JP4411120B2 - Unmanned airship descent device and descent method - Google Patents

Description

  The present invention relates to a descent device and a descent method for an unmanned airship, and more particularly to a descent device and a descent method that can be suitably used in an emergency in which an unmanned airship is quickly lowered.

  At present, unmanned airships that have been levitated using the buoyancy of a buoyant gas such as helium and can be remotely controlled by command signals from the ground have been proposed. In particular, in recent years, unmanned airships capable of flying in the stratosphere at an altitude of about 15 km or more have been developed for the purpose of information communication, broadcasting, monitoring, meteorological observation, high-level atmospheric component analysis, and the like.

  Such unmanned airships are stored in a state of being anchored on the ground, but the anchored hull is swept away in unexpected directions by a gust of wind, and this hull collides with workers on the ground and various equipment, causing unforeseen events. Damage may occur. In addition, while an unmanned airship is flying, it may be swept away by unexpected gusts and crosswinds and enter a no-fly zone.

Conventionally, when an unmanned airship is flowed in an unexpected direction as described above, the hull's outer shell is burned off by the combustion of gunpowder, and levitation gas is released to the outside from the burned and broken portion to create an unmanned airship. The method of lowering was adopted (for example, refer to Patent Document 1). Further, in manned airships, a tearing device such as a cutter is operated by a pilot to tear the hull of the hull, and levitation gas is discharged from the torn portion to realize an emergency descent.
JP 2002-308186 A (3rd page, FIG. 2)

  However, in the method described in Patent Document 1, pyrotechnics such as a detonator (ignition ball) and a detonation cord are mounted in the hull, and explosives are burned in the hull to burn off the hull. There is a problem. In addition, when such a method is adopted, there is a problem that the hull cannot be reused because the hull skin is burned out by burning the explosive. In addition, when a tearing device such as a cutter mounted on a conventional manned airship is employed, there is a risk of damaging the hull of the hull.

  An object of the present invention is to provide an unmanned airship descent device that can be lowered more safely and quickly without using pyrotechnics when the unmanned airship is flown in an unexpected direction when anchored on the ground or during flight. And providing a descent method.

In order to solve the above-mentioned problems, the invention described in claim 1 is a descent device for an unmanned airship comprising a flexible hull and a levitation gas filled in the hull. A notch provided in the film, a membranous member attached to the hull so as to cover the notch, and a rope-like member having one end fixed to the membranous member A winding device for generating a tensile force for peeling the membrane member from the hull by winding the rope-like member from the other end side, and for peeling the membrane member from the boat body. Peeling prevention means for preventing peeling of the film-like member until the tensile force reaches a predetermined value. The peeling prevention means includes a fixing portion fixed to the hull, a spring on the fixing portion, and It is possible to connect one end of the rope-like member connected through a thread. Even if the movable part is pulled by the rope-shaped member, the spring is extended and the movable part moves away from the fixed part until the tensile force reaches a predetermined value. Thus, the yarn is prevented from being broken, and when the tensile force exceeds a predetermined value, the yarn is broken, and the film-like member is pulled by the rope-like member and peeled off .

  According to the first aspect of the present invention, the film-shaped member that covers the cut portion partially provided in the hull is provided, and the rope-shaped member connected to the film-shaped member is wound by the winding device. By taking it, the membranous member can be peeled off from the hull, and the cut portion can be exposed. And the floating gas in a ship body can be rapidly discharged | emitted outside from this cut | notch part. For this reason, when the unmanned airship is flown in an unexpected direction during the tethering or flight, the unmanned airship can be safely and quickly lowered without using pyrotechnics.

