JP7106696B2 - Take-off and landing gear and heat source aircraft - Google Patents

Description

An embodiment of the present invention relates to a take-off and landing gear and a heat source aircraft.

In recent years, UAVs (Unmanned Aerial Vehicles) called drones have attracted attention. Conventionally, a device (hereinafter referred to as "UAV port") has been developed that functions as a base or a relay point, which is a takeoff and landing site for this UAV. However, the UAV port must be large enough for the UAV to land and be installed in a location with a large open space above. In addition, the UAV needs to perform communication for takeoff/landing, charging, etc., and also for control by the owner or user of the UAV. Due to such restrictions on various installation conditions, it was not easy to select the installation location of the UAV port.

U.S. Pat. No. 9,387,928

The problem to be solved by the present invention is to provide an optimal UAV port.

The take-off and landing gear of the embodiment is a take-off and landing gear that can be attached to and detached from the upper portion of a heat source aircraft installed outdoors. The takeoff and landing gear has a takeoff and landing section. The takeoff/landing section provides a space in which an unmanned aerial vehicle can take off and land.

FIG. 2 is an external view showing a specific example of the configuration of the outdoor unit 1 of the first embodiment; FIG. 2 is an external view of the outdoor unit 1 viewed from above. The external view which looked at the UAV port part 120 in the same outdoor unit 1 from another angle. Fig. 3 is an external view of the UAV port portion 120 of the outdoor unit 1 as viewed from the side; FIG. 3 is an external view of the UAV port section 120 of the outdoor unit 1 viewed from above. FIG. 2 is a block diagram showing a specific example of functional configurations of the outdoor unit 1 and the UAV 2; 4 is a flowchart showing an outline of the operation of the outdoor unit 1; 4 is a flowchart showing the flow of standby processing in the same embodiment; 4 is a flowchart showing the flow of authentication processing in the same embodiment; 4 is a flowchart showing the flow of connection processing in the same embodiment; 4 is a flowchart showing the flow of charging processing in the same embodiment; A flow chart showing the flow of withdrawal processing in the same embodiment. The flowchart which shows the flow of a process of the outdoor unit 1 in the same embodiment. The external view which shows the specific example of a structure of the outdoor unit 1a of 2nd Embodiment. The external view which shows the specific example of a structure of the same outdoor unit 1a. FIG. 2 is a block diagram showing a specific example of the functional configuration of the outdoor unit 1a.

Hereinafter, outdoor units 1 and 1a of an air conditioner and UAV port sections 120 and 120a will be described as an example of the take-off and landing gear and the heat source device of the embodiment with reference to the drawings.

(First embodiment)
FIG. 1 is an external view showing a specific example of the configuration of the outdoor unit 1 of the first embodiment. 1(A) and 1(B) show the appearance of the outdoor unit 1 viewed from different sides. For example, the outdoor unit 1 is an outdoor unit of an air conditioner and is installed outdoors such as on the roof of a building. The outdoor unit 1 of the embodiment includes a housing portion 110, a UAV port portion 120, and a ladder 130, and a compressor functioning as a part of a fan for exhaust heat, an outdoor heat exchanger, and a refrigeration cycle inside the housing portion 110. etc. (not shown). The outdoor unit 1 illustrated in FIG. 1 includes a fan that blows air upward (in the direction of the arrow in the drawing) of a casing 110, and has an outlet DP. While the compressor is operating (that is, during operation of the refrigeration cycle) except during defrosting operation, the fan sucks outside air from the intake port SP on the side of the housing unit 110, passes it through the heat exchanger, and then blows it out. The air is blown upward from the housing 110 from the DP.

The housing part 110 of the outdoor unit 1 is in the shape of a vertically long prism, and a heat exchanger is arranged in the shape of a square inside facing four sides. The fan is a propeller fan, and is fixedly arranged in the upper center of the square-shaped heat exchanger so as to face the outlet DP on the upper surface. The upper surface dimension of the housing part 110 is larger than the diameter of the propeller fan, and is substantially square or rectangular with the sides slightly longer than the depth.

The UAV port unit 120 is installed detachably from the housing unit 110 above the blowout port DP of the fan. The UAV port section 120 includes a takeoff/landing section 121 and a fixing member 122 . The takeoff/landing unit 121 provides a space (hereinafter referred to as “takeoff/landing space”) in which a UAV (Unmanned Aerial Vehicle) 2 can take off and land. For example, the takeoff/landing section 121 is configured using a plate-like member having a strength that allows the UAV to take off and land, and provides the board surface as a takeoff/landing space. The take-off/landing section 121 is fixed to the upper portion of the housing section 110 by a fixing member 122 .

As described above, the outdoor unit 1 of the air conditioner has a built-in compressor in its inner bottom portion. A compressor is a closed type device having a compressor motor and a compression mechanism built therein, and lubricating oil for lubricating the compression mechanism is stored in the bottom of the compressor. In order to smoothly supply the lubricating oil stored in the bottom to the compression mechanism, it is necessary to keep the bottom of the compressor horizontal. Therefore, the outdoor unit 1 is installed so that its bottom is horizontal. Since the takeoff/landing unit 121 is attached to the upper part of the outdoor unit 1 installed in this way, the landing surface of the UAV 2 (upper surface of the takeoff/landing unit 121) is horizontal with respect to the direction of gravity, which facilitates takeoff and landing of the UAV 2. Safety can be improved. In addition, when the UAV port section 120 is attached to the existing outdoor unit 1 installed in this way, there is no need to worry about the levelness of the attachment position so much, so the installation work of the UAV port section 120 can be facilitated. can.

FIG. 1 shows a situation in which a UAV 2 has landed on a takeoff/landing section 121. As shown in FIG. The UAV port unit 120 also includes an antenna 123 (an example of a wireless communication unit) for wireless communication with the UAV. Although FIG. 1 shows an example in which the antenna 123 is installed on the top surface of the takeoff/landing section 121, the antenna 123 may be installed at a position different from that shown.

