JP2021017102A - Flying body - Google Patents

Abstract

To preferably provide technology for preventing a main wing of a flying body from being broken, e.g., when the flying body accidentally catches a gust of wind having a fast wind speed.SOLUTION: A flying body is provided that includes: a main wing part; a first protrusion and a second protrusion each arranged in different position from each other in the wingspan direction of the main wing part, and protruding downward from the main wing; a linear member; and a member control part for controlling the linear member so as to be changed from a storage state to a separation restriction state of restricting the separation between the first protrusion and the second protrusion due to the flexure of the main wing part according to a predetermined condition being filled.SELECTED DRAWING: Figure 3

Description

The present invention relates to an air vehicle.

An air vehicle flying in the stratosphere to provide a stratosphere platform has been known (see, for example, Patent Document 1).
[Prior art literature]
[Patent Document]
[Patent Document 1] Japanese Unexamined Patent Publication No. 2002-21146

For example, it is desirable to provide a technique for preventing the main wing of the flying object from being broken when the flying object is suddenly subjected to a gust of high wind speed.

According to the first aspect of the present invention, an air vehicle is provided. The air vehicle has a main wing. The air vehicle may include a first protrusion and a second protrusion that project downward from the main wing, which are arranged at different positions in the wingspan direction of the main wing. The air vehicle may include linear members. The flying object is in a separation limiting state in which the linear member is restricted from the stored state to the separation between the first protrusion and the second protrusion due to the bending of the main wing portion, depending on the condition that the predetermined conditions are satisfied. It may be provided with a member control unit which controls the change to.

The linear member may be housed in the first protruding portion, one end side of the linear member may have a piercing portion, and the other end side of the linear member is fixed to the first protruding portion. The member control unit may have an injection portion that is arranged in the first protrusion and ejects the piercing portion toward the second protrusion, and the linear member may have the injection portion. The separation limiting state may be achieved by the piercing portion piercing the second protruding portion. The second protruding portion may have a plate-shaped member into which the piercing portion pierces. The piercing portion may be a board anchor. The first protruding portion may have a winding portion around which the linear member is wound, and the linear member may be wound and stored around the winding portion. The first protruding portion may have a tension adjusting portion that adjusts the tension of the linear member in a state where the piercing portion pierces the second protruding portion. The tension adjusting unit may adjust the tension of the linear member by adjusting the winding of the linear member by the winding portion. The injection portion may have a laser sight and a direction adjusting portion for adjusting the injection direction of the piercing portion. The injection portion may have a vane control portion that controls the vane portion installed at the piercing portion. The flying object may include a vibration canceller that reduces the vibration applied to the injection portion. In the flying object, a second linear member having a piercing portion on one end side and the other end side fixed to the first protruding portion or the second protruding portion, and the second linear member are fixed. A second injection portion that ejects the piercing portion of the second linear member arranged in the first protruding portion or the second protruding portion toward the wing tip of the main wing portion. You may prepare further.

One end of the linear member may be fixed to the first protruding portion, the other end may be fixed to the second protruding portion, and the linear member may be supported by a support portion on the bottom surface of the main wing portion in the stored state. The member control unit may change the linear member from the stored state to the separation limiting state by releasing the linear member from the support portion. The first protruding portion may have a winding portion around which the linear member is wound, and the member control unit may release the linear member from the support portion and then use the winding portion to wind the linear member. The tension of the linear member may be adjusted by adjusting the winding of the member.

The flying object may include a deflection amount detection unit that detects the deflection amount of the main wing portion, and the member control unit may include the linear member when the deflection amount of the main wing portion is larger than a predetermined threshold value. May be controlled to change from the stored state to the separated restricted state. The flying object may include a tilt amount detection unit that detects at least one of the tilt amounts of the first protrusion and the second protrusion, and the member control unit has a threshold value at which the tilt amount is predetermined. When the number is larger, the linear member may be controlled to change from the stored state to the separation limiting state. The flying object may include a distance detection unit that detects the distance between the first protrusion and the second protrusion, and the member control unit may include a distance between the first protrusion and the second protrusion. When becomes longer than a predetermined threshold value, the linear member may be controlled to change from the stored state to the separation limiting state. The flying object may include a vibration amount detecting unit that detects the amount of vibration applied to the main wing portion and an alternating load deriving unit that derives an alternating load applied to the main wing portion based on the amount of vibration. The member control unit may control the linear member to change from the stored state to the separation limiting state when the alternating load derived by the alternating load deriving unit satisfies a predetermined condition. The linear member may be a wire having elasticity. The linear member may have a swivel. The flight control unit may include a flight control unit that controls the flight of the flight control unit, and the flight control unit moves the flight body into a predetermined area when the predetermined conditions are satisfied. You may control the flight of the vehicle to move it.

The outline of the above invention does not list all the necessary features of the present invention. Sub-combinations of these feature groups can also be inventions.

