extending in the vertical direction.

In the third guide roller portion 37C, one of the rollers 39A and 39B may be deleted. In this case, it is desirable that the roller 39 of the third guide roller portion 37 is located between the two rollers 39 (39A, 39B) of the first guide roller portion 37A in the height direction.

The fourth guide roller portion 37D is also configured to include a plurality of rollers 39 (39A, 39B) and a roller support member 41 (41D) in the same manner as the third guide roller portion 37C. Further, in the fourth guide roller portion 37D, the rollers 39A and 39B are in contact with the exhaust tower 5 in a rolling kinematic pair.

Further, also in the fourth guide roller portion 37D, the roller support member 41D is attached to the limiting device main body portion 7 (first linear main body portion constituent member 17D) in the same manner as in the third guide roller portion 37C. A guide member 43 integrally provided guides the members so that they can move only in the vertical direction, and an elastic body such as a compression coil spring 45 provides a first linear main body component 17D (each roller 39A). , 39B) are urged toward the exhaust tower 5.

Then, the exhaust tower 5 is sandwiched by the second guide roller portion 37B and the fourth guide roller portion 37D facing the second guide roller portion 37B with urging force in the vertical direction. The limiting device main body 7 does not easily move in the vertical direction, and the limiting device main body 7 does not easily rotate around an axis extending in the horizontal direction.

Further, each guide roller portion 37 of the posture maintaining portion 35 prevents the limiting device main body portion 7 from easily rotating around an axis extending in the vertical direction. That is, as can be understood from FIG. 5A, the rollers 39 of each guide roller portion 37 are in line contact with the flat surface of the exhaust tower 5 to form a rolling kinematic pair, and the rollers 39 and the flat surface of the exhaust tower 5 are formed. Since the line in contact with the is extended in the vertical direction or the horizontal direction, the limiting device main body 7 does not rotate around the axis extending downward.

Here, an example will be given of a configuration in which the limiting device main body 7 can rotate around an axis extending in the vertical direction even though the posture maintaining portion 35 is provided. In this case, as shown in FIG. 4B, it is desirable that the exhaust tower 5 is formed in a columnar shape.

Further, a sphere (not shown) is used instead of the short roller 39, and the sphere is supported by a spherical bearing (not shown) provided on the roller support member 41. As a result, the sphere can freely rotate around an arbitrary axis passing through this center as the rotation center axis, and the limiting device main body can rotate around the axis extending in the vertical direction even though the posture maintaining portion 35 is provided. The part 7 can rotate.

Next, the operation of the flight area limiting device 1 (limiting device main body 7) in which the drone 3 and the camera 33 are installed will be described. In this operation, the camera 33 captures a moving image, and the drone 3 flies by remote control by radio.

First, the installation of the limiting device main body 7 in the exhaust tower 5 will be described.

A main body component (for example, four first linear main body components 17) suitable for the shape of the exhaust tower 5 is selected, and these four selected first linear main bodies 17 are selected. The components 17 are assembled so as to surround the exhaust tower 5 at the lower end of the exhaust tower 5. As a result, the annular limiting device main body 7 is installed in the exhaust tower 5 at the lower end of the exhaust tower 5.

Subsequently, the drone 3 is installed in the unmanned aerial vehicle installation unit 9 of the restriction device main body 7, and the camera 33 is installed in the inspection device installation unit 31, so that the initial state shown in FIG. 1 is obtained.

Then, the power of the drone 3 and the power of the camera 33 are turned on. At this time, the rotor blades of the drone 3 start rotating, the drone 3 is ready to fly, and the camera 33 starts shooting a moving image.

Subsequently, the drone 3 is flown to raise the flight area limiting device 1 in which the drone 3 and the camera 33 are installed. For example, as shown in FIGS. 2 and 3B, the flight area limiting device 1 in which the drone 3 and the camera 33 are installed reaches the upper end of the exhaust tower 5. As a result, the entire surface of the exhaust tower 5 can be photographed by the camera 33 over the entire height of the exhaust tower 5.