In addition, the UAV port unit 120 includes a UAV port control unit 140 that executes various control processes for causing the own device to function as a UAV port. The UAV port control unit 140 is communicably connected to a controller (not shown, described later) inside the outdoor unit 1, and operates in cooperation with the housing unit 110 of the outdoor unit 1 to allow the UAV 2 to take off and land. to support In addition, the UAV port control unit 140 supplies electric power to the UAV 2 via the housing unit 110 of the outdoor unit 1 by operating the own device in cooperation with the parked UAV 2 .

The ladder 130 (an example of a lifting means) is a ladder that enables a person to climb from the ground plane of the outdoor unit 1 to at least a height at which the UAV 2 above the takeoff/landing section 121 can be operated. FIG. 1 shows, as an example of such a ladder 130, a ladder that is used by fixing the upper stage to the upper part of the housing part 110. As shown in FIG. Note that the ladder 130 may be replaced with other means as long as it allows a person to ascend and descend.

FIG. 2 is an external view of the outdoor unit 1 viewed from above. FIG. 2 shows the appearance of the outdoor unit 1 when the UAV 2 is not present in the take-off/landing section 121. FIG. As described above, the fan F inside the outdoor unit 1 blows air from the air outlet DP in a direction perpendicular to the plane of the take-off/landing section 121 (that is, in the upward direction of the apparatus). Therefore, it is desirable that the take-off/landing section 121 have a shape that does not impede the flow of air blown by the fan F as much as possible. FIG. 2 shows an example in which the take-off/landing section 121 is configured using a plate-like member having a plurality of holes penetrating the plate surface in a substantially vertical direction. Since the take-off/landing section 121 is configured using such a plate-shaped member, the air sent out from the fan F can pass through the holes of the plate-shaped member, and the take-off/landing section 121 is formed by the fan F. It is possible to prevent air blow from being obstructed as much as possible. The shape of the holes in the take-off/landing section 121 may be of various shapes such as a square lattice shape and a mesh shape.

FIG. 3 is an external view of the UAV port section 120 on the outdoor unit 1 viewed from another angle. In this figure and the following figures, the holes of the take-off/landing section 121 are omitted for the sake of complication. As shown in this figure, the UAV port section 120 includes an anemometer 124 (an example of a measurement section) that measures wind direction or wind speed near the takeoff/landing space. Further, the plate-like member that constitutes the take-off/landing section 121 is made of a conductive member such as metal. With such a configuration, the take-off/landing section 121 functions as an electrode that supplies electric power to the UAV 2 when the UAV 2 lands. Specifically, the take-off/landing section 121 has two plane electrodes TS1 and TS2 insulated and separated by an insulator INS to provide a take-off/landing space and function as a positive electrode or a negative electrode. In this way, most of the take-off and landing space is configured as electrodes, so that restrictions on the positioning of the UAV 2 to land (the position that enables charging) are relaxed, making it possible to land the UAV 2 more easily. .

FIG. 4 is an external view of the UAV port section 120 of the outdoor unit 1 as viewed from the side. As shown in FIG. 4, the planar electrodes TS1 and TS2 are connected to a power source (not shown and described later) inside the casing 110 via conductors L1 and L2. The outdoor unit 1 supplies electric power to the UAV 2 by applying a voltage to each of the flat electrodes (TS1 and TS2) while the positive electrode TU1 and the negative electrode TU2, which are terminals for charging the UAV 2, are connected to different flat electrodes (TS1 and TS2). supply. The positive electrode TU1 and the negative electrode TU2, which serve as terminals for charging the UAV 2, are provided on the tip bottom portion of the landing leg portion of the UAV 2. As shown in FIG.

Further, since the take-off/landing section 121 functions as a charging electrode for the UAV 2, it is desirable that the fixing member 122 that fixes the UAV port section 120 to the housing section 110 is also made of an insulator such as synthetic resin. Although FIG. 4 shows an example in which the take-off/landing section 121 is configured using two metal plates that function as electrodes, the take-off/landing section 121 does not necessarily have to be configured using metal plates. For example, the take-off/landing section 121 may be a non-metallic plate member with a metal plate attached to the surface thereof, the metal plate functioning as an electrode.

FIG. 5 is an external view of the UAV port section 120 attached to the outdoor unit 1 as viewed from above. As shown in FIG. 5 , the UAV port section 120 includes an image capturing section 125 that functions as a camera lens for capturing an image of the upper side of the outdoor unit 1 and an LED (Light Emitting LED) for guiding the UAV 2 by lighting on the top surface of the takeoff/landing section 121 . Diode) 126-1 to 126-4 (an example of the induction part). Hereinafter, LEDs 126-1 to 126-4 will be referred to as LEDs 126 when there is no particular need to distinguish them. An anemometer 124, an imaging unit 125, and an LED 126 provided on the upper surface of the takeoff/landing unit 121 are connected to a controller (not shown, described later) inside the UAV port unit 120. FIG. The anemometer 124 transmits measurement information to the controller, and the imaging unit 125 transmits image information acquired by imaging to the controller. Lighting and extinguishing of the LED 126 are controlled by a controller.

The UAV port section 120 also includes a human body sensor 127 capable of detecting a human body positioned near the ladder 130 . For example, an infrared sensor may be used as the human body sensor 127 . FIG. 5 shows an example in which the human body sensor 127 is installed on the side of the take-off/landing section 121 located above the ladder 130 . The installation position of the human body sensor 127 is not limited to the example shown in FIG. 5, and may be installed at any position as long as it can detect a human body positioned at least near the ground plane of the ladder 130 . The human body sensor 127 is connected to the controller and transmits detection results to the controller.

FIG. 6 is a block diagram showing a specific example of the functional configuration of the outdoor unit 1, the UAV port section 120 detachable from the outdoor unit 1, and the UAV 2 according to the first embodiment. The outdoor unit 1 includes a drive section 150 and an outdoor control section 160 . The drive unit 150 is a part that drives functional components related to the air conditioning operation of the outdoor unit 1 . For example, the outdoor unit 1 includes a fan motor 151 that drives the fan F and a compressor 152 that realizes a refrigerating cycle as the outdoor driving unit 150 . The outdoor control section 160 controls the driving section 150 . For example, the outdoor control unit 160 includes a fan controller 161 that controls the fan motor 151, a compressor controller 162 that controls the compressor 152, and a main controller 163 (second one example of a control unit) and the like. In addition to these, the outdoor unit 1 includes various driving parts, various valve devices in the refrigerating cycle, etc., but they are omitted.