An example of the flying object 100 is shown schematically. An example of an air vehicle 100 functioning as a stratospheric platform is shown schematically. An example of the injection device 300 is shown schematically. An example of the injection device 300 including the winding portion 360 and the tension adjusting portion 362 is shown schematically. An example of the vibration canceller 500 is shown schematically. An example of the plate-shaped member 370 is shown schematically. An example of the injection device 300 is shown schematically. An example of the functional configuration of the injection device 300 is schematically shown. An example of the member management device 380 is shown schematically. An example of the functional configuration of the member management device 380 is schematically shown. An example of the hardware configuration of the computer 1200 functioning as the injection device 300 or the member management device 380 is shown schematically.

Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the inventions claimed in the claims. Also, not all combinations of features described in the embodiments are essential to the means of solving the invention.

FIG. 1 schematically shows an example of the flying object 100. The aircraft body 100 includes a main wing portion 110, a propeller 120, a central portion 130, and a pod 200. The aircraft body 100 includes two or more pods 200. Although FIG. 1 illustrates a case where four pods 200 are provided, the number of pods 200 is not limited to this.

The main wing portion 110 has a bending property. The main wing portion 110 has, for example, a wing structure with spar, ribs and an outer surface. The spar is a member incorporated in the blade width direction of the main wing portion 110, the rib is a member attached so as to intersect the spar, and an outer surface is installed on the spar and the rib. The material of the spar and rib may be any material. The material of the outer surface may be any material. As the material of the outer surface, a plate-shaped member, a film-shaped member, or the like can be adopted.

The main wing portion 110 has a solar cell panel 112. The solar cell panel 112 is arranged, for example, on the upper surface of the main wing portion 110. Further, when the outer surface of the main wing portion 110 is made of a transparent material, the solar cell panel 112 may be arranged inside the main wing portion 110.

The electric power generated by the solar cell panel 112 is stored in a battery arranged in at least one of the main wing portion 110, the central portion 130, and the pod 200. The electric power stored in the battery can be utilized by each configuration included in the flying object 100.

A control device for controlling the flying object 100 may be arranged in the central portion 130. The control device may be arranged in the main wing 110 or the pod 200.

The control device may control the flight of the flying object 100. The control device controls the flight of the flying object 100, for example, by controlling the rotation of the propeller 120. Further, the flight body 100 may control the flight of the flight body 100 by changing the angles of flaps and elevators (not shown).

The control device may control the communication of the flying object 100. The aircraft 100 uses, for example, an antenna (not shown) to perform wireless communication with the ground.

The aircraft body 100 may be able to fly in any area over the sky. The aircraft body 100 flies in the stratosphere, for example. The aircraft body 100 may function as a stratospheric platform.

FIG. 2 schematically shows an example of an air vehicle 100 that functions as a stratospheric platform. The aircraft body 100 has an antenna for a feeder link and an antenna for a service link.

The aircraft body 100 establishes a feeder link with the gateway 22 on the ground by using the antenna for the feeder link. Further, the aircraft 100 forms a wireless communication area 102 on the ground by irradiating a beam toward the ground using an antenna for a service link, and provides a wireless communication service to a user terminal 30 in the wireless communication area 102. provide.

The user terminal 30 may be any communication terminal capable of communicating with the flying object 100. For example, the user terminal 30 is a mobile phone such as a smartphone. The user terminal 30 may be a tablet terminal, a PC (Personal Computer), or the like. The user terminal 30 may be a so-called IoT (Internet of Thing) device. The user terminal 30 may include anything corresponding to the so-called IoT (Internet of Everything).

The aircraft 100 provides a wireless communication service to the user terminal 30, for example, by relaying communication between the user terminal 30 and the terrestrial network 20. The network 20 may include a core network provided by the carrier. The core network may be compliant with any mobile communication system, eg, 3G (3rd Generation) communication system, LTE (Long Term Evolution) communication system, 4G (4th Generation) communication system, and 5G (5th Generation) communication system. It conforms to the mobile communication system after the communication system. The network 20 may include the Internet.

For example, the aircraft 100 establishes a service link with gateways 22 located in various places on the ground and communicates with the network 20 on the ground via the gateway 22. Further, for example, the aircraft body 100 communicates with the network 20 via the communication satellite 80. In this case, the air vehicle 100 has an antenna for communicating with the communication satellite 80.

For example, the aircraft body 100 covers the ground area by the wireless communication area 102 while making a turning flight along a circular flight path over the ground area to be covered. The flight path may be a perfect circle, an ellipse, or the like, as well as a figure eight shape or the like. The fact that the flying object 100 makes a turning flight over the ground area may be described as a fixed point flight. Further, the aircraft 100 covers the entire ground area by moving over the ground area, for example, while covering a part of the ground area to be covered by the wireless communication area 102.

