JP2022097298A - Flight vehicle taking-off and landing system, taking-off and landing device for flight vehicle and flight vehicle - Google Patents

Abstract

To provide a flight vehicle taking-off and landing system, a taking-off and landing device for flight vehicle, and a flight vehicle, which can be used at even a place where a rail cannot be installed, and can smoothly perform taking-off and landing in relatively short time.SOLUTION: A slender suspended body 12 is so provided as to extend downward in such a manner that an upper end part thereof is supported by a support part 11, and has an engagement part 12a at a lower end. A flight vehicle 13 has a detachable part 21 which engages with the engagement part 12a of the suspended body 12 and is detachably provided. The flight vehicle 13 moves upwards or laterally from a state that the detachable part 21 and the engagement part 12a engage with each other, thereby enabling release of the detachable part 21 from the engagement part 12a.SELECTED DRAWING: Figure 1

Description

The present invention relates to an air vehicle takeoff and landing system, an air vehicle takeoff and landing device, and an air vehicle.

Conventionally, flying objects such as drones and unmanned aerial vehicles that can be flown by remote control or automatic control are those that take off and land on a flat surface such as a dedicated landing platform, the ground, the top of a vehicle, the roof of a building, etc. It is common (see, for example, Patent Document 1 or 2). However, in these general flying objects, there is a risk that the control becomes unstable or the vehicle falls due to the so-called ground effect, so that there is a problem that it takes a long time to land. In addition, there is a problem that a sufficiently large space is required for safe takeoff and landing.

In addition, as a system to capture and land the aircraft in the air instead of on the ground, an arm with a hook at the tip is attached to the aircraft so that it extends upward, and a rail suspended horizontally by a crane. It has a shuttle that is movable along the rail and a cable that is suspended from the shuttle and stretched to extend perpendicular to the rail, and the aircraft flies along the rail below the rail. By letting the arm of the flying object hit the cable, as the flying object moves, the position where the arm hits the cable shifts to the upper part of the arm, and the hook is caught on the cable, so that the flying object can be captured. (See, for example, Patent Document 3). However, with this system, it is not possible to take off while landing, so it is necessary to temporarily disconnect the hook of the aircraft from the cable and reset the aircraft to a state where it can take off, making smooth takeoff difficult. There was a problem that it was.

Therefore, in order to solve these problems, it has a pair of rails arranged side by side at intervals from each other, and an air vehicle having a suspension portion provided so as to be insertable between the rails at the upper part. , A flying object configured so that the flying object can be suspended at the predetermined landing position of each rail with the suspension lower part inserted between each rail, and the flying object suspended at the landing position can be taken off. The takeoff and landing system of the above has been developed by the present inventors (see, for example, Patent Document 4). According to this system, since the aircraft is suspended and landed, the influence of the ground effect can be reduced, and the aircraft can take off and land smoothly even in a relatively narrow space. However, since this system requires a place where rails can be installed, there are places that are not suitable for use.

It can be used even in places where rails cannot be installed, and as a device for suspending and landing an air vehicle, it can be suspended from a predetermined location and connected to a suspension body having a connection part at the lower end and a connection part of the suspension body at the upper part. There is an air vehicle takeoff and landing system that has an anchor portion provided in the above and is provided so that the anchor portion can be connected to the connecting portion from below (see, for example, Non-Patent Document 1). In this system, when landing the flying object, the anchor part is connected to the connecting part from below, and when the flying object is taken off, the anchor part is removed from the connecting part, and the flying object is once dropped and taken off. It has become like.

Japanese Unexamined Patent Publication No. 2019-089461 Japanese Unexamined Patent Publication No. 2018-190362 US Pat. No. 9010683 Japanese Patent No. 6789558

Musa Galimov, Roman Fedorenko and Alexander Klimchik, “UAV Positioning Mechanisms in Landing Stations: Classification and Engineering Design Review”, Sensors, 2020, 20, 3648, p.15, Figure 23

However, in the takeoff and landing system described in Non-Patent Document 1, the direction at the time of takeoff and landing is limited to the vertical direction, the connectable range between the connecting portion and the anchor portion is narrow, and the flying object is almost pinpointed at the time of landing. There was a problem that it took a long time to take off and land because it was necessary to guide the aircraft to the connectable range and it was necessary to carefully control the aircraft so that it would not crash during takeoff.