Subsequently, if the flight area limiting device 1 in which the drone 3 and the camera 33 are installed is lowered to the lower end of the exhaust tower 5 and the power supply of the drone 3 and the power supply of the camera 33 are turned off, the above initial state is obtained.

In the above description, the camera 33 shoots a moving image, but instead of or in addition to shooting the moving image, the camera 33 shoots a still image every time the time elapses or by remote control. You may.

According to the flight area limiting device 1, the limiting device main body 7 that surrounds the exhaust tower 5 while creating a gap with the exhaust tower 5 and is movable in the height direction of the exhaust tower 5 with respect to the exhaust tower 5 is provided. Since the drone 3 is installed in the unmanned aerial vehicle installation unit 9 of the restriction device main body 7 and the drone 3 flies, the restriction device main body 7 is configured to move in the height direction of the exhaust tower 5. The limiting device main body 7 can be installed in the exhaust tower 5 without using tools for raising and lowering such as a stepladder and a ladder.

That is, in order to install the limiting device main body 7 on the exhaust tower 5 formed in a columnar shape, the limiting device main body 7 may be installed at the lower end of the exhaust tower 5, so that the stepladder, ladder, etc. can be raised and lowered. The flight area limiting device 1 can be installed in the exhaust tower 5 without using any tools.

In the conventional devices described in Patent Document 1 and Patent Document 2, it is necessary to fix the ends of wires and cables to an object (an object when an unmanned airplane flies around), and the end of the wire or cable needs to be fixed to the object in advance. It is necessary to provide a part for fixing the end of the wire or cable, or modify the object to provide a part for fixing the end of the wire or cable.

On the other hand, in the flight area limiting device 1, it is not necessary to directly engage the exhaust tower 5 to provide the limiting device main body 7 (flight area limiting device 1) or the drone 3, so that it can be easily installed in the existing exhaust tower 5. At the same time, it becomes easy to remove the flight area limiting device 1 installed in the exhaust tower 5 from the exhaust tower 5.

Further, according to the flight area limiting device 1, the flight area of the drone 3 can be limited, so that the inspection of the exhaust tower 5 can be easily performed. That is, it is conceivable to use the drone 3 to inspect the infrastructure such as the exhaust tower 5 of the road at a high place or the like where people cannot easily approach. However, if the drone 3 becomes uncontrollable while inspecting the exhaust tower 5 of the road using the drone 3 without particularly limiting the flight area of the drone 3, the drone 3 will harm the vehicle traveling on the road. May be added. Therefore, when inspecting the exhaust tower 5 of the road using the drone 3, it is necessary to regulate the traffic on the road.

However, according to the flight area limiting device 1, the flight area of the drone 3 is limited by installing the limiting device main body 7 in the exhaust tower 5 in such a manner that the exhaust tower 5 penetrates the annular limiting device main body 7. Therefore, even if the drone 3 becomes uncontrollable while inspecting the exhaust tower 5 of the road using the drone 3, the drone 3 will not fly to the vehicle traveling on the road. , Road traffic regulation becomes unnecessary, and the inspection of the road exhaust tower 5 can be easily performed.

Further, according to the flight area limiting device 1, since the limiting device main body 7 is formed by appropriately combining a plurality of main body constituent members 15, 17, 19, 21, the limiting device main body 7 is combined with the exhaust tower 5. It is sufficient to assemble each body component so that a plurality of main body components surround the exhaust tower 5, and the limiting device main body 7 can be easily installed in the exhaust tower 5.

Further, according to the flight area limiting device 1, since the limiting device main body 7 is formed by appropriately combining a plurality of main body constituent members 15, 17, 19, 21, it is appropriate to match the shape of the exhaust tower 5. It is only necessary to select the main body component of the above, and the limiting device main body 7 that matches the shape of the exhaust tower 5 can be installed in the exhaust tower 5.

Further, according to the flight area limiting device 1, since the longitudinal movement range limiting portion 23 for limiting the moving range of the limiting device main body 7 in the height direction of the exhaust tower 5 is provided, the flight to the exhaust tower 5 The area limiting device 1 is installed, and the drone 3 is installed in the flight area limiting device 1. Even if the drone 3 is in flight and the drone 3 fails and becomes uncontrollable, it is exhausted. The movement of the drone 3 not only in the radial direction of the tower 5 but also in the height direction is restricted, and it is possible to eliminate the occurrence of problems such as the flight area limiting device 1 and the drone 3 being detached from the exhaust tower 5.