For example, the aircraft body 100 transmits data received from the user terminal 30 in the wireless communication area 102 to the network 20. Further, when the aircraft 100 receives data addressed to the user terminal 30 in the wireless communication area 102 via the network 20, for example, the aircraft 100 transmits the data to the user terminal 30.

The aircraft body 100 may be controlled by a flight management system 40 on the ground. The flight body 100, for example, flies or forms a wireless communication area 102 according to instructions transmitted via the network 20 and the gateway 22 by the flight management device 40. The flight management system 40 may transmit an instruction to the flying object 100 via the communication satellite 80.

The main wing 110 of the flying object 100 will bend during flight, but it is designed to have sufficient strength so that it will not break even if it receives a strong wind. Therefore, the risk of breakage is very low, but there is a risk that the main wing 110 will break even in the event of a situation that greatly exceeds expectations, such as when suddenly receiving a gust of wind with an abnormal wind speed. It is desirable to equip the flying object 100 with a reduceable function.

In the flying object 100 according to the present embodiment, for example, when the deflection of the main wing portion 110 becomes larger than a predetermined threshold value, the main wing portion 110 is restricted from the adjacent pods 200 by a linear member. It has a function of suppressing the bending of the. The flying object 100 changes the linear member from the retracted state to the separation limiting state that limits the separation between the adjacent pods 200 due to the bending of the main wing portion 110, depending on the condition that the predetermined conditions are satisfied. It is provided with a member control unit for controlling the flight.

The aircraft body 100 includes, for example, an injection device that ejects a linear member to an adjacent pod 200 at least one of a plurality of pods 200. The linear member has a piercing portion on one end side and is fixed to the injection device on the other end side. The injection device changes the state of the linear member to the separation limiting state by injecting the puncture portion into the adjacent pod 200 when a predetermined condition is satisfied. The injection device may be an example of a member control unit.

FIG. 3 schematically shows an example of the injection device 300. In FIG. 3, the injection device 300 is arranged in the pod 210, which is one of the plurality of pods 200, and the injection device 300 inserts the piercing portion 402 of the linear member 400 toward the pod 220 adjacent to the pod 210. The case of injection is illustrated. The pod 210 may be an example of the first protrusion, and the pod 220 may be an example of the second protrusion.

The aircraft body 100 includes a frame 212 fixed to the spar 114 of the main wing portion 110, and an injection device 300 fixed to the frame 212. Further, the flying object 100 includes a frame 222 fixed to the spar 114 and a plate-shaped member 370 fixed to the frame 222.

Further, the flying object 100 includes a sensor for detecting that the amount of deflection of the main wing portion 110 exceeds a predetermined threshold value. FIG. 3 illustrates a case where the flying object 100 includes a deflection sensor 140 that detects the amount of deflection of the spar 114.

The injection device 300 changes the linear member 400 in the stored state into a separation limiting state that limits the separation between the pod 210 and the pod 220, depending on the condition that the predetermined conditions are satisfied. The injection device 300 may change the linear member 400 to the separation limiting state by injecting the piercing portion 402 toward the plate-shaped member 370 when the predetermined conditions are satisfied. When the amount of deflection detected by the deflection sensor 140 exceeds a predetermined threshold value, the injection device 300 may determine that the predetermined conditions are satisfied.

After the piercing portion 402 pierces the plate-shaped member 370, for example, the barb automatically expands and is retained by the plate-shaped member 370. The piercing portion 402 is, for example, a so-called board anchor. The structure of the board anchor may be any known structure. The linear member 400 in which the piercing portion 402 pierces the plate-shaped member 370 limits the separation between the pod 210 and the pod 220.

The linear member 400 is, for example, a metal wire. The material of the metal wire may be any material. The linear member 400 may be a non-metal wire. The material of the non-metal wire may be any material. For example, the linear member 400 may be a fiber wire.

The plate-shaped member 370 is pierced by the piercing portion 402. The material of the plate-shaped member 370 may be any material as long as it is a material that the piercing portion 402 pierces.

It is desirable that the linear member 400 has high strength. Thereby, the separation between the pod 210 and the pod 220 can be more firmly restricted.

It is desirable that the linear member 400 has high elasticity. Thereby, the linear member 400 elastically extends at the time of injection and contracts after being fastened, so that the separation between the pod 210 and the pod 220 can be more strongly restricted. Further, when a sudden force such as a gust is applied to the main wing portion 110 and the force acts in the direction in which the pod 210 and the pod 220 are separated from each other, the force can be absorbed by the elasticity of the linear member 400.

It is desirable that the linear member 400 is lightweight. As a result, the total weight of the flying object 100 can be reduced.

It is desirable that the linear member 400 has a small diameter. As a result, the air resistance received by the linear member 400 can be reduced.

The linear member 400 may have a swivel 404. As a result, it is possible to prevent the occurrence of kink due to twisting when the linear member 400 is loosened.

The injection device 300 may include a safety device. For example, the injection device 300 is provided with a double or triple safety device in order to prevent the piercing portion 402 from being ejected while handling the flying object 100 on the ground.