According to the invention described in claim 1, the hull is provided with a cut portion in advance, and the cut portion is removed by winding the rope-shaped member with a winding device and peeling the film-shaped member. Expose and release the floating gas inside the hull to the outside. For this reason, since it is not necessary to burn off the hull of the hull with gunpowder as in the prior art, the hull can be reused. Moreover, since it is not necessary to employ a tearing device such as a cutter mounted on a conventional manned airship, damage to the hull skin can be prevented.
According to the invention described in claim 1, the peeling preventing means is connected to the fixed portion fixed to the hull, and one end portion of the rope-shaped member connected to the fixed portion via the spring and the thread. The movable part, and even if the movable part is pulled by the rope-shaped member, the spring is extended until the tensile force reaches a predetermined value, and the movable part moves away from the fixed part to break the thread. When the tensile force exceeds a predetermined value, the yarn breaks and the membrane member is pulled by the rope-like member and peeled off. Therefore, even when a tensile force is applied to the membrane member due to factors other than the operation of the winding device, the spring is extended and the movable portion moves away from the fixed portion, so that the yarn breaks, and thus the membrane shape. The peeling of the member can be prevented, and the peeling by the winding device can be surely realized.

  According to a second aspect of the present invention, in the unmanned airship descent device according to the first aspect, a time difference setting is provided in which a predetermined time difference is provided from the start of the winding operation of the winding device to the start of peeling of the film-like member. And a warning means for notifying the operation of the winding device.

  According to the invention described in claim 2, the time difference setting means can delay the start of peeling of the film-like member by a predetermined time from the start of the winding operation of the winding device, and the warning means It can be notified that the winding device has been activated. Therefore, even when a malfunction of the winding device occurs, it is possible to immediately confirm the malfunction, and the membrane member does not immediately peel off from the hull, resulting in malfunction of the winding device. Separation of the film-like member can be prevented.

The invention described in claim 3 is the unmanned airship descending device described in claim 1 or 2 , wherein the rope-shaped member is an elastic nylon cord.

According to the invention described in claim 3 , since the stretchable nylon cord is adopted as the rope-shaped member, the impact applied to the film-shaped member is reduced when the tensile force generated by the winding device is transmitted to the film-shaped member. And damage to the outer skin and the winding device can be prevented.

According to a fourth aspect of the present invention, in the unmanned airship descent device according to any one of the first to third aspects, a portion on one end side is fixed to the membrane member and the other end portion It is characterized by comprising a manual rope-shaped member arranged so that the side portion hangs down below the hull.

According to the fourth aspect of the present invention, the manual rope-shaped member is arranged such that the portion on one end side is fixed to the membrane member and the portion on the other end side hangs down below the hull. It has. For this reason, when an unmanned airship is flowed in an unexpected direction when tethered to the ground, the membrane member is peeled from the hull by pulling the portion on the other end side of the manual rope-shaped member (the portion hanging down below the hull). And the notch can be exposed. And the floating gas in a ship body can be discharge | released outside from this cutting part, and an unmanned airship can be lowered | hung.

The invention described in claim 5 is an unmanned airship descending method using the unmanned airship descending device according to any one of claims 1 to 4 , wherein the winding device is operated to operate the rope. By winding the member, the membranous member is peeled off from the hull to expose the notch, and the floating gas in the hull is released from the notch to the outside.

According to the invention described in claim 5 , in an emergency (for example, when an unmanned airship is swept in an unexpected direction), the film-shaped member is wound by operating the winding device and winding the rope-shaped member. The incision can be exposed by peeling off the hull. And the floating gas in a ship body can be rapidly discharged | emitted from this notch part outside, and an unmanned airship can be lowered | hung.

The invention described in claim 6 is an unmanned airship descending method using the unmanned airship descending device according to claim 4 , wherein the film-like member is attached to the hull by pulling the manual rope-shaped member. It is made to peel from, the said notch part is exposed, and the floating gas in the said ship body is discharge | released outside from the said notch part.

According to the invention described in claim 6 , in an emergency (for example, when an unmanned airship is swept in an unexpected direction when tethered to the ground), a portion of the manual rope-like member that hangs down below the hull is pulled, thereby The shaped member is peeled from the hull to expose the notch. And the floating gas in a ship body can be discharge | released outside from this cutting part, and an unmanned airship can be lowered | hung.