Further, according to the flight area limiting device 1, if a camera 33 for photographing the exhaust tower 5 is installed in the inspection device installation unit 31, the outer surface of the exhaust tower 5 can be photographed at a place (person) where inspection or measurement is difficult. Even in high places that are out of reach), inspections and measurements can be easily performed, and the occurrence of defects such as the presence or absence of cracks in the exhaust tower 5 can be inspected.

Further, according to the flight area limiting device 1, if a camera 33 is adopted as an inspection device and the exhaust tower 5 is photographed by the camera 33, the exhaust tower 5 can be photographed in close proximity, and the exhaust tower 5 can be photographed with high accuracy. Can be inspected.

Further, according to the flight area limiting device 1, the thrust and speed of the drone 3 installed in each of the unmanned aerial vehicle installation sections 9 of the limiting device main body 7 are slightly different because the attitude maintaining section 35 is provided. Even if there is an imbalance in weight, the posture of the limiting device main body 7 can be maintained, and the limiting device main body 7 can be moved in the longitudinal direction of the exhaust tower 5 in a stable state.

By the way, in the above description, the exhaust tower 5 is taken as an example for this inspection, but a structure such as a building may be adopted as the object 5, and the inspection is not performed. You may adopt the thing. For example, a tall tree (a tall tree to be pruned such as cedar or cypress) or a pillar standing upright at a construction site or the like may be adopted as the object 5. In this case, for example, the flight area limiting device 1 in which the drone 3 is installed transports objects such as tools and food and drink.

Further, in the above description, the video (video or still image) taken by the camera 33 is stored in the memory, but the video shot by the camera 33 can be stored in real time by a communication such as wireless communication such as a mobile terminal or a PC. It may be sent to an external device of.

Further, in the above description, the drone 3 is flown by remote control, but the drone 3 may fly independently by a program stored in this memory in advance.

Further, a magnetic sensor (not shown) is provided in the flight area limiting device 1 and the drone 3 (for example, a magnetic sensor is provided in the magnetic sensor installation portion of the limiting device main body 7), and the orientation is measured by this magnetic sensor. The orientation may be stored in association with the position information, the still image, or the moving image. As a result, it is possible to later determine in which direction the camera 33 has taken a picture of the exhaust tower 5.

By the way, as shown in FIG. 7, the object 5 may be located in a place where a person cannot easily approach, such as standing up from the bottom of a valley. For example, in order to install on such an object 5, an opening 51 larger than the diameter of the object 5 is provided in the limiting device main body 7 of the flight area limiting device 1a (see reference numeral P1 in FIG. 7). You may be. Further, even when the flight area limiting device 1a is separated from the state where the object 5 is installed (when the installation is released), the limiting device main body 7 may be configured to have an opening 51. .. The flight area limiting device 1a provided with the opening 51 may be used in a mode of installing the flight area limiting device 1a on an object 5 that can be easily approached by a person.

The flight area limiting device 1a is different from the above-mentioned flight area limiting device 1 in that the opening 51 is formed (provided), and is configured in the same manner as the flight area limiting device 1 in other points. .. Further, when the flight area limiting device 1a is installed at the object 5, the limiting device main body 7 may perform depending on the flight mode of the plurality of drones 3 (by appropriately controlling the direction of the thrust of each drone 3). It is configured to be cyclic (reference numeral P2 in FIG. 7), and the annular state is maintained. The limiting device main body 7 may be provided with an annular state maintaining portion 52 for maintaining the annular state. The details of the annular state maintaining portion 52 will be described later.

Since the annular state maintaining portion 52 is provided, the form of the annular limiting device main body portion 7 cannot be released by the thrust generated by the drone 3.