The injection device 300 may include a winding portion around which the linear member 400 is wound. Further, the injection device 300 may include a tension adjusting unit for adjusting the tension of the linear member 400.

FIG. 4 schematically shows an example of an injection device 300 including a winding portion 360 and a tension adjusting portion 362. The linear member 400 may be wound around the winding portion 360 and stored.

The tension adjusting unit 362 adjusts the tension of the linear member 400 in a state where the piercing portion 402 is pierced into the plate-shaped member 370. The tension adjusting unit 362 may adjust the tension of the linear member 400 by adjusting the winding of the linear member 400 by the winding unit 360.

The vehicle body 100 may include a vibration canceller that reduces the vibration applied to the injection device 300. The structure of the vibration canceller may be any structure. For example, the vibration canceller absorbs vibration energy by supporting the injection device 300 with a damper. Further, the vibration canceller may reduce the vibration applied to the injection device 300 by controlling the actuator that supports the injection device 300.

FIG. 5 schematically shows an example of the vibration canceller 500. The vibration canceller 500 illustrated in FIG. 5 has an actuator 510 that supports the injection device 300 and a gyro sensor 520 installed in the injection device 300. The vibration canceller 500 drives the actuator 510 so that the output of the gyro sensor 520 becomes zero.

FIG. 6 schematically shows an example of the plate-shaped member 370. The plate-shaped member 370 has, for example, a circular shape as shown in FIG. 6, and is fixed to the frame 222. The shape of the plate-shaped member 370 is not limited to a circular shape, and may be any shape.

FIG. 7 schematically shows another example of the injection device 300. The injection device 300 illustrated in FIG. 7 ejects the piercing portion 412 of the linear member 410 toward the wing tip of the main wing portion 110. The injection device 300 has an injection portion that ejects the piercing portion 402 of the linear member 400 toward the pod 220 adjacent to the pod 210 in which the injection device 300 is installed, and a plate shape arranged at the wing tip of the main wing portion 110. It may be provided with two injection portions, which are injection portions that eject the piercing portion 412 toward the member 372. The material of the linear member 410 and the like may be the same as that of the linear member 400. The linear member 410 may have a swivel 414. The material and the like of the plate-shaped member 372 may be the same as that of the plate-shaped member 370.

FIG. 8 schematically shows an example of the functional configuration of the injection device 300. The injection device 300 includes a detection unit 310, a determination unit 320, an injection unit 330, an injection unit 340, and a movement instruction unit 350. It is not essential that the injection device 300 includes all of these.

The detection unit 310 includes a deflection amount detection unit 311, a tilt amount detection unit 312, a distance detection unit 313, a vibration amount detection unit 314, and an alternating load derivation unit 315. It is not always essential that the detector 310 have all of these.

The deflection amount detecting unit 311 detects the deflection amount of the main wing portion 110. The deflection amount detecting unit 311 may detect the deflection amount of the main wing portion 110 by the deflection sensor 140.

The tilt amount detection unit 312 detects the tilt amount with respect to the main wing portion 110 of the pod 200 in which the injection device 300 is installed. The tilt amount detection unit 312 detects the tilt amount of the pod 200 by, for example, a tilt sensor installed in the pod 200.

The distance detection unit 313 detects the distance between the pod 200 in which the injection device 300 is installed and the pod 200 adjacent to the pod 200. The distance detection unit 313 detects the distance by, for example, a distance measuring sensor arranged in the pod 200 in which the injection device 300 is installed.

The vibration amount detection unit 314 detects the amount of vibration applied to the main wing portion 110. The vibration amount detection unit 314 may detect the amount of vibration by, for example, a vibration sensor installed in the main wing portion 110.

The alternating load deriving unit 315 derives the alternating load applied to the main wing portion 110. The alternating load deriving unit 315 may derive the alternating load based on the amount of vibration detected by the vibration amount detecting unit 314. The alternating load derivation unit 315 stores, for example, data indicating the relationship between the amount of vibration and the alternating load in advance, and obtains the alternating load from the amount of vibration detected by the vibration amount detecting unit 314 and the data. Derived.

The determination unit 320 determines whether or not a predetermined condition is satisfied based on the data detected by the detection unit 310. The determination unit 320 determines, for example, whether or not the amount of deflection detected by the amount of deflection detection unit 311 is greater than a predetermined threshold value. When the amount of deflection detected by the amount of deflection detection unit 311 is larger than the predetermined threshold value, the determination unit 320 may determine that the predetermined condition is satisfied.

Further, for example, the determination unit 320 determines whether or not the inclination amount detected by the inclination amount detection unit 312 is larger than a predetermined threshold value. When the amount of inclination detected by the amount of inclination detection unit 312 is larger than the predetermined threshold value, the determination unit 320 may determine that the predetermined condition is satisfied.