The fan controller 161 and the compressor controller 162 both internally include inverters for driving the fan motor 151 and the compressor 152 at variable speeds. The main controller 163 communicates (indoor communication) with an indoor unit (not shown), and determines the appropriate fan F rotation speed and compressor rotation speed according to the indoor air conditioning state for the fan controller 161 and the compressor controller 162. , to the fan controller 161 and the compressor controller 162 . The fan controller 161 and the compressor controller 162 drive the fan motor 151 and the compressor 152 so as to achieve the rotational speed instructed by the main controller 163 .

When stopping the air conditioning according to the stop of the indoor unit, the main controller 163 instructs the fan controller 161 and the compressor controller 162 to stop (OFF). Furthermore, the main controller 163 is configured to be able to communicate with the UAV port control section 140 via an external interface, and performs control corresponding to the operation of the UAV port section 120 in addition to the operation as the air conditioner described above.

Also, the UAV port section 120 includes a takeoff/landing section 121 and various devices and a UAV port control section 140 provided therearound. The UAV port control unit 140 has a function of supporting takeoff and landing of the UAV 2 from its own device and supplying power to the landed UAV 2 by controlling various devices provided in the UAV port unit 120 . Specifically, the UAV port controller 140 includes an external interface 141, a power converter 142, a charging circuit 143, and a port controller 144 (an example of a second controller).

The external interface 141 is various communication interfaces for the port controller 144, communicates with the functional units of the outdoor unit 1 and other various devices, reads various information, and transmits the results to the port controller 144. do. Specifically, the external interface 141 is connected to the antenna 123, the anemometer 124, the imaging unit 125, the LED 126, and the main controller 163 of the outdoor unit 1, and provides information acquired from these devices to the port controller 144. , and control each device such as turning on/off the LED 126 and transmitting signals via the antenna 123 based on instructions from the port controller 144 .

Power converter 142 converts commercial AC power supplied from the power supply system into an input DC voltage, and outputs the DC voltage to charging circuit 143 . The power converter 142 converts and outputs this power based on the control of the port controller 144 . Specifically, the power line of the power supply system, which is a commercial AC power supply, is drawn into the outdoor unit 1 and connected to one end of a terminal block 170 inside thereof, and the other end of the terminal block 170 to the housing portion 110. A power line 171 for supplying necessary power to various devices is drawn out. When the UAV port part 120 is attached to the upper part of the outdoor unit 1, another port power line 175 is connected (tightened together) to the other end of this terminal block 170, and this port power line 175 is connected inside the outdoor unit 1. and connect it to the power converter 142 of the UAV port section 120 installed above from an appropriate position. This eliminates the need to install a new power supply line 173 from the power system to the UAV port section 120 , and the power line 173 connected to the outdoor unit 1 can be shared with the UAV port section 120 .

The charging circuit 143 applies a voltage to the planar electrodes TS1 and TS2 with power supplied from the power converter 142 . By applying this voltage, power is supplied to the parked UAV 2 .

The port controller 144 includes a CPU (Central Processing Unit), a memory, an auxiliary storage device, etc. connected via a bus, and executes programs. The port controller 144 executes a program to support take-off and landing of the UAV 2 from the UAV port unit 120 and to supply power to the landed UAV 2 .

Specifically, the port controller 144 acquires image information of the upper part of the UAV port unit 120 from the imaging unit 125 and acquires measurement information indicating the wind direction or wind speed near the takeoff/landing space from the anemometer 124 . The port controller 144 generates assistance information for assisting takeoff and landing of the UAV 2 based on the acquired image information and measurement information. The port controller 144 supports takeoff and landing of the UAV 2 by transmitting the generated support information to the UAV 2 via the antenna 123 . By transmitting such support information from the UAV port unit 120, the UAV 2 can more accurately control its own takeoff and landing operations based on the support information. In addition, the port controller 144 controls the power converter 142 and the charging circuit 143 to apply voltage to the plane electrodes, thereby supplying power to the UAV 2 that has landed on its own device.

The UAV 2 includes an antenna 21 , a battery 22 , a switch 23 , a BMS (Battery Management System) 24 and a UAV controller 25 , in addition to drive units (not shown) such as propellers and motors. Antenna 21 is an antenna for wireless communication. The UAV 2 can communicate with the UAV port section 120 on the top of the outdoor unit 1 via the antenna 21 . A battery 22 supplies power to the drive unit. The battery 22 is connected to electrodes TU1 and TU2 for charging. The switch 23 is a switch that keeps the battery 22 and the electrode TU1 in a connected state (hereinafter referred to as "ON state") or in a non-connected state (hereinafter referred to as "OFF state"). For example, the switch 23 is configured using a magnet switch. The BMS 24 controls the switch 23 to either the ON state or the OFF state based on the control of the UAV controller 25 .

The UAV controller 25 includes a CPU, a memory, an auxiliary storage device, etc. connected via a bus, and executes programs. The UAV controller 25 controls each functional unit of its own device by executing a program. For example, the UAV controller 25 can fly its own device to a destination point (including a relay point) by controlling the drive unit. Also, for example, the UAV controller 25 can land its own device at a predetermined position or leave its own device from a predetermined position (take off and move to another point) by controlling the driving unit. These functions are basic control functions that general UAV2 has.

In addition to these general control functions, the UAV controller 25 acquires support information from the UAV port 120 on the top of the outdoor unit 1 by wireless communication via the antenna 21, and controls the driving unit based on the acquired support information. It is possible to take off and land with high accuracy.

Also, the UAV controller 25 can charge the battery 22 more safely by controlling the connection state of the switch 23 via the BMS 24 . For example, when an abnormality such as overcharging occurs, the UAV controller 25 can forcibly disconnect its own device from the outdoor unit 1 and protect it by controlling the switch 23 to the OFF state.