  According to the present invention, an unmanned airship is grounded by a descent device including a membrane member that covers a cut portion of the hull and a winding device that peels the membrane member from the hull, and a descent method using the descent device. When it is thrown in an unexpected direction during anchoring or flight, it can be lowered more safely and quickly without using pyrotechnics.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  First, the whole structure of the unmanned airship 1 which concerns on this Embodiment is demonstrated using FIG. The unmanned airship 1 includes a hull 10 formed of a flexible outer skin, a gondola 20 provided on the lower surface of the hull 10, a baronet (not shown) provided inside the hull 10, and the like.

  The hull 10 is composed of a flexible outer skin made of synthetic resin or light metal. The space (hereinafter referred to as “floating gas sac”) in the hull 10 excluding the baronet is filled with levitation gas, and the pressure of the buoyancy gas and the pressure of the air filled in the baronet The shape is retained.

As shown in FIG. 1, a vertical tail 11 having a rudder 12 is provided on the upper and lower surfaces near the stern of the hull 10, and a horizontal surface including an elevator (not shown) on the side surface near the stern of the hull 10. A tail 14 is provided. These rudder 12 and elevator are driven by a steering device mounted on the gondola 20. Moreover, the nose cone panel 13 provided with the electric winding device 35 mentioned later is provided in the bow of the hull 10. FIG. The electric winding device 35 is driven by a winding driving device mounted on the gondola 20.

The gondola 20 includes a steering device for driving the rudder 12 and the elevator, a propulsion device such as an engine / propeller, a winding drive device for driving the electric winding device 35 provided on the nose cone panel 13 of the bow, A GPS receiver that detects position information of the airship 1, a control device that integrally controls various devices, and the like are mounted. The control device mounted on the gondola 20 is driven and controlled by a command signal transmitted from a ground base station.

  Next, the descent device for the unmanned airship 1 according to the present embodiment will be described with reference to FIGS.

  As shown in FIGS. 2 to 4, the descent device of the unmanned airship 1 includes a cut portion 31 partially provided in the hull 10, and a lip adhered to the hull 10 so as to cover the cut portion 31. A panel 32, a first stretchable nylon cord 33 and a second stretchable nylon cord 34, one end of which is fixed to the lip panel 32, an electric winder 35 that winds up the first stretchable nylon cord 33, Etc. are provided.

  As shown in FIGS. 3 and 4, the cut portion 31 is a portion that discharges the floating gas in the hull 10, and is provided in an upper portion near the bow of the hull 10. The width and length of the cut portion 31 are set such that the size of the hull 10 of the unmanned airship 1 and the thickness of the hull of the unmanned airship 1 are set so that the levitation gas in the hull 10 can be quickly released and a quick descent can be realized. It will be decided as appropriate in consideration.

  The lip panel 32 is a film-like member in the present invention, and covers the cut portion 31 at a normal time. The lip panel 32 is made of a flexible material made of synthetic resin or light metal, and is prepared in a long and narrow band shape. As shown in FIGS. 2 and 4B, the hull 10 is bonded via an adhesive 32a. It is welded to the upper part of the bow. The length and width of the lip panel 32 are set to dimensions that can reliably cover the cut portion 31.

The first stretchable nylon cord 33 is a rope-shaped member in the present invention. As shown in FIGS. 3 and 4A and 4B, one end side of the lip panel 32 is fixed by a fixing film 36. It is fixed on the top surface. Further, as shown in FIG. 3, the first stretchable nylon cord 33 extends from the upper part of the lip panel 32 to the electric winder 35 via the upper part near the bow of the hull 10 and has the other end. The electric winding device 35 is wound from the side.