Further, for example, the determination unit 320 determines whether or not the distance detected by the distance detection unit 313 is longer than a predetermined distance. The determination unit 320 may determine that the predetermined condition is satisfied when the distance detected by the distance detection unit 313 is longer than the predetermined threshold value.

Further, for example, when the alternating load derived by the alternating load deriving unit 315 satisfies the condition of the predetermined alternating load, the determination unit 320 may determine that the predetermined condition is satisfied. The condition of the alternating load may be arbitrarily set as a condition in which the main wing portion 110 may be broken.

When it is determined by the determination unit 320 that the predetermined condition is satisfied, the injection unit 330 has a pod 200 adjacent to the pod 200 (may be referred to as its own pod) in which the injection device 300 is installed. The piercing portion 402 is ejected toward (may be described as an adjacent pod). The injection portion 330 may inject the piercing portion 402 toward the plate-shaped member 370 of the adjacent pod.

The injection unit 330 has a direction adjusting unit 332. The direction adjusting unit 332 adjusts the injection direction of the piercing portion 402. The direction adjusting unit 332 adjusts the injection direction of the piercing portion 402, for example, by changing the angle of the ejection port of the piercing portion 402. The direction adjusting unit 332 may adjust the injection direction of the piercing portion 402 by using a laser site. For example, the direction adjusting unit 332 specifies the direction of the plate-shaped member 370 by the laser site, and adjusts the injection direction of the piercing portion 402 to the specified direction. The injection unit 330 does not have to have the direction adjusting unit 332.

The injection unit 330 has a vane control unit 334. The vane control unit 334 controls the vane installed in the piercing portion 402. The vane control unit 334 may change the traveling direction of the vane portion 402 by changing the angle of the vane portion after ejecting the vane portion 402. The vane control unit 334 specifies the direction of the plate-shaped member 370 by, for example, a laser site, and controls the vane so that the piercing portion 402 advances toward the plate-shaped member 370. The injection unit 330 does not have to have the vane control unit 334.

The injection unit 340 ejects the piercing portion 412 toward the wing tip when it is determined by the determination unit 320 that the predetermined condition is satisfied. The injection portion 340 may inject the piercing portion 412 toward the plate-shaped member 372 at the wing tip.

The injection unit 340 has a direction adjusting unit 342. The direction adjusting unit 342 adjusts the injection direction of the piercing portion 412. The direction adjusting unit 342 adjusts the injection direction of the piercing portion 412 by, for example, changing the angle of the ejection port of the piercing portion 412. The direction adjusting unit 342 may adjust the injection direction of the piercing portion 412 by using a laser site. For example, the direction adjusting unit 342 specifies the direction of the plate-shaped member 372 by the laser site, and adjusts the injection direction of the piercing portion 412 to the specified direction. The injection unit 340 does not have to have the direction adjusting unit 342.

The injection unit 340 has a vane control unit 344. The vane control unit 344 controls the vane installed in the piercing unit 412. The vane control unit 344 may change the traveling direction of the vane 412 by changing the angle of the vane after ejecting the vane 412. The vane control unit 344 specifies the direction of the plate-shaped member 372 by, for example, a laser site, and controls the vane so that the piercing portion 412 advances toward the plate-shaped member 372. The injection unit 340 does not have to have the vane control unit 344.

When it is determined by the determination unit 320 that the predetermined condition is satisfied, the movement instruction unit 350 transmits a movement instruction to move the flying object 100 to the predetermined area to the control device 600. The movement instruction unit 350 may transmit the movement instruction to the control device 600 after the condition predetermined by the determination unit 320 is satisfied and the piercing unit 402 is ejected by the injection unit 330. Further, the movement instruction unit 350 may transmit the movement instruction to the control device 600 after the condition predetermined by the determination unit 320 is satisfied and the piercing unit 412 is ejected by the injection unit 340.

The control device 600 includes a flight control unit 610 that controls the flight of the flight body 100, and a communication control unit 620 that controls communication by the flight body 100. The flight control unit 610 controls the flight of the flight body 100 so as to move the flight body 100 to a predetermined area in response to receiving the movement instruction. The flight control unit 610 may control the flight of the flying object 100 by controlling the propeller 120 and the flap 122.

The flight control unit 610 controls the flight of the flying object 100 so as to move it to a predetermined airport, for example. Further, the flight control unit 610 controls the flight of the flight body 100 so as to move the flight body 100 to an area registered as a safe area having little influence if the flight body 100 crashes, for example, at sea.

When the communication control unit 620 receives the movement instruction, the communication control unit 620 notifies the flight management device 40 to that effect. The communication control unit 620 may notify the flight management device 40 of the destination to which the flight body 100 is moved by the flight control unit 610. The communication control unit 620 may communicate with the flight management system 40 via the feeder link antenna 124. When the communication control unit 620 receives the movement instruction, the communication control unit 620 notifies the user terminal 30 that has established the service link by the service link antenna 126 that the aircraft 100 moves, or instructs the handover. Or disconnect the communication connection.