All or part of the functions of the port controller 144 and the UAV controller 25 described above are implemented using hardware such as ASIC (Application Specific Integrated Circuit), PLD (Programmable Logic Device), and FPGA (Field Programmable Gate Array). may be implemented. The program may be recorded on a computer-readable recording medium. Computer-readable recording media include portable media such as flexible disks, magneto-optical disks, ROMs and CD-ROMs, and storage devices such as hard disks incorporated in computer systems. The program may be transmitted over telecommunications lines.

FIG. 7 is a flowchart outlining the operation of the port controller 144 of the first embodiment. Hereinafter, step S* will be abbreviated to S* for simplification of explanation. The port controller 144 executes initialization processing (S0) in response to activation of the UAV port unit 120, which is its own device, and after executing the initialization processing, sequentially repeats each processing shown in S1 to S5 below. S1 is a standby process for waiting for the UAV 2 requesting landing on its own device. S2 is an authentication process for authenticating the UAV 2 requesting landing on its own device. S3 is a connection process that assists the authenticated UAV 2 to land on its own device. S4 is power supply processing for supplying power to the UAV 2 that has landed on its own device. S5 is a detachment process for assisting the fully charged UAV 2 to detach from its own device.

Thus, in an embodiment, port controller 144 may be in a first state corresponding to S1, a second state corresponding to S2, a third state corresponding to S3, a fourth state corresponding to S4, S5 By changing the operation state of the own device in the order of the fifth state corresponding to , it is possible to efficiently execute the necessary processing from approach to departure of the UAV 2 .

FIG. 8 is a flowchart showing the flow of standby processing in the first embodiment. As a situation at the start of the standby process, a situation is assumed in which the UAV 2 has not landed on the outdoor unit 1 . First, the port controller 144 turns on the LED 126 to notify that the UAV 2 can land (S101).

Subsequently, the port controller 144 checks for short-circuiting of the planar electrodes (S102). If the planar electrodes are short-circuited, the desired output voltage may not be obtained or an overcurrent may flow. Therefore, if power is supplied to the UAV 2 while the planar electrodes are short-circuited, it may take time to charge the UAV 2 or the UAV 2 may break down. In order to prevent such problems, the port controller 144 periodically checks the planar electrodes for shorts. If a short circuit of the planar electrodes is detected in S102, the LED 126 is extinguished, the UAV 2 is not received until the repair is completed, and the subsequent steps are not performed.

Subsequently, the port controller 144 acquires measurement information indicating the wind direction or wind speed near the takeoff/landing space from the anemometer 124 (S103). Port controller 144 attempts to detect UAV 2 near its own device (S104). Specifically, the port controller 144 receives a radio signal transmitted by the UAV 2 via the antenna 123 to detect the UAV 2 approaching its own device.

When the UAV 2 is detected near the own device (S104-YES), the port controller 144 determines whether or not the detected UAV 2 requests landing permission to the own device (S105). Specifically, the port controller 144 determines whether or not the detected UAV 2 is transmitting a signal requesting landing permission (hereinafter referred to as a "landing request signal"). If the detected UAV 2 is transmitting a landing request signal to its own device (S105-YES), the port controller 144 terminates the standby process and shifts control to the next authentication process.

On the other hand, if the UAV 2 is not detected near its own device (S104-NO), or if the detected UAV 2 does not transmit a landing request signal (S105-NO), the port controller 144 shifts the process to S101, By repeatedly executing S101 to S105, it waits for the UAV 2 that transmits the landing request signal to approach.

FIG. 9 is a flow chart showing the flow of authentication processing in the first embodiment. The authentication process is started in response to transmission of a landing request signal from the UAV 2 detected in the standby process. First, the port controller 144 acquires authentication information from the UAV 2 through wireless communication with the UAV 2 (S201). The authentication information is information necessary for the UAV port section 120 on the upper part of the outdoor unit 1 to authenticate the UAV 2 attempting to use its own device. For example, authentication information includes user identification information and passwords. For example, the user identification information may be a contract number of a usage contract concluded in advance between the owner of the outdoor unit 1 or the UAV port unit 120 and the user, or a user ID assigned to the user. It may be an ID or the like. Further, the authentication information may include aircraft information of the UAV2. The aircraft information is information about the aircraft of the UAV2. For example, the aircraft information indicates the UAV 2 model, serial code, battery type, remaining battery level, presence/absence of landing position correction, and the like.

The port controller 144 determines whether or not the UAV 2 can be authenticated based on the authentication information acquired from the UAV 2 (S202). For example, in the storage unit of the port controller 144 or the like, information necessary for determining whether the UAV 2 that has transmitted the landing request signal can use its own device (hereinafter referred to as "setting information") is stored in advance. there is The port controller 144 determines whether the UAV 2 can be authenticated based on the authentication information acquired from the UAV 2 and the setting information pre-stored in its own device. For example, the port controller 144 may determine that the UAV 2 can be authenticated when the user's identification information and password indicated by the authentication information match the identification information and password registered in advance as setting information. Here, the port controller 144 may further determine whether or not the UAV 2 satisfies the usage conditions (for example, weight limit) of its own device based on the aircraft information included in the authentication information. In this case, the port controller 144 determines that the UAV 2 can be authenticated when the user's identification information and password match those registered in the setting information and the aircraft satisfies the usage conditions of its own device. You can judge.

If it is determined that the UAV 2 can be authenticated (S202-YES), the port controller 144 returns an authentication completion response to the UAV 2 (S203). On the other hand, if it is determined that the UAV 2 cannot be authenticated (S202-NO), the port controller 144 responds that the UAV 2 cannot be authenticated (S204).

FIG. 10 is a flow chart showing the flow of connection processing in the first embodiment. The connection process is started when the UAV 2 has been authenticated in the authentication process. First, the port controller 144 determines whether the own device is in a state in which the UAV 2 can land (S301). Specifically, the port controller 144 inquires of the main controller 163 of the outdoor control unit 160 of the outdoor unit 1 whether or not the fan F is stopped via the external interface 141, and the main controller 163 is stopped, it is determined that the landing is possible, and if the fan F is operating, it is determined that the landing is not possible. The operation/stopping of the fan F depends on the operating state of the outdoor unit 1. If the air conditioning operation is performed, the fan F is in principle in operation, and if the air conditioning operation is stopped, the fan F is stopped. It has become.