The present invention has been made by paying attention to such a problem, and can be used even in a place where a rail cannot be installed, and can take off and land smoothly in a relatively short time. It is intended to provide equipment and air vehicles.

In order to achieve the above object, the air vehicle takeoff and landing system according to the present invention is provided with a support portion, an elongated body, an upper end portion is supported by the support portion and extends downward, and a suspension body having an engagement portion at the lower end. And, at the upper part, there is a flying object having an attachment / detachment portion provided so as to be engageable with the engagement portion of the suspension body, and the flying object has the attachment / detachment portion and the engagement portion engaged with each other. It is characterized in that the detachable portion can be released from the engaging portion by moving upward or laterally from the state.

The aircraft takeoff and landing device according to the present invention is an aircraft takeoff and landing device for landing an air vehicle, and is provided with a support portion and an elongated portion, the upper end of which is supported by the support portion and extends downward. The flying object has a suspension body having an engaging portion at a lower end, and the flying object has an attachment / detachment portion provided at an upper portion so as to be engageable with the engaging portion of the suspension body. It is characterized in that the detachable portion can be released from the engaging portion when the flying object moves upward or laterally from the state in which the attaching / detaching portion and the engaging portion are engaged. do.

The flying object according to the present invention is an elongated flying object that is provided so as to support an upper end portion and extend downward, and takes off and landing using a suspended body having an engaging portion at the lower end, and the suspended body is above the suspended body. The attachment / detachment portion is provided so as to be engageable with the engagement portion of the above, and the attachment / detachment portion is moved upward or sideways from the state in which the attachment / detachment portion and the engagement portion are engaged with each other. It is characterized in that it is configured to be openable from the engaging portion.

The air vehicle takeoff and landing system according to the present invention can be configured by combining the air vehicle takeoff and landing device according to the present invention and the air vehicle according to the present invention. At this time, the suspended body of the air vehicle takeoff and landing device according to the present invention corresponds to the suspended body of the air vehicle takeoff and landing system according to the present invention, and the air vehicle according to the present invention is the air vehicle takeoff and landing system according to the present invention. It corresponds to the flying object of. Therefore, the air vehicle takeoff and landing device according to the present invention and the air vehicle according to the present invention have the functions and effects of the corresponding configurations of the air vehicle takeoff and landing system according to the present invention as shown below.

In the air vehicle takeoff and landing system according to the present invention, it is preferable that the air vehicle is provided so as to be able to fly by remote control or automatic control, for example, a drone or an unmanned aerial vehicle. The air vehicle takeoff and landing system according to the present invention can take off and land an air vehicle as follows. That is, at the time of landing, the flying object is made to fly toward the lower part of the suspended body provided so as to support the upper end portion by the support portion and extend downward, and the detachable portion provided on the upper part of the flying object is attached to the suspended body. Engage with the engaging part. As a result, the flying object can be landed while being suspended from the suspended body. At this time, by arranging the suspension body so that a sufficient space is provided below the flying body, the influence of the ground effect can be reduced to be almost negligible. In addition, since there is almost no effect of the ground effect, the aircraft can land stably even in a relatively narrow space. When taking off the aircraft, the aircraft may be moved upward or sideways.

As a configuration of the attachment / detachment portion and the engagement portion, for example, the attachment / detachment portion moves toward the engagement portion in a state of being in contact between the upper end portion of the suspension body and the engagement portion. It may be configured to engage with the engaging portion. In this case, the flying object is flown so that the attachment / detachment portion is brought into contact between the upper end portion of the suspension body and the engagement portion, and in that state, the attachment / detachment portion moves toward the engagement portion of the suspension body. By moving the body, the detachable portion and the engaging portion can be engaged with each other. In this way, the flying object may be guided so that the attachment / detachment portion is in contact with the upper end portion of the suspended body and the engaging portion, and the control of the flying object can be controlled as compared with the case where the flying object is guided almost pinpointly. It will be easier and you can land smoothly in a relatively short time.

