JP6143311B1 - Drone safety flight system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a drone safety flight system that can guarantee the safety of surroundings even when the aircraft itself becomes uncontrollable due to damage or failure, and always enables a long flight in a stable flight position and trajectory. The task is to do. A safe flight system for a drone, comprising a guideline 2 stretched on a flight trajectory of the drone 1 and a guide means 3 for causing the drone 1 to fly along the guideline 2. Features. [Selection] Figure 1

Description

  The present invention relates to a safe flight system for enhancing safety during drone flight.

  In recent years, drones have spread worldwide due to the development of technologies such as smartphones and the Internet. A drone is an aircraft that can fly unattended by remote control or automatic control, and is also called a multicopter. Applications are becoming widespread, ranging from practical use such as disaster relief and natural environment research in a harsh environment for humans to entertaining uses such as racing in the air.

  However, since it is an unmanned flight, problems such as a decrease in flight position stability due to the deterioration of the GPS reception environment and a sudden crash resulting from a battery capacity limit due to a longer flight time have been pointed out.

  In order to solve this problem, in Patent Document 1, a ground station for power supply is provided outside the aircraft, and the aircraft is connected to the aircraft with a cable, so that the flight continues for a long time regardless of the battery capacity. Multicopters that can do this have been proposed.

  Further, Patent Document 2 proposes an aerial photography rotary wing machine capable of maintaining a stable posture by locking one end of a tether rope provided at a lower part to a ground tripod or the like. Moreover, it is possible to maintain a tension | tensile_strength state so that it may not loosen with the winding machine provided in the tethering rope.

JP2015-217901 JP2013-79034A

  However, the inventions described in Patent Literature 1 and Patent Literature 2 may cause harm to the human body due to an unexpected crash when the aircraft itself becomes uncontrollable due to damage or failure. In addition, since the power cable and the tethering rope are provided at the lower part of the aircraft, the flight position and trajectory become unstable when affected by wind.

  The present invention has been made in view of the above circumstances, and can guarantee the safety of the surroundings even when the aircraft itself becomes uncontrollable due to damage, failure, etc., and always has a stable flight position and long track. It is an object of the present invention to provide a drone safety flight system that enables time flight.

  In order to solve the above-described problem, the drone safety flight system according to the present invention includes a guideline stretched on the flight trajectory of the drone, and guide means for causing the drone to fly along the guideline. It is characterized by.

  According to the present invention, by guiding the drone using the guideline, the surrounding safety can be ensured even when the aircraft itself becomes uncontrollable due to damage or failure.

  In a preferred aspect of the present invention, the guiding means includes a posture holding mechanism that holds a flying posture of a drone flying along the guideline. By adopting such a configuration including the posture holding mechanism, the flight position and the stability of the trajectory are improved.

  The drone includes a drone main body constituting a fuselage portion and a plurality of rotary wing aircraft, and the posture holding mechanism has a line holding portion movable along the guideline, and a suspension extending downward from the line holding portion. It is characterized by comprising a lowering part and a connecting part for connecting the lower part of the hanging part and the drone body. With this configuration, the distance between the drone and the guideline can be kept constant, so that it is possible to prevent contact with the guideline such as the rotary wing aircraft.

  In a preferred embodiment of the present invention, a rotating joint is provided on at least one of the hanging part and the connecting part. In this way, the drone can be freely rotated in the safe flight system, and any direction can be taken when the camera is mounted on the drone.

  In a preferred embodiment of the present invention, the guideline is stretched in the vertical direction, and the posture holding mechanism includes a through hole that penetrates the drone body in the vertical direction, and the guideline is inserted into the through hole. And By doing so, the guideline can be inserted through the through-hole in a direction perpendicular to the ground, and thus it is possible to fly in a direction perpendicular to the ground according to the application.

  The safe flight method of a drone according to the present invention is characterized in that a guideline is stretched on a trajectory in which a drone is allowed to fly, and a drone is caused to fly according to the guideline by guidance means provided between the guideline and the drone. .

  According to the present invention, even when the aircraft itself becomes uncontrollable due to damage, failure, etc., it is possible to guarantee the safety of the surroundings, and always allow a long flight in a stable flight position and trajectory. A system can be provided.

1 is a schematic perspective view of a drone safe flight system according to Embodiment 1 of the present invention. It is a partial expanded sectional view of the attitude | position holding mechanism of the drone safe flight system which concerns on Embodiment 1 of this invention. It is a general | schematic perspective view of the state which mounted the camera in the drone of the safe flight system of the drone which concerns on Embodiment 1 of this invention. It is an expanded sectional view which shows the guideline of the safe flight system of the drone which concerns on Embodiment 1 of this invention, and the abrasion prevention structure of a guidance means. It is an example of use of the safe flight system of the drone concerning Embodiment 1 of the present invention. It is a general | schematic perspective view of the safe flight system of the drone which concerns on Embodiment 2 of this invention. It is a partial expanded sectional view of the attitude | position holding mechanism of the drone safe flight system which concerns on Embodiment 2 of this invention.