  As shown in FIG. 3, the electric winder 35 is provided on the nose cone panel 13, and the lip panel 32 is hulled by winding the first stretchable nylon cord 33 and pulling it toward the nose cone panel 13. 10 is peeled off. The electric winding device 35 is driven by a winding driving device mounted on the gondola 20. When a current is supplied to the electric winding device 35, a predetermined operating sound is generated so that it can be notified that it is operating. That is, the electric winding device 35 has alarm means in the present invention.

  In the present embodiment, a commercially available electric reel is adopted as the electric winding device 35. In addition, by adopting internal lubricating grease with excellent low temperature characteristics, a smooth winding operation can be realized even in a low temperature environment during high-rise flight.

  As shown in FIG. 3, a guide 37 is provided between the lip panel 32 and the electric winding device 35 to guide the first stretchable nylon cord 33 to the electric winding device 35 side. Further, as shown in FIGS. 2 and 3, the first stretchable nylon cord 33 is fixed to the upper portion of the hull 10 near the bow by the fixing film 36 in a state where a part thereof is bent in a zigzag shape. ing. For this reason, a predetermined time difference can be provided from the start of the winding operation of the electric winding device 35 to the start of peeling of the lip panel 32. That is, the zigzag bent portion of the first stretchable nylon cord 33 is a time difference setting means in the present invention.

  Moreover, the front-end | tip part of the 1st elastic nylon cord 33 protrudes from the stern side edge part of the lip panel 32, as shown in FIG. 3, The 1st safety device 40 is provided in the protrusion part. As shown in FIG. 4C, the first safety device 40 includes a fixed portion 41 fixed to the hull 10 and a movable portion 44 connected to the fixed portion 41 via a spring 42 and a thread 43. I have. An end portion of the first stretchable nylon cord 33 is connected to the movable portion 44 of the first safety device 40.

When the tensile force due to the winding operation of the electric winding device 35 acts on the first stretchable nylon cord 33, the tensile force is transmitted to the movable portion 44 of the first safety device 40, and the spring 42 expands to move the movable portion. 44 moves away from the fixing portion 41. When a tensile force exceeding a predetermined value (for example, about 10 kgf) is applied , the thread 43 is broken, and the first stretchable nylon cord 33 and the lip panel 32 are pulled toward the nose cone panel 13 side. As a result, the lip The panel 32 peels off. That is, the 1st safety device 40 is a peeling prevention means in this invention, and peeling of the lip panel 32 is prevented until the tensile force by the electric winding apparatus 35 reaches a predetermined value.

  The second stretchable nylon cord 34 is a manual rope-shaped member according to the present invention. As shown in FIG. 3, the first stretchable nylon cord 33 and a portion on one end side are fixed to the lip panel by a fixing film 36. 32 is fixed to the upper surface. As shown in FIGS. 2 and 3, the second stretchable nylon cord 34 is fixed to the hull 10 by a fixing film 36 in a state where it is hung from the upper side of the lip panel 32 to the lower side of the hull 10. ing.

  As shown in FIG. 3, a grip portion 38 that can be gripped by an operator on the ground is attached to the other end portion of the second stretchable nylon cord 34, and the operator grips the grip portion 38. The second stretchable nylon cord 34 can be pulled. When the operator grips the grip portion 38 and pulls the second stretchable nylon cord 34, the tensile force is transmitted to the lip panel 32, and the lip panel 32 is peeled from the hull 10.

  Further, a second safety device 50 as shown in FIG. 3 is provided below the hull 10, and the vicinity of the end of the second stretchable nylon cord 34 (the end on the lower side of the hull 10) is The second safety device 50 is attached.

  The second safety device 50 prevents the lip panel 32 from being peeled off when the second stretchable nylon cord 34 is caught on a ground device or when a ground worker accidentally pulls the second stretchable nylon cord 34. To do. That is, the second safety device 50 prevents the tensile force from being transmitted to the lip panel 32 unless the end of the second stretchable nylon cord 34 is pulled three times or more with a tensile force of a predetermined value (for example, about 15 kgf). It has become.