Further, the attachment / detachment portion may be configured to be released from the engagement portion by moving from the engagement portion toward the upper end portion along the extension direction of the suspension body. It may be configured to be released from the engaging portion by moving laterally toward a predetermined angle range with respect to the extension direction of the lower body. In these cases, it is possible to take off safely while actively moving the air vehicle. In addition, it is possible to take off smoothly in a relatively short time only by actively moving the flying object.

Further, it may be configured by, for example, a magnet, a hook-and-loop fastener, a suction cup, or the like so that the detachable portion is engaged only by contacting the engaging portion. Further, it may be configured by using a gripper that is familiar with the shape of the object and can grip the object just by touching the object. In these cases, the flying object can be easily taken off by simply moving the flying object upward or laterally so as to be separated from the suspended body from the state where the detachable portion and the engaging portion are engaged. Therefore, it is possible to take off and land smoothly in a relatively short time.

The air vehicle takeoff and landing system according to the present invention can be used in places where rails cannot be installed, as long as the suspended body can be arranged. In addition, the flying object can be landed from any direction with respect to the suspended object. For this reason, the suspension body may be installed in any place as long as a space can be provided at least below and in a part of the side of the engaging portion. The suspended body may be installed on the ceiling or under the eaves of a factory, a house, a building, or the like, or may be suspended by a crane or the like.

The air vehicle takeoff and landing system according to the present invention can be suitably used, for example, when a load or the like is attached to the lower part of the air vehicle and carried. When the aircraft is suspended from the suspension, there is space under the aircraft, which makes it easy to attach luggage to the bottom of the aircraft and to unload the luggage attached to the bottom of the aircraft. be able to. Further, when the flying object is suspended from the suspended body, electric power can be supplied and data can be transmitted / received in a non-contact manner. Further, it may be configured so that a predetermined object, substance, energy or the like such as a liquid, a pesticide, a luggage, a battery, or an electric power can be supplied to the flying object through the suspension body and the attachment / detachment portion.

In the air vehicle takeoff and landing system according to the present invention, even if the suspended body is composed of an elongated pole and the engaging portion is movable in an arbitrary horizontal direction and the upper end portion is rotatably attached to the support portion. good. In this case, even if the detachable part collides between the upper end portion of the hanging body and the engaging part at the time of landing, the hanging body rotates and moves in the collision direction around the upper end portion, so that the impact at the time of collision is generated. It can be softened. This makes it possible to prevent the suspended body, the detachable portion, and the like from being damaged by the collision. Further, due to the urging force of the flying object at the time of the collision, the attachment / detachment portion that has collided with the suspension body moves toward the engagement portion along the length direction of the suspension body, and the attachment / detachment portion is engaged with the engagement portion. be able to. As a result, the flying object can be landed on the suspended body without being damaged while the flying object is gaining momentum. The suspension body may be attached to the support portion via, for example, a universal joint.

Further, in the flying object takeoff and landing system according to the present invention, it is preferable that the suspended body and / or the attached / detached portion is provided so as to be able to absorb an impact when the attached / detached portion collides with the suspended body. Also in this case, it is possible to prevent the attachment / detachment portion from colliding with the suspension body and damaging the suspension body, the attachment / detachment portion, or the like during landing. Further, when the detachable portion collides with the suspended body, it is possible to prevent the flying object and the suspended body from bouncing back, and the flying object can be landed more reliably. As a configuration capable of absorbing the impact at the time of a collision, for example, it is preferable to form the hanging body or the detachable portion with a flexible material, or to provide a damper on the suspended body or the detachable portion.