FIG. 9 schematically shows an example of the member management device 380. The member management device 380 may be an example of a member control unit.

The member management device 380 manages the linear member 420 which is fixed to the pod 210 at one end and fixed to the pod 220 at the other end and is supported by the support portion 384 on the bottom surface of the main wing portion 110 in the stored state. The member management device 380 changes the linear member 420 from the stored state to the separation restricted state by causing the support portion 384 to release the linear member 420 when the predetermined conditions are satisfied.

In the example shown in FIG. 9, one end of the linear member 420 is fixed by the member management device 380 installed in the pod 210, and the other end of the linear member 420 is fixed to the frame 222 of the pod 220. It is fixed to. The fixing portion 382 may be a plate-shaped member.

The support portion 384 supports the linear member 420 so as to be releasable. The support portion 384 supports the linear member 420 by, for example, an openable / closable hook.

The member management device 380, for example, causes the support portion 384 to release the linear member 420 and winds the linear member 420 by the winding portion 386 when a predetermined condition is satisfied. Limit the distance between the pod 210 and the pod 220. The member management device 380 determines that the predetermined conditions are satisfied when, for example, the amount of deflection detected by the deflection sensor 140 exceeds a predetermined threshold value.

FIG. 10 schematically shows an example of the functional configuration of the member management device 380. The member management device 380 includes a detection unit 310, a movement instruction unit 350, and a determination unit 390. The detection unit 310 and the movement instruction unit 350 may be the same as the detection unit 310 and the movement instruction unit 350 described with reference to FIG.

The determination unit 390 determines whether or not a predetermined condition is satisfied based on the data detected by the detection unit 310. The determination method may be the same as that of the determination unit 320. The determination unit 390 causes the support unit 384 to release the linear member 420 when it is determined that the predetermined conditions are satisfied.

FIG. 11 schematically shows an example of a hardware configuration of a computer 1200 that functions as an injection device 300 or a member management device 380. A program installed on the computer 1200 causes the computer 1200 to function as one or more "parts" of the device according to the present embodiment, or causes the computer 1200 to perform an operation associated with the device according to the present embodiment or the one or more. A plurality of "parts" can be executed and / or a computer 1200 can be made to execute a process according to the present embodiment or a stage of the process. Such a program may be executed by the CPU 1212 to cause the computer 1200 to perform a specific operation associated with some or all of the blocks of the flowcharts and block diagrams described herein.

The computer 1200 according to this embodiment includes a CPU 1212, a RAM 1214, and a graphic controller 1216, which are connected to each other by a host controller 1210. The computer 1200 also includes an input / output unit such as a communication interface 1222, a storage device 1224, and an IC card drive, which are connected to the host controller 1210 via an input / output controller 1220. The storage device 1224 may be a hard disk drive, a solid state drive, or the like. The computer 1200 also includes a legacy I / O unit such as a ROM 1230 and a keyboard, which are connected to the I / O controller 1220 via an I / O chip 1240.

The CPU 1212 operates according to the programs stored in the ROM 1230 and the RAM 1214, thereby controlling each unit. The graphic controller 1216 acquires the image data generated by the CPU 1212 in a frame buffer or the like provided in the RAM 1214 or itself so that the image data is displayed on the display device 1218.

Communication interface 1222 communicates with other electronic devices via a network. The storage device 1224 stores programs and data used by the CPU 1212 in the computer 1200. The IC card drive reads the program and data from the IC card and / or writes the program and data to the IC card.

The ROM 1230 stores in it a boot program or the like executed by the computer 1200 at the time of activation and / or a program depending on the hardware of the computer 1200. The input / output chip 1240 may also connect various input / output units to the input / output controller 1220 via a USB port, a parallel port, a serial port, a keyboard port, a mouse port, and the like.

The program is provided by a computer-readable storage medium such as an IC card. The program is read from a computer-readable storage medium, installed in a storage device 1224, RAM 1214, or ROM 1230, which is also an example of a computer-readable storage medium, and executed by the CPU 1212. The information processing described in these programs is read by the computer 1200 and provides a link between the program and the various types of hardware resources described above. The device or method may be configured to implement the operation or processing of information according to the use of the computer 1200.

For example, when communication is executed between the computer 1200 and an external device, the CPU 1212 executes a communication program loaded in the RAM 1214, and performs communication processing on the communication interface 1222 based on the processing described in the communication program. You may order. Under the control of the CPU 1212, the communication interface 1222 reads the transmission data stored in the transmission buffer area provided in the recording medium such as the RAM 1214, the storage device 1224, or the IC card, and sends the read transmission data to the network. The received data transmitted or received from the network is written in the reception buffer area or the like provided on the recording medium.