(Embodiment 1)
Hereinafter, Embodiment 1 of the present invention will be described in detail with reference to FIGS. FIG. 1 is a perspective view showing an outline of a safe flight system for a drone according to Embodiment 1 of the present invention.

  This drone safety flight system includes a guideline 2 stretched on a trajectory for flying the drone 1 in a horizontal direction, and a guiding means 3 for guiding the drone 1 along the guideline 2. .

  The drone 1 includes a drone main body 1a constituting the airframe portion, and a plurality (four in the illustrated example) of rotary wing machines 1b arranged radially on the upper portion of the drone main body 1a. A pair of leg portions 1c and 1c are provided at the lower portion of the drone body 1a, and a space between the pair of leg portions 1c and 1c can be used as a mounting portion 1d for equipment or the like.

  The guiding means 3 includes, as a posture holding mechanism, a T-shaped line holding portion 3a movable along the guide line 2, a rod-like hanging portion 3b extending vertically downward from the line holding portion 3a, and the hanging portion. A rectangular plate-like connecting portion 3c that connects the lower portion of 3b and the upper surface of the drone 1;

  A rotation joint 4 provided with a biaxial rotation means is attached to the center of the upper surface of the connecting portion 3c. Further, the line holding portion 3a includes a guideline insertion hole 3d extending in a substantially horizontal direction, and the guideline 2 is inserted through the guideline insertion hole 3d.

  The guideline 2 is a rope-like member that determines the flight trajectory and flight distance of the drone 1, and a metal, wear-resistant chemical fiber, or the like is preferably used as the material.

  FIG. 2 is a partially enlarged cross-sectional view of the attitude maintaining mechanism of the drone safe flight system according to the first embodiment of the present invention. FIG. 2A shows a case where the rotation means of the rotation joint 4 is biaxial, and includes a vertical rotation shaft 4a and a horizontal rotation shaft 4b. FIG. 2B shows a case where a spherical bearing 4 c is used inside the rotary joint 4. These examples enable free rotation in the horizontal and vertical directions. As described above, the rotation means of the rotation joint 4 can be appropriately changed according to the use situation and application of the drone 1, and there is a case where only the vertical rotation shaft 4a or the horizontal rotation shaft 4b is provided. It is done.

  FIG. 3 is a perspective view showing an outline of a state in which the camera 5 is mounted on the mounting portion 1d provided at the lower portion of the drone main body 1a of the drone safe flight system according to the first embodiment of the present invention. In the drawing, the lens of the camera 5 faces the front, but it is also possible to change the design of the mounting portion 1d as appropriate so that the lens 5 faces downward or obliquely. Further, the lengths of the pair of leg portions 1 c and 1 c can be appropriately changed according to the size of the camera 5.

  FIG. 4 is an enlarged sectional view showing the guideline 2 and the wear preventing structure of the guiding means 3 of the drone safe flight system according to the first embodiment of the present invention. FIG. 4A is a diagram showing an example in which the rotating roller 6 is provided only on the upper portion where the pressure is most exerted by the weight of the drone 1. FIG. 4B is a diagram showing an example in which rotating rollers 6 are provided on both sides in the left-right direction in addition to the upper part. FIG. 4C is a diagram illustrating an example in which three rotating rollers 6 are arranged at equal intervals in the circumferential direction of the guide line 2. As described above, the arrangement of the rotating rollers 6 can be freely changed according to the use situation and application of the drone 1.

  FIG. 5 is a usage example of the drone safe flight system according to the first embodiment of the present invention. The guideline 2 is stretched by attaching both ends thereof to a pair of support bases 7 and 7. The drone 1 with the camera mounted on the mounting portion 1d is suspended by the guideline 2 by the posture holding mechanism and flies along the guideline 2. This makes it possible to fly back and forth at the same distance as the length of the guideline 2 and is stable. Shooting in the flight position and orbit becomes possible.

  As in this embodiment, by using the guiding means 3 to fly the drone 1 along the guideline, it is possible to prevent the drone 1 from falling even when the drone 1 becomes uncontrollable due to damage or failure. .

  In addition, since the guiding means 3 includes a rod-like hanging portion 3b extending vertically downward from the bottom surface of the line holding portion 3a, the distance between the drone 1 and the guideline 2 can be kept constant. It is possible to prevent contact with the guideline 2 such as. The hanging portion 3b is preferably a rigid rod made of metal, plastic, or the like in order to effectively exhibit the function of preventing contact with the guideline 2 such as the rotary wing machine 1b, but has an appropriate elasticity. You may have.