Further, in the air vehicle takeoff and landing system according to the present invention, the attachment / detachment portion is deformed between a protruding state extending upward from the flying body and a stored state in which the amount of protrusion upward from the flying body is smaller than the protruding state. It may be provided as possible. In this case, it is possible to facilitate landing by making the detachable portion in a protruding state at the time of landing. Further, by setting the detachable portion in the retracted state during flight, it is possible to prevent the detachable portion from colliding with or getting caught in something during flight.

According to the present invention, it is possible to provide an air vehicle takeoff and landing system, an air vehicle takeoff and landing device, and an air vehicle that can be used even in a place where a rail cannot be installed and can smoothly perform takeoff and landing in a relatively short time.

It is a side view which shows the use state of the flying object takeoff and landing system of embodiment of this invention. It is a side view which shows the use state which attached the suspension body to (a) a tripod type stand, (b) a moving body moving on the ground of the flying object takeoff and landing system of embodiment of this invention. It is a side view which shows the use state which attached the suspension body to (a) a ship, (b) an airplane of the flying object takeoff and landing system of embodiment of this invention. It is (a) plan view and (b) side view which shows the 1st modification of the engaging part and the detaching mechanism of the flying object takeoff and landing system of embodiment of this invention. A second modification of the engagement portion and the attachment / detachment mechanism of the air vehicle takeoff and landing system according to the embodiment of the present invention is shown (a) a plan view of the engagement portion with each finger portion open, and (b) flight. A side view of the flying object and the suspended body showing the state in which the body is inserted between the fingers, (c) a plan view of the engaging portion in the state of holding the flying object, and (d) the flying object in the state of holding the flying object. And it is a side view of the suspension body. It is (a) plan view and (b) side view which shows the 3rd modification of the engaging part and the detaching mechanism of the flying object takeoff and landing system of embodiment of this invention. It is (a) plan view and (b) side view which shows the 4th modification of the engaging part and the detaching mechanism of the flying object takeoff and landing system of embodiment of this invention. It is (a) plan view and (b) side view which shows the 5th modification of the engagement part and the attachment / detachment mechanism of the flying object takeoff and landing system of embodiment of this invention. It is (a) plan view, (b) side view which shows the sixth modification of the engaging part and the detaching mechanism of the flying object takeoff and landing system of embodiment of this invention. It is a side view for demonstrating the structure of the engagement part and the attachment / detachment mechanism of the flying object takeoff and landing system of embodiment of this invention. It is a perspective view which shows the use state when it applied to the takeoff and landing system of the underwater moving body of the flying object takeoff and landing system of embodiment of this invention. Regarding the air vehicle takeoff and landing system according to the embodiment of the present invention, (a) a plan view of a pole, (b) a perspective view showing a usage state, and (c) an air vehicle of an air vehicle takeoff and landing system using a pole extending vertically upward. It is a plan view of.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
1 to 11 show an air vehicle takeoff and landing system, an air vehicle takeoff and landing device, and an air vehicle according to an embodiment of the present invention.
As shown in FIG. 1, the air vehicle takeoff and landing system 10 according to the embodiment of the present invention has a support portion 11, a suspension body 12, and an air vehicle 13.

As shown in FIG. 1, the support portion 11 is composed of a member extending in the lateral direction, and is arranged with a space at least in a downward portion and a part on the side. The suspension body 12 is composed of an elongated round bar-shaped pole, and is provided so that the upper end thereof is supported by the support portion 11 and extends downward. In a specific example shown in FIG. 1, the support portion 11 is made of a rod-shaped member, and one end portion 11a is attached to a columnar portion 2 extending upward from a pedestal 1 installed on the ground. Further, the hanging body 12 is attached to the other end portion 11b of the support portion 11.

The suspension body 12 is not limited to the configuration shown in FIG. 1, and may be installed in any place as long as a space can be opened at least in a lower part and a part of the side. Therefore, the suspending body 12 may be installed on the ceiling or under the eaves of a factory, a house, a building, or the like, or may be suspended by a crane or the like. In these cases, the ceiling, the eaves, and the arm of the crane form the support portion 11. Further, as shown in FIGS. 2 and 3, the suspension body 12 is installed on a tripod-type stand 3, a moving body 4, a ship 5, an airplane 6 or the like moving on the ground via a support portion 11. May be good. In these cases, the portions constituting the moving body 3, the stand 4, the ship 5, the airplane 6, and the like may form the support portion 11.