More specifically, the limiting device main body 7 shown in FIG. 7 includes one "V" -shaped main body constituent member 53 and a pair of linear main body constituent members 55. One end of the first linear main body constituent member 55 is rotatably engaged with one end of the "V" shaped main body constituent member 53, for example, in a low-order even number. One end of the second linear main body constituent member 55 is rotatably engaged with the other end of the V "shaped main body constituent member 53, for example, in a low kinematic pair. Further, in the flight area limiting device 1a located at the place indicated by the reference numeral P1, the other end of the first linear main body component 55 and the second linear main body component 55 The opening 51 is formed in the limiting device main body 7 by being separated from the other end.

In the flight area limiting device 1a, as shown in FIG. 7, a drone 3 is installed at the center of each of the two line segments of one "V" -shaped main body component 53, and one drone 3 is installed. The drone 3 is also installed in the central portion of the linear main body constituent member 55 of the eyes, and the drone 3 is also installed in the central portion of the second linear main body constituent member 55.

In the flight area limiting device 1a located as indicated by the reference numeral P2, the other end of the first linear main body component 55 and the other end of the second linear main body component 55. The limiting device main body 7 has an annular shape when the ends are in contact with each other.

Next, the limiting device main body 7 of the flight area limiting device 1a according to the modified example will be described with reference to FIGS. 8 and 9.

The limiting device main body 7 shown in FIG. 8 is composed of a pair of semicircular main body constituent members 59. FIG. 8A shows the limiting device main body 7 before it is installed on the object 5, and FIG. 8B shows the limiting device main body 7 when it is installed on the object 5. There is. Although the object 5 shown in FIG. 8 has a circular shape, the object 5 may have a rectangular shape or another shape as shown by the alternate long and short dash line in FIG.

The limiting device main body 7 shown in FIG. 9 is composed of a pair of “L” -shaped main body constituent members 61. FIG. 9A shows the limiting device main body 7 before it is installed on the object 5, and FIG. 9B shows the limiting device main body 7 when it is installed on the object 5. There is. Although the object 5 shown in FIG. 9 has a rectangular shape, the object 5 may have a circular shape or another shape as shown by the alternate long and short dash line in FIG.

Next, the annular maintenance device 52 will be described in detail with reference to FIG. In the state where the opening 51 is formed in the limiting device main body 7, the ends of the constituent members 55 (59, 61) are separated as shown in FIGS. 10A and 10B.

A convex portion 63 projecting to the left is formed at the end (left end) of one of the constituent members 55 (the right constituent member 55 in FIGS. 10A and 10B). A locked piece 65 is provided in the middle portion of the convex portion 63. The locked piece 65 is movable with respect to the convex portion 63 of one of the constituent members 55 in the vertical direction shown in FIG. 10B. Further, the locked piece 65 is urged to the upper side of FIG. 10B by an elastic member such as a spring 67, and protrudes to the upper side of the convex portion 63.

A recess 69 recessed on the left side is formed at the end (right end) of the other component 55 (the left component 55 in FIGS. 10A and 10B). An actuator such as a solenoid 71 is provided in the middle portion of the recess 69. Further, a protruding portion 73 is provided at the entrance of the recess 69.

Then, from the state shown in FIGS. 10A and 10B, the drone 3 moves one of the constituent members 55 to the other constituent member 55 side, so that the one constituent member 55 and the other constituent member 55 move to each other. It is joined (both ends of the opening 51 of the limiting device main body 7 are joined), and the limiting device main body 7 is formed in an annular shape so that the formed annular state is maintained.

More specifically, when the right component 55 is moved to the left from the state shown in FIG. 10B, the slope of the locked piece 65 first comes into contact with the protrusion 73. When the component 55 on the right side is further moved to the left side, the spring 67 is compressed and the locked piece 65 moves downward, the locked piece 65 gets over the protrusion 73, and the spring 67 is restored. The state shown in c) is reached.

In the state shown in FIG. 10C, even if the right main body constituent member 55 moves to the right with respect to the left main body constituent member 55 and tries to separate from the left main body constituent member 55, the locked piece 65 is caught by the protrusion 73 and cannot move. As a result, the annular shape of the limiting device main body 7 is maintained. In other words, depending on the thrust of the drone 3, the opening 51 cannot be formed in the annular limiting device main body 7.