Further, the CPU 1212 allows the RAM 1214 to read all or necessary parts of a file or database stored in an external recording medium such as a storage device 1224 or an IC card, and performs various types of processing on the data on the RAM 1214. May be executed. The CPU 1212 may then write back the processed data to an external recording medium.

Various types of information such as various types of programs, data, tables, and databases may be stored on recording media and subject to information processing. The CPU 1212 describes various types of operations, information processing, conditional judgment, conditional branching, unconditional branching, and information retrieval described in various parts of the present disclosure with respect to the data read from the RAM 1214, and is specified by the instruction sequence of the program. Various types of processing may be performed, including / replacement, etc., and the results are written back to the RAM 1214. Further, the CPU 1212 may search for information in a file, a database, or the like in the recording medium. For example, when a plurality of entries each having an attribute value of the first attribute associated with the attribute value of the second attribute are stored in the recording medium, the CPU 1212 is the first of the plurality of entries. The attribute value of the attribute of is searched for the entry that matches the specified condition, the attribute value of the second attribute stored in the entry is read, and the first attribute satisfying the predetermined condition is selected. You may get the attribute value of the associated second attribute.

The program or software module described above may be stored on a computer 1200 or in a computer readable storage medium near the computer 1200. In addition, a recording medium such as a hard disk or RAM provided in a dedicated communication network or a server system connected to the Internet can be used as a computer-readable storage medium, whereby the program can be transferred to the computer 1200 via the network. provide.

The blocks in the flowchart and block diagram of this embodiment may represent a stage of the process in which the operation is performed or a "part" of the device responsible for performing the operation. Specific stages and "parts" are supplied with dedicated circuits, programmable circuits supplied with computer-readable instructions stored on computer-readable storage media, and / or with computer-readable instructions stored on computer-readable storage media. It may be implemented by the processor. Dedicated circuits may include digital and / or analog hardware circuits and may include integrated circuits (ICs) and / or discrete circuits. Programmable circuits include logical products, logical sums, exclusive ORs, negative logical products, logical sums, and other logical operations, such as, for example, field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), and the like. , Flip-flops, registers, and reconfigurable hardware circuits, including memory elements.

The computer-readable storage medium may include any tangible device capable of storing instructions executed by the appropriate device, so that the computer-readable storage medium having the instructions stored therein is in a flow chart or block diagram. It will include a product that contains instructions that can be executed to create means for performing the specified operation. Examples of computer-readable storage media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, and the like. More specific examples of computer-readable storage media include floppy (registered trademark) disks, diskettes, hard disks, random access memory (RAM), read-only memory (ROM), and erasable programmable read-only memory (EPROM or flash memory). , Electrically Erasable Programmable Read Only Memory (EEPROM), Static Random Access Memory (SRAM), Compact Disc Read Only Memory (CD-ROM), Digital Versatile Disc (DVD), Blu-ray® Disc, Memory Stick , Integrated circuit card, etc. may be included.

Computer-readable instructions are assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state-setting data, or object-oriented programming such as Smalltalk, JAVA®, C ++, etc. Includes either source code or object code written in any combination of one or more programming languages, including languages and conventional procedural programming languages such as the "C" programming language or similar programming languages. Good.

Computer-readable instructions are used to generate means for a general-purpose computer, a special-purpose computer, or the processor of another programmable data processing device, or a programmable circuit, to perform an operation specified in a flowchart or block diagram. General purpose computers, special purpose computers, or other programmable data processing locally or via a local area network (LAN), a wide area network (WAN) such as the Internet, etc. to execute the computer readable instructions. It may be provided in the processor of the device or in a programmable circuit. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers and the like.

Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various changes or improvements can be made to the above embodiments. It is clear from the description of the claims that such modified or improved forms may also be included in the technical scope of the present invention.

The order of execution of each process such as operation, procedure, step, and step in the device, system, program, and method shown in the claims, specification, and drawings is particularly "before" and "prior to". It should be noted that it can be realized in any order unless the output of the previous process is used in the subsequent process. Even if the scope of claims, the specification, and the operation flow in the drawings are explained using "first", "next", etc. for convenience, it means that it is essential to carry out in this order. It's not a thing.

20 networks, 22 gateways, 30 user terminals, 40 flight management devices, 80 communication satellites, 100 aircraft, 102 wireless communication areas, 110 wings, 112 solar panels, 114 spar, 120 propellers, 122 flaps, 124 antennas, 126 Antenna, 130 central part, 140 deflection sensor, 200, 210, 220 pods, 212, 222 frames, 300 injection device, 310 detection unit, 311 deflection amount detection unit, 312 tilt amount detection unit, 313 distance detection unit, 314 vibration amount Detection unit, 315 Alternate load derivation unit, 320 judgment unit, 330 injection unit, 332 direction adjustment unit, 334 wing control unit, 340 injection unit, 342 direction adjustment unit, 344 wing control unit, 350 movement instruction unit, 360 windings Attachment, 362 Tension adjustment unit, 370, 372 Plate-shaped member, 380 member management device, 382 fixing part, 384 support part, 386 winding part, 390 judgment part, 400, 410, 420 Linear member, 402, 412 Protrusion, 404, 414 swivel, 500 vibration canceller, 510 actuator, 520 gyro sensor, 600 controller, 610 flight control, 620 communication control, 1200 computer, 1210 host controller, 1212 CPU, 1214 RAM, 1216 graphic controller, 1218 Display device, 1220 I / O controller, 1222 communication interface, 1224 storage device, 1230 ROM, 1240 I / O chip