  Subsequently, a descent method using the descent device of the unmanned airship 1 according to the present embodiment will be described.

  First, the remote pilot on the ground monitors the position information of the hull 10 acquired by the GPS receiver installed in the gondola 20 when the unmanned airship 1 is anchored on the ground or descending. When the remote pilot determines that the unmanned airship 1 has flowed in an unexpected direction, the remote pilot transmits a command signal for driving the electric winding device 35 to the unmanned airship 1.

  Upon receiving the command signal, the control device of the unmanned airship 1 drives and controls the electric take-up device 35 to cause the first stretchable nylon cord 33 to wind and pull the first stretchable nylon cord 33. Apply force. When the tensile force of the electric winding device 35 acts on the first stretchable nylon cord 33, the zigzag bent portion gradually expands. When the zigzag bent portion is fully extended, a tensile force acts on the movable portion 44 of the first safety device 40.

  Thereafter, when the tensile force acting on the movable portion 44 of the first safety device 40 exceeds a predetermined value, the thread 43 of the first safety device 40 breaks. As a result, the first stretchable nylon cord 33 and the lip panel 32 fixed thereto are pulled toward the nose cone panel 13, and the lip panel 32 is peeled from the hull 10. The notch 31 is exposed by the peeling of the lip panel 32, and the floating gas in the hull 10 is released from the exposed notch 31, so that a quick descent is realized.

  In the descent device of the unmanned airship 1 according to the embodiment described above, the first stretchable nylon cord 33 connected to the lip panel 32 is wound by the electric winder 35 so that the lip panel 32 is removed from the hull 10. It is made to peel and the notch part 31 can be exposed. And the floating gas in the hull 10 can be rapidly discharged | emitted from this cutting part 31 to the exterior. For this reason, when the unmanned airship 1 is flown in an unexpected direction during the tethering or flight, the unmanned airship 1 can be lowered more safely and quickly without using pyrotechnics.

  Further, in the descending device for the unmanned airship 1 according to the embodiment described above, the cut portion 31 is provided in the hull 10 in advance, and the first elastic nylon cord 33 is wound up by the electric winding device 35. By peeling the lip panel 32, the cut portion 31 is exposed, and the floating gas in the hull 10 is released to the outside. For this reason, since it is not necessary to burn off the hull of the hull 10 with gunpowder as in the prior art, the hull 10 can be reused. Moreover, since it is not necessary to employ a tearing device such as a cutter mounted on a conventional manned airship, damage to the outer skin of the hull 10 can be prevented.

  Further, in the descent device of the unmanned airship 1 according to the embodiment described above, the zigzag bent portion (time difference setting means) of the first stretchable nylon cord 33 is used to electrically start the peeling of the lip panel 32. The winding device 35 can be delayed by a predetermined time from the start of the winding operation. Further, the operation of the device can be notified by the operation sound generated from the electric winding device 35.

  Therefore, even when the malfunction of the electric winding device 35 occurs, the lip panel 32 does not immediately peel off from the hull 10, and the malfunction is immediately confirmed by the operation sound of the electric winding device 35. Therefore, the contraction of the hull 10 caused by the malfunction of the electric winding device 35 can be prevented.

  Moreover, in the descent apparatus of the unmanned airship 1 according to the embodiment described above, until the tensile force acting on the first stretchable nylon cord 33 reaches a predetermined value by the first safety device 40 (peeling prevention means). The lip panel 32 can be prevented from peeling off. Accordingly, even when a tensile force acts on the first stretchable nylon cord 33 due to factors other than the operation of the electric winding device 35, the lip panel 32 is peeled off from the hull 10 as long as the tensile force does not reach a predetermined value. There is nothing to do.