  In addition, when the camera 5 is mounted on the mounting portion 1d at the lower part of the drone 1, it is possible to photograph all directions by the rotary joint 4.

  In addition, by providing one or two or more rotating rollers 6 as a wear prevention structure at the contact portion of the guiding means 3 with the guideline 2, when the drone 1 flies along the guideline 2, the guideline 2 and the guide Wear due to friction of both means 3 is reduced, and a long flight is possible.

(Embodiment 2)
FIG. 6 is a schematic perspective view of the drone safe flight system according to the second embodiment of the present invention. In the same embodiment, components that are basically the same as those of the previous embodiment are denoted by the same reference numerals and description thereof is simplified.

  As shown in FIG. 6, the drone 1 according to this embodiment also includes a drone body 1a constituting the airframe portion, and a plurality (four in the illustrated example) of rotary wing machines 1b arranged radially on the upper portion of the drone body 1a. And. A pair of legs 1c and 1c are provided at the bottom of the drone body 1a. The guideline 2 according to the second embodiment is stretched in the vertical direction.

  FIG. 7 is a partially enlarged cross-sectional view of the attitude maintaining mechanism of the drone safe flight system according to the second embodiment of the present invention. A through hole 8 penetrating the drone body in the vertical direction is provided, and the guide line 2 is inserted into the through hole 8. The through hole 8 is provided at the center of the connecting portion 3c. A cylindrical member 9 is provided immediately above the through hole 8, and a plurality of rotating rollers 6 are provided inside the cylindrical member 9. These rotary rollers 6 are arranged in a form that supports the outer peripheral portion of the guideline 2 at three points.

  As in this embodiment, the guideline 2 extending in the direction perpendicular to the ground is inserted into the drone main body 1a, so that the flight in the direction perpendicular to the ground becomes possible, and the drone 1 cannot be controlled due to damage or failure. Even in this case, the falling position is limited to one place and it is safe. Further, similarly to the first embodiment, it is possible to make a round-trip flight at the same distance as the length of the guideline 2 with a stable flight position and trajectory.

  Note that the shapes, dimensions, and the like of the constituent members shown in the embodiment are examples, and can be variously changed based on design requirements and the like.

  For example, in the first and second embodiments, the flying means in the horizontal and vertical directions with respect to the ground has been illustrated, but it is possible to fly at any angle by appropriately tilting the guideline 2.

  In the first and second embodiments, the case where only one guideline 2 is used is illustrated, but two or more guidelines 2 are used by adding a safety flight system or changing the shape of the guideline insertion hole 3d of the guiding means. It is also possible to increase stability and safety. Only in the first embodiment, it is possible to increase the number of guideline insertion holes 3d and to use two or more guidelines 2 by dividing one end of one hanging portion 3b into two or more.

  As an example of use of the present invention, taking a picture using a camera is shown in FIG. 6, but it is also possible to make use of it for infrastructure maintenance or the like by incorporating a sensor other than the camera. Examples of infrastructure development include a straight line flight under the bridge, a survey on the back side of the bridge, a concrete flight damage survey in a tunnel flight, and a survey of buildings moving up and down including buildings, bridges, dams, etc. It is possible to perform accurate measurement and acquire accurate information by flying along a high-precision orbit along.

DESCRIPTION OF SYMBOLS 1 Drone 1a Drone main body 1b Rotary wing machine 1c A pair of leg part 1d Mounting part 2 Guideline 3 Guiding means 3a Line holding part 3b Hanging part 3c Connection part 3d Guideline insertion hole 4 Rotating joint 4a Vertical rotating shaft 4b Horizontal rotation Shaft 4c Spherical bearing 5 Camera 6 Rotating roller 7 Support base 8 Through hole 9 Tubular member

Claims (5)

Guideline stretched along the flight trajectory of the drone, and guidance means for flying the drone along the guideline
The drone safety flight system according to claim 1, wherein the guiding means includes a rotary joint that freely rotates in a horizontal direction and a vertical direction .   The drone safety flight system according to claim 1, wherein the guide means includes a posture holding mechanism for holding a flight posture of the drone flying along the guideline.   The drone includes a drone main body constituting a fuselage portion and a plurality of rotary wing aircraft, and the posture holding mechanism has a line holding portion movable along the guideline, and a suspension extending downward from the line holding portion. The drone safety flight system according to claim 2, further comprising a lowering portion and a connecting portion that connects the lower portion of the hanging portion and the drone body.   4. The drone according to claim 3, wherein the line holding part includes one or more rotating rollers arranged at intervals in a circumferential direction of the guide line at a contact part with the guide line. 5. Safety flight system. Safety flight of drone where guideline is set along the trajectory to fly drone, and drone is caused to fly by guiding means provided with a rotating joint that can rotate freely in the horizontal and vertical directions along this guideline Method.