Claims (20)

With the main wing
The first protruding portion and the second protruding portion protruding downward from the main wing portion, which are arranged at different positions in the wingspan direction of the main wing portion,
With linear members
A separation limiting state that limits the separation of the linear member from the stored state to the first protruding portion and the second protruding portion due to the bending of the main wing portion, depending on the condition that the predetermined conditions are satisfied. An air vehicle equipped with a member control unit that controls the change to. The linear member is housed in the first protruding portion, one end side of the linear member has a piercing portion, and the other end side of the linear member is fixed to the first protruding portion.
The member control unit has an injection unit arranged in the first protrusion and ejects the piercing portion toward the second protrusion.
The flying object according to claim 1, wherein the linear member is in the separation limiting state when the piercing portion pierces the second protruding portion. The flying object according to claim 2, wherein the second protruding portion has a plate-shaped member into which the piercing portion pierces. The flying object according to claim 3, wherein the piercing portion is a board anchor. The first protruding portion has a winding portion around which the linear member is wound.
The flying object according to any one of claims 2 to 4, wherein the linear member is wound and stored around the winding portion. The flying object according to claim 5, wherein the first protruding portion has a tension adjusting portion for adjusting the tension of the linear member in a state where the piercing portion is pierced into the second protruding portion. The flying object according to claim 6, wherein the tension adjusting portion adjusts the tension of the linear member by adjusting the winding of the linear member by the winding portion. The flying object according to any one of claims 2 to 7, wherein the injection portion includes a laser sight and a direction adjusting portion for adjusting the injection direction of the piercing portion. The flying object according to any one of claims 2 to 8, wherein the injection unit has a vane control unit that controls the vane installed in the piercing portion. The flying object according to any one of claims 2 to 9, further comprising a vibration canceller that reduces vibration applied to the injection portion. A second linear member having a piercing portion on one end side and being fixed to the first protruding portion or the second protruding portion on the other end side.
The piercing portion of the second linear member arranged in the first protruding portion or the second protruding portion to which the second linear member is fixed is directed toward the wing tip of the main wing portion. The flying object according to any one of claims 2 to 10, further comprising a second injection unit for injection. One end of the linear member is fixed to the first protruding portion, the other end is fixed to the second protruding portion, and the linear member is supported by a support portion on the bottom surface of the main wing portion in the stored state.
The flying object according to claim 1, wherein the member control unit changes the linear member from the stored state to the separation limiting state by causing the support portion to release the linear member. The first protruding portion has a winding portion around which the linear member is wound.
12. The member control unit adjusts the tension of the linear member by releasing the linear member from the support portion and then adjusting the winding of the linear member by the winding portion. The described flying object. A deflection amount detecting unit for detecting the deflection amount of the main wing portion is provided.
Any of claims 1 to 13, wherein the member control unit controls to change the linear member from the stored state to the separation limiting state when the amount of deflection of the main wing portion is larger than a predetermined threshold value. The flying object described in the first paragraph. A tilt amount detecting unit for detecting at least one of the first protruding portion and the second protruding portion is provided.
Any one of claims 1 to 14, wherein the member control unit controls the linear member to change from the stored state to the separation limiting state when the inclination amount is larger than a predetermined threshold value. The flying object described in. A distance detecting unit for detecting the distance between the first protruding portion and the second protruding portion is provided.
The member control unit changes the linear member from the stored state to the separation limiting state when the distance between the first protruding portion and the second protruding portion becomes longer than a predetermined threshold value. The flying object according to any one of claims 1 to 15, which is controlled. A vibration amount detection unit that detects the amount of vibration applied to the main wing unit,
It is provided with an alternating load deriving unit that derives an alternating load applied to the main wing portion based on the amount of vibration.
The member control unit controls to change the linear member from the stored state to the separation limiting state when the alternating load derived by the alternating load deriving unit satisfies a predetermined condition. The flying object according to any one of 1 to 16. The flying object according to any one of claims 1 to 17, wherein the linear member is a wire having elasticity. The flying object according to any one of claims 1 to 18, wherein the linear member has a swivel. It is equipped with a flight control unit that controls the flight of the flying object.
Any one of claims 1 to 19, wherein the flight control unit controls the flight of the flying object in order to move the flying object to a predetermined area when the predetermined conditions are satisfied. The aircraft described in the section.