When it is determined that the fan F is in operation and the UAV 2 is in a non-landing state (S301-NO), the port controller 144 instructs the main controller 163 of the outdoor control unit 160 via the external interface 141 to turn on the fan F. A stop is requested (S302). After that, the port controller 144 transmits a landing clearance notice to the UAV2 (S303). It is desirable to delay the transition from S302 to S303 by about 10 seconds, which corresponds to the delay time from when the fan F is instructed to stop to when the fan F actually stops.

If the fan F is forcibly stopped, the air conditioning operation will also be stopped. It can be done in a very short period of time, minimizing inconvenience to users of indoor air conditioners.

On the other hand, when it is determined that the fan F is stopped and the aircraft can land as it is (S301-YES), the port controller 144 transmits a landing permission notification to the UAV 2 (S303).

As described above, the landing of UAV 2 is always performed with the fan F of the outdoor unit 1 stopped. And it becomes possible to land stably.

The port controller 144 generates support information for the UAV 2 that has transmitted the landing clearance notification, and transmits the generated support information to the UAV 2 (S304). For example, the port controller 144 transmits information indicating the deviation between the target landing position and the current position of the UAV 2 as support information. In this case, the port controller 144 can acquire the current position of the UAV 2 by identifying the UAV 2 from the image information obtained by picking up the image above the own device. Also, for example, the port controller 144 may include measurement information indicating the wind direction or wind speed near the takeoff/landing space in the assistance information and transmit it. The UAV 2 can land on the UAV port section 120 on the upper part of the outdoor unit 1 with higher accuracy by correcting the position control of its own device using the assistance information transmitted in this way.

Subsequently, the port controller 144 determines whether or not the UAV 2 has completed landing (S305). For example, the port controller 144 identifies the contact state between the takeoff/landing unit 121 and the UAV 2 based on the image information acquired by the imaging unit 125, the voltage value of the plane electrode, and the like, and the landing is completed based on the identified contact state. It may be determined whether or not Also, for example, the port controller 144 may determine whether or not the landing has been completed through wireless communication with the UAV2.

If it is determined that the UAV 2 has not completed landing (S305-NO), the port controller 144 returns the process to S304 and repeats the acquisition and transmission of support information until the UAV 2 has completed landing. On the other hand, when it is determined that the landing of the UAV 2 is completed (S305-YES), the port controller 144 immediately notifies the main controller 163 of the outdoor control unit 160 to permit the operation of the fan F. As a result, when the outdoor unit 1 is in operation until the UAV 2 approaches, the air conditioning operation is resumed and the operation of the fan F is resumed (S305a). Subsequently, the port controller 144 executes pre-charge processing (S306). The pre-charge processing is various pre-processing necessary before starting power feeding to the UAV 2 that has landed.

For example, the port controller 144 identifies the polarities of the planar electrodes TS1 and TS2 to be controlled during the subsequent power supply process in the precharge process. For example, the port controller 144 identifies the contact state between the take-off/landing unit 121 and the UAV 2 based on the image information acquired by the imaging unit 125, the voltage value of the planar electrode, and the like, and detects the plane electrode TS1 based on the identified contact state. and whether TS2 should be controlled positive or negative.

Further, for example, the port controller 144 may perform a short-circuit check of the planar electrodes again in the pre-charging process. In addition, the port controller 144 may check the energization of the planar electrodes in the pre-charging process.

When the pre-charge process is completed, the port controller 144 notifies the UAV 2 that preparation for charging is complete (S307). The UAV 2 that has received the charge preparation completion notification can receive power supply from the outdoor unit 1 and start charging by transmitting a charge request to the outdoor unit 1 .

In the flowchart of FIG. 10, the port controller 144 determines that the take-off/landing section 121 is in a landing-impossible state when the fan F is in operation. In addition, even when the human body sensor 127 detects a human body near the ladder 130, it may be determined that the takeoff/landing section 121 is in the landing impossible state. As a result, it is possible to prevent an accident in which a human body is injured by the UAV 2 that has fallen due to a pilot error or the like.

FIG. 11 is a flow chart showing the flow of charging processing in the first embodiment. The charging process is started in response to transmission of a charging permission notification to the UAV 2 in the connection process. First, the port controller 144 determines whether or not a charging request has been received from the UAV 2 (S401). If a charging request has not been received from the UAV 2 (S401-NO), the port controller 144 repeatedly executes S401 until a charging request is received. On the other hand, when a charging request is received from UAV 2 (S401-NO), port controller 144 instructs UAV 2 to turn on switch 23 (S402).

In response to this instruction, on the UAV 2 side, the BMS 24 switches the switch 23 to the ON state, thereby connecting the battery 22 and the electrode TU1. When the switching of the switch 23 is completed, the port controller 144 applies voltage to the planar electrodes TS1 and TS2 to start supplying power to the UAV 2 (S403). The UAV 2 starts charging the battery 22 in response to the power supply to the outdoor unit 1 being started. After that, when the charging of the battery 22 is completed, the UAV 2 transmits a charging completion notification to the port controller 144 .

The port controller 144 determines whether charging of the UAV 2 is completed (S404). If charging of UAV2 is not completed (S404-NO), port controller 144 repeatedly executes S404 until charging of UAV2 is completed. On the other hand, if the charging of the UAV2 is completed (S404-YES), the port controller 144 terminates voltage application to the planar electrodes TS1 and TS2 and stops power supply to the UAV2 (S405). The port controller 144 instructs the UAV 2 to switch the switch 23 to the OFF state (S406). In response to this instruction, on the UAV 2 side, the BMS 24 switches the switch 23 to the OFF state, thereby separating the battery 22 and the electrode TU1.

Note that the port controller 144 may perform the following control based on whether or not the human body sensor 127 detects a human body near the ladder 130 . For example, if a human body is detected before starting power supply in S403, the port controller 144 may interrupt or stop the charging process. Further, when a human body is detected during power supply after S403, the port controller 144 may turn off the power supply of the charging circuit 143 to stop the power supply to the planar electrodes TS1 and TS2.