As shown in FIG. 1, the hanging body 12 has an engaging portion 12a at the lower end. Further, the suspension body 12 has an upper end portion rotatably attached to the support portion 11 via a universal joint 12b. As a result, in the hanging body 12, the engaging portion 12a can move in an arbitrary horizontal direction. In a specific example, the engaging portion 12a is made of a sphere having a diameter larger than the diameter of the other portion of the suspension body 12. The support portion 11 and the suspension body 12 form an air vehicle takeoff and landing device for landing the air vehicle 13.

The flying object 13 has an attachment / detachment portion 21 provided at the upper part so as to extend upward. The attachment / detachment portion 21 has an arm 21a provided so as to extend upward from the flying object 13 and an attachment / detachment mechanism 21b provided at the tip of the arm 21a. In a specific example, the attachment / detachment mechanism 21b has a dogleg shape that opens laterally so as to sandwich the suspension body 12 above the engaging portion 12a.

The attachment / detachment portion 21 moves toward the engagement portion 12a in a state of being in contact between the upper end portion of the hanging body 12 and the engagement portion 12a so that the attachment / detachment mechanism 21b engages with the engagement portion 12a. It is configured. As a result, the flying object 13 can be landed while being suspended from the suspended body 12. The attachment / detachment portion 21 may be configured to move to the side of the engagement portion 12a in a state of being in contact with only the engagement portion 12a so that the attachment / detachment mechanism 21b engages with the engagement portion 12a.

Further, the attachment / detachment portion 21 is in a state where the attachment / detachment mechanism 21b is engaged with the engagement portion 12a, from the engagement portion 12a toward the upper end portion along the extension direction of the suspension body 12, or in the extension direction of the suspension body 12. The attachment / detachment mechanism 21b is configured to be released from the engaging portion 12a by moving laterally toward a predetermined angle range. As a result, the flying object 13 can be moved upward or laterally to take off. In this way, the flying object 13 has the attachment / detachment portion 21 attached / detachable to / from the engaging portion 12a.

In the example shown in FIG. 1, the flying object 13 is a drone, but it may be any flightable object such as an unmanned aerial vehicle. Further, the flying object 13 may be able to fly by remote control or may be able to fly by automatic control.

The flying object takeoff and landing system 10 may have a configuration other than that shown in FIG. 1 in the configuration of the engaging portion 12a and the attachment / detachment mechanism 21b. For example, as shown in FIG. 4, the engaging portion 12a has a plurality of elongated arm portions 31 provided so as to extend radially toward the side, and the detachable portion 21 has arms 1b adjacent to each other. When entering the depth of the portion 31, the attachment / detachment mechanism 21b may have a shape that is easily caught by the upper portion of the engaging portion 12a. As shown in FIG. 4, the attachment / detachment mechanism 21b may have a dogleg shape so as to sandwich the hanging body 12 at the upper part of the engaging portion 12a, and may be formed in a dogleg shape, and may be formed in a dogleg shape, and may be formed in a dogleg shape. It may have a shape having a width or diameter longer than the width. Further, the shape of the engaging portion 12a and the shape of the attachment / detachment mechanism 21b may be interchanged.

Further, as shown in FIG. 5, the engaging portion 12a is composed of a gripper provided so as to be grippable by opening and closing the two finger portions 32, and the attachment / detachment mechanism 21b is a space when each finger portion 32 of the gripper is closed. It may have a larger shape than that. At this time, when the arm 21a of the attachment / detachment portion 21 enters between the two finger portions 32 of the gripper, each finger portion 32 is closed by the urging force of the arm 21a, and each finger portion 32 from the inside of each finger portion 32 in which the arm 21a is closed is closed. It is preferable that each finger portion 32 is configured to open when the tip of the finger portion 32 is pressed. Further, the shape of the engaging portion 12a and the shape of the attachment / detachment mechanism 21b may be interchanged.