When the opening 51 is formed in the annular limiting device main body 7, the locked piece 65 is pushed downward by the solenoid 71 from the state shown in FIG. 10 (c). Eliminates catching on the protrusion 73. In this state, the thrust of the drone 3 causes the right body component 55 to move to the right with respect to the left body component 55.

According to the flight area limiting device 1a, an opening 51 larger than the diameter of the object 5 is provided in the limiting device main body 7 in a state before being installed at the object 5 (or when the installation is released). Therefore, the limiting device main body 7 can be easily installed on the object 5.

That is, in a state where the flight area limiting device 1a is flying away from the object 5, as shown by reference numeral P1 in FIG. 7, the limiting device main body 7 has an opening 51 larger than the diameter of the object 5. When the flight area limiting device 1a is installed on the object 5, a person approaches the object 5 by forming the limiting device main body 7 in a ring shape as shown by reference numeral P2 in FIG. The limiting device main body 7 can be installed on the object 5 without any problem.

Further, according to the flight area limiting device 1a, since the limiting device main body 7 is provided with the annular state maintaining portion 52, the limiting device main body 7 which is annular when installed at the object 5. The shape of the can be reliably maintained.

In addition, in order to install on the object 5 located in a place where people cannot easily approach, the limiting device main body 7 is in the state before being installed on the object 5 (and when the installation is canceled). May be formed linearly.

For example, the two linear members of the "V" -shaped main body component 53 in FIG. 7 are joined to each other at their joints (the ends opposite to the "V" -shaped main body component 55). By engaging the limiting device main body 7 so as to rotate, the limiting device main body 7 can be formed in a linear shape (for example, a straight line).

1 Flight area limiting device 3 Unmanned aerial vehicle (drone)
5 Object (exhaust tower)
7 Limiting device main body 9 Unmanned aerial vehicle installation part 15, 17, 19, 21 Main body component 23 Longitudinal movement range limiting part 31 Inspection device installation part 35 Posture maintenance part 51 Opening 52 Ring state maintenance part

Claims (7)

An unmanned aerial vehicle flight area limiting device that limits the flightable area of the unmanned aerial vehicle so that the unmanned aerial vehicle flies only in the vicinity of the object when installed at the object.
When installed at the object, a limiting device main body that surrounds the object and is movable with respect to the object in the longitudinal direction of the object.
An unmanned aerial vehicle installation unit provided in the restriction device main body and on which the unmanned aerial vehicle is installed,
An unmanned aerial vehicle flight area limiting device characterized by having. The flight area limiting device for an unmanned aerial vehicle according to claim 1.
The limiting device main body is a flight area limiting device for an unmanned aerial vehicle, characterized in that it is formed by combining a plurality of main body components. The flight area limiting device for an unmanned aerial vehicle according to claim 2.
In the state before being installed at the object, the limiting device main body is provided with an opening larger than the diameter of the object, or the limiting device main body is formed linearly. A flight area limiting device characterized by being present. The flight area limiting device for an unmanned aerial vehicle according to claim 3.
The limiting device main body is configured to be annular when installed at the object, and the limiting device main body is provided with an annular state maintaining portion for maintaining the annular state. A flight area limiting device characterized by being provided with. The flight area limiting device for an unmanned aerial vehicle according to any one of claims 1 to 4.
Flight area limitation of an unmanned aerial vehicle, characterized by having a longitudinal movement range limiting portion that limits the range of movement of the limiting device body in the longitudinal direction of the object when installed at the object. apparatus. The flight area limiting device for an unmanned aerial vehicle according to any one of claims 1 to 5.
A flight area limiting device for an unmanned aerial vehicle, which is provided at least one of the limiting device main body and the unmanned aerial vehicle, and has an inspection device installation unit on which an inspection device for inspecting the object is installed. The flight area limiting device for an unmanned aerial vehicle according to any one of claims 1 to 6.
The posture of the limiting device main body even when a rotational moment around an axis orthogonal to the longitudinal direction of the object is generated in the limiting device main body when installed at the object. A flight area limiting device for an unmanned aerial vehicle, characterized by having an attitude maintenance unit.

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