FIG. 12 is a flow chart showing the flow of leaving processing in the first embodiment. The detachment process is started upon completion of the charging process. First, the port controller 144 determines whether or not a withdrawal request has been received from the UAV 2 (S501). If a leave request has not been received from the UAV 2 (S501-NO), the port controller 144 repeatedly executes S501 until a leave request is received. On the other hand, when a request to leave is received from the UAV 2 (S501-YES), the port controller 144 requests the outdoor controller 160 to operate the fan F (S502).

In accordance with this request, the outdoor unit 1 starts the operation of the fan F if the fan F is stopped at the time of processing in S502, and continues the operation if the fan F is operating. By operating the fan F, an upward wind is blown toward the UAV 2, making it easier for the UAV 2 to take off. It should be noted that the rotation speed of the fan F at the time of requesting the UAV 2 to leave may be controlled to a specific high rotation speed that makes it easier for the UAV 2 to take off. Even when the fan F is in operation, the effect on the refrigerating cycle is small due to the increase in the number of revolutions, and the effect can be ignored for a short period of time.

The port controller 144 generates support information for the UAV 2 leaving its own device, and transmits the generated support information to the UAV 2 (S503). For example, the port controller 144 transmits information indicating wind direction or wind speed near the takeoff/landing space to the UAV 2 as support information. Also, the port controller 144 causes its own device to perform an operation for assisting the UAV 2 to leave (hereinafter referred to as a "leaving assist operation") (S504). For example, port controller 144 may assist UAV 2 disengagement by illuminating LED 126 to ensure illumination in the vicinity. In addition, the port controller 144 may notify the UAV 2 of predetermined information determined in advance by the lighting mode of the LED 126 . For example, the port controller 144 may identify an obstacle near the exit route based on the image information, and notify the presence or absence of the obstacle by the lighting mode of the LED 126, for example, blinking of the LED 126.

Subsequently, the port controller 144 determines whether or not the withdrawal of the UAV 2 has been completed (S505). For example, the port controller 144 may determine whether or not the UAV 2 has been released based on the image information acquired by the imaging unit 125 . Also, for example, the port controller 144 may determine whether or not the withdrawal has been completed through wireless communication with the UAV 2 . If the UAV 2 has not completed its withdrawal (S505-NO), the port controller 144 repeatedly executes S505 until the UAV 2 has completed its withdrawal. On the other hand, when the detachment of the UAV 2 is completed (S505-YES), the port controller 144 issues a fan stop request to the outdoor controller 160 to end the forced operation of the fan F requested in S502 (S506). As a result, if the stopped fan F was forcibly operated in S502, the fan F is stopped. continues to operate.

It should be noted that the number of rotations of the fan F during the detachment of the UAV 2 from S502 to S505 is the maximum in order to facilitate the detachment of the UAV 2, ignoring the rotation speed appropriate for the air conditioning operation even when the air conditioning operation is being performed. The number of revolutions may also be used.

The port controller 144 then ends the leaving process. After completing the leaving process, the port controller 144 shifts control to the standby process shown in FIG.

FIG. 13 is a flow chart showing the processing flow of the main controller 163 in the outdoor control section 160 of the outdoor unit 1 to which the port controller 144 is connected. In the outdoor unit 1, the main controller 163 communicates with the indoor unit that air-conditions the room, and operates the compressor, the fan F, and other refrigeration cycle equipment according to the request from the indoor unit (S901). Subsequently, the main controller 163 determines whether or not the UAV port section 120 is installed on the upper portion of the outdoor unit 1 (S902).

Here, when the UAV port unit 120 is installed on the upper part of the outdoor unit 1 (S902-YES), the external interface 141 in the UAV port control unit 140 and the main controller 163 of the outdoor control unit 160 are connected by a communication line. be. Through communication via this communication line, the main controller 163 of the outdoor unit 1 recognizes that the UAV port section 120 has been installed on its own housing. In S902, when the initial communication signal from the external interface 141 is received, it is determined that the UAV port unit 120 is installed, and thereafter the determination of whether the UAV port unit 120 is installed is continued.

Here, if it is determined that the UAV port unit 120 is not installed (S902-NO), the process returns to the first S901, and normal air conditioning operation is performed. On the other hand, if it is determined that the UAV port unit 120 is installed (S902-YES), the rotation speed of the fan F during air conditioning operation is set to be increased by α (S903). For example, if the number of rotations of the fan F during operation is N, add about α=50 rps. Although the take-off/landing section 121 installed on the upper part of the fan F has a mesh shape or the like so as not to impede the ventilation of the fan F as much as possible, it is necessary to avoid the occurrence of resistance to the ventilation of the fan F. Therefore, the rotation speed is increased to compensate for the decrease in air volume. As a matter of course, when the fan F is stopped, the fan F is kept stopped and the number of rotations for speed increase is not added.

Subsequently, it is determined whether or not a signal (S302 in FIG. 10) requesting to stop the outdoor fan for landing preparation of the UAV 2 has been received from the external interface 141 (S904). If a stop request has been received (S904-YES), the fan F is stopped, that is, the rotation speed of the fan motor 151 is set to "0" (S905). Note that when the outdoor unit 1 is not performing the air-conditioning operation, the fan F is stopped from the beginning, so the state is maintained as it is. Following S905, it is determined whether or not a signal for permission to operate the outdoor fan after the completion of UAV2 landing (S305a in FIG. 10) has been received from the external interface 141 (S906). If the outdoor fan operation permission has been received (S906-YES), the process returns to the first S901 to operate the refrigerating cycle equipment in the outdoor unit according to the request from the indoor unit. As a result, if the operation of the fan F is required for the air conditioning operation, the operation of the fan F is resumed.

On the other hand, if the outdoor fan operation permission has not been received (S906-NO), the process returns to S905 and the fan F continues to be stopped. Therefore, the fan F maintains a stopped state and supports the landing of the UAV 2 during the period from preparation for landing of the UAV 2 in the UAV port section 120 to completion of landing. In the judgment of S904, if a stop request has not been received from the external interface 141 (S904-NO), the outdoor unit 1 returns to the initial S901 without changing the operation. It should be noted that the determination of S902 subsequent to the process of S901 after the NO determination of S904 or the YES determination of S906 is YES because, as described above, it has already been determined in the previous determination that the UAV port unit 120 has been installed. , and the process proceeds to S903.