Further, the air vehicle takeoff and landing system 10 may be configured to engage by simply bringing the attachment / detachment mechanism 21b into contact with the engaging portion 12a. In this case, for example, as shown in FIG. 6, the engaging portion 12a and the attachment / detachment mechanism 21b may be formed of hooks and loops of hook-and-loop fasteners so as to be attractable to each other. Further, the engaging portion 12a may be a loop of a hook-and-loop fastener, and the attachment / detachment mechanism 21b may be a hook of a hook-and-loop fastener. Further, as shown in FIG. 7, the engaging portion 12a forms a columnar shape rotatably provided around the central axis, and is formed from a magnet having N poles and S poles alternately on the side surfaces along the rotation direction. The detachable mechanism 21b may be composed of a magnet having N poles and S poles alternately on the side surface along the circumferential direction of the arm 21a.

Further, as shown in FIG. 8, the engaging portion 12a may have a columnar shape and may have a plurality of suction cups 33, suction pads, non-contact suction pads, or the like on the side surface thereof. Even if the 21b is made of a plate-like body having a curved surface 34 along the side surface of the engaging portion 12a and is rotatably provided along the circumferential direction of the arm 21a with the curved surface 34 facing sideways. good. Further, the attachment / detachment mechanism 21b may be attached to the arm 21a via a spring. Further, as shown in FIG. 9, the engaging portion 12a may be made of a gripper that fits into the shape of the object and can grip the object only by contact with the object.

As described above, in the flying object takeoff / landing system 10, the engaging portion 12a and the attaching / detaching mechanism 21b can be engaged with each other, and the attaching / detaching mechanism 21b can be easily released from the engaging portion 12a when the flying object 13 takes off. All you need is. Therefore, the configuration of the engaging portion 12a and the configuration of the attaching / detaching mechanism 21b may be interchanged. As shown in FIG. 10, when the engaging portion 12a is female, the attaching / detaching mechanism 21b is male and the engaging portion 12a is male. When the attachment / detachment mechanism 21b may be a female.

Next, the action will be described.
The aircraft takeoff and landing system 10 can take off and land the aircraft 13 as follows. That is, when landing, the flying object 13 is made to fly toward the lower side of the suspended body 12, and the detachable portion 21 provided on the upper part of the flying body 13 is placed between the upper end portion of the suspended body 12 and the engaging portion 12a. Make contact. At this time, even if the detachable portion 21 and the suspension body 12 collide with each other, the suspension body 12 rotates and moves in the collision direction by the universal joint 12b, so that the impact at the time of collision can be softened. Therefore, as long as it is within the range of the impact that can be absorbed by the rotational movement of the suspension body 12, the detachable portion 21 may collide with the suspension body 12 with the flying body 13 gaining momentum.

After the suspension body 12 and the attachment / detachment portion 21 are brought into contact with each other, the attachment / detachment mechanism 21b can be engaged with the engagement portion 12a by moving the flying body 13 to the side of the engagement portion 12a in that state. In this way, the flying object 13 can be landed while being suspended from the suspended body 12. Further, when the attachment / detachment portion 21 collides with the suspension body 12 while the flying body 13 is gaining momentum, the attachment / detachment portion 21 that has collided with the suspension body 12 is suspended by the urging force of the flying body 13 at the time of collision. Since the lower body 12 moves toward the engaging portion 12a along the length direction, the attachment / detachment mechanism 21b can be engaged with the engaging portion 12a. As a result, the flying object 13 can be landed in a state of being suspended from the hanging body 12 without being damaged while the flying object 13 is gaining momentum.