  Moreover, in the descent apparatus of the unmanned airship 1 according to the embodiment described above, the first stretchable nylon cord 33 is adopted as the rope-like member, and therefore the tensile force by the electric winding device 35 is applied to the lip panel 32. When transmitting, the impact acting on the lip panel 32 can be mitigated, and the outer skin of the hull 10 and the electric winding device 35 can be prevented from being damaged.

  Further, in the descending device for the unmanned airship 1 according to the embodiment described above, one end portion is fixed above the lip panel 32 and the other end portion is below the hull 10. The second elastic nylon cord 34 hangs down. Therefore, when the unmanned airship 1 is flowed in an unexpected direction when tethered to the ground, the grip portion 38 provided at the other end of the second stretchable nylon cord 34 is pulled to remove the lip panel 32 from the hull 10. It is made to peel and the notch part 31 can be exposed. Then, the unmanned airship 1 can be lowered by releasing the floating gas in the hull 10 to the outside from the cut portion 31.

  In the above embodiment, the stretchable nylon cord is used as the rope-shaped member, but another rope-shaped member having a strength that can transmit the tensile force generated by the electric winding device 35 to the lip panel 32 is used. You can also

1 is a side view of an unmanned airship according to an embodiment of the present invention. FIG. 2 is an enlarged perspective view of a part II (a bow upper part) of the unmanned airship shown in FIG. 1. It is explanatory drawing for demonstrating the structure of the descent | fall apparatus provided in the unmanned airship shown in FIG. (A) is an enlarged plan view of the lip panel of the lowering device shown in FIG. 3, (b) is an enlarged sectional view of the BB portion of (a), and (c) is a C portion of (a). FIG.

Explanation of symbols

1 Unmanned airship 10 Hull 31 Cut section 32 Lip panel (membrane-like member)
33 1st stretch nylon cord (tuna member)
34 Second elastic nylon cord (manual rope)
35 Electric winding device (winding device)
40 1st safety device (peeling prevention means)

Claims (6)

In an unmanned airship descent device comprising a flexible hull and a buoyant gas filled in the hull.
A notch provided partially in the hull;
A film-like member attached to the hull so as to cover the cut portion;
A rope-like member in which a portion on one end side is fixed to the membrane-like member;
A winding device for generating a tensile force for separating the membrane-like member from the hull by winding the rope-like member from the other end side;
Peeling prevention means for preventing peeling of the membrane member until a tensile force for peeling the membrane member from the hull reaches a predetermined value,
The peeling prevention means includes a fixed portion fixed to the hull, and a movable portion connected to the fixed portion via a spring and a thread and connected to one end of the rope-shaped member,
Even if the movable part is pulled by the rope-shaped member, the spring is extended and the movable part moves away from the fixed part until the tensile force reaches a predetermined value, whereby the thread breaks. When the tensile force exceeds a predetermined value, the yarn breaks and the membrane member is pulled by the rope-like member and peeled off . A time difference setting means for providing a predetermined time difference from the start of the winding operation of the winding device to the start of peeling of the film member;
Alarm means for informing the operation of the winding device;
The unmanned airship descending device according to claim 1, comprising: The rope-shaped member is
The unmanned airship descent device according to claim 1 or 2 , wherein the descent device is an elastic nylon cord. 3. A manual rope-shaped member disposed so that a portion on one end side is fixed to the film-like member and a portion on the other end side hangs below the hull. The unmanned airship descent device according to any one of 1 to 3 . An unmanned airship descending method using the unmanned airship descending device according to any one of claims 1 to 4 ,
By actuating the winding device to wind up the rope-like member, the membrane-like member is peeled from the hull to expose the cut portion, and the floating gas in the hull is removed from the cut portion to the outside. A descent method for unmanned airships, characterized in that An unmanned airship descending method using the unmanned airship descending device according to claim 4 ,
By pulling the manual rope-shaped member, the membranous member is peeled from the hull to expose the notch, and the floating gas in the hull is released to the outside from the notch. How to descend an unmanned airship.

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