The outdoor unit 1 configured in this way has a UAV port section 120 provided with a takeoff and landing section that provides a takeoff and landing space for the UAV 2 and a power supply section that supplies power to the UAV 2 that has landed on its own device. By arranging, it is possible to provide a highly convenient UAV port. Generally, in buildings such as buildings, the outdoor unit 1 is often installed in a space such as a rooftop where the sky is wide open. Therefore, by installing the outdoor unit 1 capable of taking off, landing and charging the UAV 2 on the roof of a building or the like like the outdoor unit 1 of the embodiment, it is possible to effectively utilize the installation space such as the rooftop.

Moreover, the installation space of the outdoor unit 1 is often an almost unmanned place such as the roof of a building. Therefore, the outdoor unit 1 of the embodiment that is assumed to be installed in such a place can provide a UAV port without causing environmental problems such as noise.

Thus, it is desirable that the UAV port be installed at a location that does not interfere with human activities. In this sense, conventionally, it was sometimes difficult to install a UAV port capable of providing a wide takeoff and landing space. However, the outdoor unit 1 of the embodiment can provide a relatively wide take-off and landing space equivalent to its own installation space. Therefore, the UAV 2 can take off and land more easily, and accidents such as falling and collisions are less likely to occur. Thus, the outdoor unit 1 of the embodiment can realize a safer UAV port.

In addition, a space such as the roof of a building is high and has a large area, is easily accessible, and is extremely easy to maintain as a location for installing a UAV port. The outdoor unit 1 of the embodiment, which is assumed to be installed in such a place, is a new form of distribution in which a space such as the roof of a building is used not only as an installation place for the outdoor unit but also as a warehouse for delivery purposes. It can make a big contribution to realization.

Furthermore, since the outdoor unit 1, which houses the compressor inside, is installed horizontally, it is easy to keep the surface of the takeoff/landing section 121 for the UAV 2 to take off and land horizontally. is optimal as In the above-described embodiment, an example in which the UAV port unit 120 is attached to the existing outdoor unit 1 has been described. You can ship with

(Second embodiment)
14 and 15 are external views showing specific examples of the UAV port section 120a of the second embodiment. FIG. 14 is an external view of the outdoor unit 1a when viewed obliquely from above, and FIG. 15 is an external view of the outdoor unit 1a when viewed from above. The outdoor unit 1a of 2nd Embodiment can implement|achieve the UAV port which several UAV2 can use simultaneously by operate|moving in cooperation with the other outdoor unit 1a. FIG. 14 shows an example of a UAV port that can be used simultaneously by up to six UAVs 2 by providing a UAV port section 120a on the top of each of the six outdoor units 1a and operating them in concert.

In general, a plurality of outdoor units are often installed on the roof of a building or the like, and the amount of operation of each outdoor unit is controlled according to the air conditioning status of the building. The outdoor unit 1a of the second embodiment selects an outdoor unit that can stop the fan by cooperative operation with the other outdoor unit 1a, and the selected outdoor unit 1a provides a takeoff and landing space for the UAV2. In this case, the anemometer 124 does not necessarily have to be provided in the UAV port section 120a of all the outdoor units 1a, and may be provided in at least one of the outdoor unit 1a or the UAV port section 120a. In this case, the measurement information may be shared between each outdoor unit 1a and the UAV port section 120a through communication.

FIG. 16 is a block diagram showing a specific example of the functional configuration of the outdoor unit 1a, the UAV port 120a detachable from the outdoor unit 1a, and the UAV 2 according to the second embodiment. The functional configuration of UAV2 is the same as that of the first embodiment. The outdoor unit 1a of the second embodiment differs from the outdoor unit 1 of the first embodiment in that a port controller 144a is provided instead of the port controller 144 and a main controller 163a is provided instead of the main controller 163. Since other functional units are the same as those of the first embodiment, they are denoted by the same reference numerals as in FIG. 6, and descriptions thereof are omitted.

The main controller 163a has a first communication interface (corresponding to indoor communication in the figure) for communicating with the indoor units, and a second communication interface (inter-outdoor unit communication). The main controller 163a shares information about the operation of the fan F (hereinafter referred to as "fan information") with the other outdoor unit 1a by communicating with the other outdoor unit 1a via the second communication interface. do. The fan information may be any information as long as it can determine the order of operation of the fan F of the own device and the other outdoor unit 1a.

The port controller 144a acquires the fan information of the outdoor unit 1a in which it is installed (hereinafter referred to as "own outdoor unit") and the fan information of the other outdoor units 1a via the main controller 163a. Based on the acquired fan information, the port controller 144a selects the outdoor unit 1a (hereinafter referred to as "target unit") whose fan F is to be stopped. For example, based on the acquired fan information, the port controller 144a determines the order of priority regarding the operation of the fan F for its own outdoor unit and other outdoor units 1a, and selects the outdoor unit 1a with the lowest priority as the target unit. When the port controller 144a selects its own device as the target aircraft, the port controller 144a instructs the main controller 163a to stop the fan F, and supports takeoff and landing of the UAV 2 and supplies power in the same manner as in the first embodiment.

The port controller 144a may be configured so that the same target device is selected by all the port controllers 144a by sharing fan information with the port controllers 144a installed in the other outdoor units 1a.

Further, as a method of controlling a plurality of outdoor units 1a, there is a method of controlling other outdoor units 1a (hereinafter referred to as "terminal units") to which a main outdoor unit 1a (hereinafter referred to as "center unit") is subordinate. . In such a control method, the center unit has a function of acquiring information necessary for controlling the terminal unit (hereinafter referred to as "terminal information"), including fan information, and automatically operates based on the acquired information. Controls the operation of equipment and terminals. In this case, the port controller 144a of the center device may select the target device based on the terminal information and notify the selected target device to the port controller 144a of the terminal device. Moreover, the port controller 144a may be configured to notify the UAV 2 to that effect when there is no outdoor unit 1a that can be selected as the target unit. In this case, the UAV 2 may be configured to wait until it becomes possible to land, or may be configured to head to the UAV port of another building.