The aircraft takeoff and landing system 10 can reduce the influence of the ground effect to a level that can be almost ignored by arranging the suspension body 12 so that sufficient space is provided below the aircraft body 13. Further, since there is almost no influence of the ground effect, the flying object 13 can be stably landed even in a relatively narrow space. Further, at the time of landing, the flying object 13 may be guided so that the attachment / detachment portion 21 comes into contact between the upper end portion of the suspension body 12 and the engaging portion 12a, and the flying object 13 may be guided substantially pinpoint. As compared with the above, the control of the flying object 13 becomes easy, and the landing can be smoothly performed in a relatively short time.

When the flying object 13 is taken off, the attachment / detachment mechanism 21b can be released from the engaging portion 12a by moving the flying object 13 upward or laterally. Therefore, it is possible to take off smoothly and safely in a relatively short time only by actively moving the flying object 13.

The aircraft takeoff and landing system 10 can be used even in a place where rails cannot be installed if the suspension body 12 can be arranged. Further, the flying object 13 can be landed regardless of the direction in which the flying object 13 is brought close to the suspended body 12.

The air vehicle takeoff and landing system 10 can be suitably used, for example, when a load or the like is attached to the lower part of the air vehicle 13 and carried. When the flying object 13 is suspended from the suspended body 12, since there is a space under the flying object 13, a load is attached to the lower part of the flying object 13 or a load attached to the lower part of the flying object 13 is unloaded. The work can be done easily. Further, when the flying object 13 is suspended from the suspended body 12, electric power can be supplied and data can be transmitted / received in a non-contact manner. Further, a predetermined object, substance, energy or the like such as a liquid, a pesticide, a luggage, a battery, or an electric power may be supplied to the flying object 13 via the suspension body 12 and the attachment / detachment portion 21.

In the flight body takeoff and landing system 10, it is preferable that the suspension body 12 and / or the attachment / detachment portion 21 is provided so as to be able to absorb the impact when the attachment / detachment portion 21 collides with the suspension body 12. Also in this case, it is possible to prevent the attachment / detachment portion 21 from colliding with the suspension body 12 and damaging the suspension body 12, the attachment / detachment portion 21, and the like during landing. Further, when the detachable portion 21 collides with the suspended body 12, the flying object 13 and the suspended body 12 can be prevented from bouncing back, and the flying object 13 can be landed more reliably. As a configuration capable of absorbing the impact at the time of a collision, for example, it is preferable to form the suspension body 12 and the attachment / detachment portion 21 with a flexible material, or to provide a damper on the suspension body 12 and the attachment / detachment portion 21.

Further, in the flight body takeoff and landing system 10, the attachment / detachment portion 21 is deformed between a protruding state extending upward from the flying body 13 and a stored state in which the amount of protrusion upward from the flying body 13 is smaller than the protruding state. It may be provided as possible. In this case, it is possible to facilitate landing by making the detachable portion 21 in a protruding state at the time of landing. Further, by setting the detachable portion 21 in the retracted state during flight, it is possible to prevent the detachable portion 21 from colliding with or being caught by something during flight.

Further, as shown in FIG. 11, in the flying object takeoff and landing system 10, the suspended body 12 is, for example, the bottom of a floating body 7 floating on water or a ship moving on water, an object installed in water, or underwater. May be attached to a floating or moving object and installed underwater. In this case, it can be used not only by the flying object 13 but also by the underwater moving object 8, and can be expanded as an takeoff and landing system thereof.

As shown in FIG. 12, regarding the air vehicle takeoff and landing system 10, instead of the suspended body 12, the lower end portion 51a may be installed and have an elongated pole 51 provided so as to extend vertically upward. At this time, the lower end portion 51a of the pole 51 is installed on the support base 61 via the damper 52, and the pole 51 is rotatably provided around the lower end portion 51a so that the upper end portion 51b moves in an arbitrary horizontal direction. There is. Further, the damper 52 is configured to apply an urging force to the pole 51 to return the pole 51 to a state of extending vertically upward when the upper end portion 51b of the pole 51 moves and rotates in an arbitrary horizontal direction. Further, the flying object 53 has a detachable portion 53a provided so as to be engageable with the pole 51 at the lower portion or the side portion instead of the upper portion. In a specific example shown in FIG. 12, the detachable portion 53a has a dogleg-shaped shape that opens laterally so as to sandwich the pole 51.