Note that the main controller 163a may select the target device instead of the port controller 144a. In this case, when the port controller 144a detects a UAV 2 requesting landing on its own device, the port controller 144a instructs the main controller 163a to select a target aircraft for landing the UAV 2 and stop the fan F of the selected target aircraft. instruct. The main controller 163a selects the target machine according to this instruction, and instructs the main controller 163a of the target machine to stop the fan F.

Here, in a configuration in which a plurality of outdoor units 1a are connected on the refrigeration cycle, communication between the outdoor units 1a is used, and when the fan is stopped in order for the UAV 2 to land on one of them, the same By increasing the capacity of the other outdoor unit 1a connected to the refrigerating cycle, so-called backup operation is also possible, in which the refrigerating capacity of the indoor unit 1a whose fan is stopped is supplemented.

The outdoor unit 1a configured in this way can realize a UAV port that can be used simultaneously by a plurality of UAVs 2 by operating in cooperation with other outdoor units 1a.

Modifications common to the above embodiments will be described below.
In each of the above embodiments, the outdoor unit installed on the roof of a building or the like is described as an example of the heat source unit, but part or all of the UAV port function may be provided in a heat source unit other than the outdoor unit. . Also, the UAV port unit 120 may be configured as a single device independent from the outdoor unit, and configured as a UAV port device as a device that can be attached to and detached from the existing outdoor unit.

Further, in each of the above embodiments, the port controller 144 (or 144a) requests the outdoor controller 160 (or 160a) to stop the fan when the UAV 2 lands. Instead of stopping, the outdoor controller 160 may be requested to reduce the rotation speed of the fan to a rotation speed at which the UAV 2 can land. By continuing the air-conditioning operation of the outdoor unit 1 while reducing the rotation speed of the fan, it is possible to maintain the minimum air-conditioning capacity compared to when the fan is stopped, so that the indoor air-conditioning user is comfortable. It can suppress sexual deterioration.

Moreover, although the human body sensor 127 is installed in the UAV port section 120 in each of the above embodiments, the human body sensor 127 may be installed in the housing section 110 of the outdoor unit 1 . In this case, the human body sensor 127 may be connected to the main controller 163 (or 163a) of the outdoor unit 1 and configured to notify the detection result to the port controller 144 (or 144a) via the external interface 141 .

Also, in each of the above embodiments, an example in which one human body sensor 127 is installed in the UAV port section 120 (or 120a) has been shown, but a plurality of human body sensors 127 may be installed. For example, in addition to the human body sensor 127 that detects a human body near the ladder 130, the human body sensor 127 that detects a nearby human body may be installed on each of the four sides of the outdoor unit 1 (or 1a) or the UAV port section 120. The port controller 144 (or 144a) can improve the safety of the outdoor unit 1 and the UAV port section 120 by controlling each process shown in FIG.

According to at least one embodiment described above, the heat source aircraft installed outdoors has a detachable takeoff/landing section on its upper portion, which provides a space for taking off and landing for the UAV. , can provide an optimal UAV port.

While several embodiments of the invention have been described, these embodiments have been presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and modifications can be made without departing from the scope of the invention. These embodiments and their modifications are included in the scope and spirit of the invention, as well as the scope of the invention described in the claims and equivalents thereof.

Reference Signs List 1, 1a Outdoor unit 110 Housing 120, 120a UAV port 121 Take-off/landing unit 122 Fixed member 123 Antenna 124 Anemometer 125 Imaging unit 126 LED ( Light Emitting Diode) 130 Ladder 140 Port Control Unit 141 External Interface 142 Power Supply Converter 143 Charging Circuit 144, 144a Port Controller 150 Outdoor Driving Unit 151 Motor 152 Compressor , 160... outdoor control section, 161... fan controller, 162... compressor controller, 163, 163a... main controller, DP... air outlet, SP... air inlet, F... fan, INS... insulator, L1, L2... conducting wire, TS1 , TS2... Planar electrode, 2... UAV (Unmanned Aerial Vehicle), 21... Antenna, 22... Battery, 23... Switch, 24... BMS (Battery Management System), 25... UAV controller, TU1... Electrode (positive electrode), TU2... electrode (negative electrode)

Claims (5)

a takeoff/landing unit installed outdoors, detachable on top of a fan that blows air upwards of the aircraft and a heat source that controls the operation of the fan , and providing a space for the unmanned aircraft to take off and land;
a control unit that determines a takeoff and landing gear for landing the unmanned aerial vehicle from among a plurality of takeoff and landing gears;
with
The control unit acquires operation information related to operation of a plurality of heat source aircraft in which the takeoff and landing units of the plurality of takeoff and landing gears are installed, and selects the unmanned aerial vehicle from among the plurality of takeoff and landing gears based on the acquired operation information. determine which gear to land the
take-off and landing gear. A guidance unit that guides the unmanned aerial vehicle by lighting is provided in the takeoff and landing unit,
The control unit assists the landing of the unmanned aerial vehicle by controlling the lighting mode of the guidance unit.
The take-off and landing device according to claim 1. A heat source machine installed outdoors,
a fan that blows air upwards of the device and an outdoor unit that controls the operation of the fan ;
a takeoff/landing section providing a space for an unmanned aircraft to take off and land above the outdoor unit;
a control unit that determines, from among a plurality of heat source aircraft, a heat source aircraft for landing the unmanned aerial vehicle;
with
The control unit acquires operation information related to the operation of the plurality of heat source aircraft, and based on the acquired operation information, determines the heat source aircraft to land the unmanned aerial vehicle from among the plurality of heat source aircraft .
heat source machine. a detection unit that detects a human body positioned near the take-off/landing unit or the outdoor unit ;
a charging unit that charges the unmanned aerial vehicle that has landed on the takeoff/landing unit;
further comprising
The control unit suspends or cancels processing related to takeoff, landing, and charging of the unmanned aerial vehicle based on the detection result of the detection unit.
The heat source machine according to claim 3. The take-off/landing section includes a member that is installed above the fan and serves as the take-off/landing space,
The member is configured using a plate-like member having a plurality of holes penetrating the plate surface in a substantially vertical direction,
The heat source machine according to claim 3 or 4.

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