In this case, the flying object 53 can be landed on the pole 51 regardless of the direction in which the flying object 53 is approached. At the time of landing, the flying object 53 may be guided so that the attachment / detachment portion 53a engages with the elongated pole 51, and the control of the flying object 53 becomes easier as compared with the case where the flying object 53 is guided almost pinpointly. It can land smoothly in a relatively short time. Further, even if the detachable portion 53a and the pole 51 collide during landing, the impact at the time of collision can be softened by the damper 52. Therefore, as long as the impact range can be absorbed by the damper 52, the detachable portion 53a may collide with the pole 51 while the flying object 53 has momentum. Further, at the time of takeoff, the detachable portion 53a can be released from the pole 51 by moving the flying object 53 diagonally upward or laterally. Therefore, it is possible to take off smoothly and safely in a relatively short time only by actively moving the flying object 53.

1 Pedestal 2 Columnar part 3 Stand 4 Mobile 5 Ship 6 Airplane 7 Floating 8 Underwater mobile

10 Aircraft takeoff and landing system 11 Support part 11a One end part 11b End part 12 Suspended body 12a Engagement part 12b Universal joint 13 Flying body 21 Detachment part 21a Arm 21b Detachment mechanism

31 Arm 32 Finger 33 Sucker 34 Curved surface

Claims (9)

Support part and
A hanging body that is elongated and is provided so as to support the upper end portion by the support portion and extend downward, and has an engaging portion at the lower end portion.
The upper part has a flying object having a detachable portion provided so as to be engageable with the engaging portion of the suspended body.
The flying object is characterized in that the attachment / detachment portion can be released from the engagement portion by moving upward or sideways from the state in which the attachment / detachment portion and the engagement portion are engaged. Aircraft takeoff and landing system. The aircraft takeoff and landing system according to claim 1, wherein the suspended body is arranged with a space at least below and in a part of the side of the engaging portion. The detachable portion is configured to engage with the engaging portion by moving toward the engaging portion in a state of being in contact between the upper end portion of the hanging body and the engaging portion. The aircraft takeoff and landing system according to claim 1 or 2, wherein the aircraft takes off and landing system. The detachable portion is characterized in that it is configured to be released from the engaging portion by moving from the engaging portion toward the upper end portion along the extension direction of the suspended body. The aircraft takeoff and landing system according to any one of 1 to 3. The suspension body comprises an elongated pole, wherein the engaging portion is movable in an arbitrary horizontal direction, and the upper end portion is rotatably attached to the support portion. The aircraft takeoff and landing system according to any one of the following items. The one according to any one of claims 1 to 5, wherein the suspending body and / or the detachable portion is provided so as to be able to absorb an impact when the detachable portion collides with the suspended body. Aircraft takeoff and landing system. The flight according to any one of claims 1 to 6, wherein a predetermined object, substance, or energy can be supplied to the flying object via the suspended body and the detachable portion. Body takeoff and landing system. An aircraft takeoff and landing device for landing an aircraft.
Support part and
It is elongated and has a hanging body which is provided so as to support the upper end portion by the support portion and extend downward and has an engaging portion at the lower end portion.
The flying object has an attachment / detachment portion provided on the upper portion so as to be engageable with the engaging portion of the suspension body.
The suspended body is configured so that the detachable portion can be released from the engaging portion when the flying object moves upward or laterally from the state in which the attaching / detaching portion and the engaging portion are engaged. An aircraft takeoff and landing device that features this. It is an elongated flying object that is provided to support the upper end and extend downward, and takes off and landing using a suspended body having an engaging portion at the lower end.
The upper part has an attachment / detachment portion provided so as to be engageable with the engagement portion of the suspension body, and by moving upward or sideways from the state in which the attachment / detachment portion and the engagement portion are engaged. , The flying object is configured so that the detachable portion can be released from the engaging portion.

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