JP7149439B1 - Unmanned air vehicle mooring device - Google Patents

Abstract

An object of the present invention is to allow an unmanned aerial vehicle to fly safely and securely while an operator can certainly visually confirm the observance condition of "flight within a specific distance" stipulated by law. A mooring device (100) includes a mooring wire body (10) having a dimension equal to or larger than a specific distance of an exception rule that does not require legal permission/approval, and a wire rod for connecting the mooring wire body (10) to an unmanned aircraft (DR). It has a connection part 20, a wire reeling-out device 30 for unwinding the mooring wire body 10, and a holder 40 for holding the wire reeling-out device 30. The wire reeling-out device 30 includes an extension part 10c. When the effective length of the mooring wire rod body 10 reaches a specific distance, the mooring wire rod body 10 is provided with a stopper function to stop feeding out, and the mooring wire rod body 10 moves from the first position P1 to the second position P2 when the stopping of feeding out of the stopper function is approaching. is a warning appearance part 12 that expresses by appearance, and when the mooring wire rod body 10 is paid out, a visual warning is not given while the warning appearance part 12 is not appearing, and a warning is given by appearance after it appears. [Selection drawing] Fig. 3

Description

The present invention relates to a mooring device for an unmanned air vehicle.

Devices for mooring a rotorcraft are known which are connected to the rotorcraft. As a device of this type, for example, Patent Literature 1 discloses a mooring rope connected to the bottom of a mounting portion of a rotorcraft, and a hoist for hoisting the mooring rope on the lower end side. By installing the hoist on the ground, while the lower end of the mooring rope is locked on the ground, tension is applied by hoisting the mooring rope, and the slackening of the mooring rope can be suppressed.

JP 2013-79034 A (Fig. 1, paragraph 0096, etc.)

By the way, there is the Civil Aeronautics Law as a prescribed law relating to regulation of unmanned air vehicles. Before the revision in September 2021, permission and approval were required for flights within a specified distance (30m) from a third party according to the provisions of Article 132-2, Paragraph 1, Item 7 of the Civil Aeronautics Act. In response to this, after the above revision, the aircraft will be moored with a string with sufficient strength (less than the same length as the specified distance above), and measures will be taken to control the entry of third parties into the flightable range. When flying an unmanned aerial vehicle, the above permission/approval is not required. As a result, it became possible to fly an unmanned aerial vehicle easily without obtaining any special permission or approval.

Therefore, the unmanned flying object can be connected with a string or the like having a length equal to or less than the above specified distance, and the legal compliance condition of flying within the above specified distance can be confirmed visually and safely and safely. mechanism was desired. In the prior art described above, no particular consideration was given to the above points.

An object of the present invention is to provide a mooring device for an unmanned aerial vehicle that allows the operator to reliably see the compliance condition of "flight within a specific distance" stipulated by law, and to safely fly the unmanned aerial vehicle with peace of mind. to provide.

In order to achieve the above object, the mooring device for an unmanned flying object of the present invention is defined as the upper limit of the mooring cord in the exception provisions that do not require permission and approval stipulated in the prescribed laws and regulations related to the regulation of unmanned flying objects. A mooring wire rod body having a longitudinal dimension greater than or equal to a specific distance, a wire connecting portion connecting a tip end of the mooring wire rod body to the unmanned air vehicle so as to be swingable and rotatable, and the mooring wire rod body. a wire reeling device that fixes the base end and reels out the tip side of the mooring wire rod so that the wire reeling device can be rewound; and a holding fixture, wherein the wire reeling-out device is configured such that when the effective length of the extended portion of the mooring wire body extending from the wire reeling-out device to the unmanned aircraft reaches the specified distance, the The mooring wire rod body has a stopper function to stop feeding out of the mooring wire rod body, and the mooring wire rod body is located closer to the wire reeling-out device than at least the midpoint of the extension portion that provides the effective length. from a first position located at the end of the extension portion to a second position, which is an end portion of the mooring wire rod body on the proximal end side, by the stopper function to stop the feeding of the mooring wire rod body. and when the mooring wire rod body is successively fed out from the wire rod feeder as time elapses after the unmanned flying object starts flying, the warning appearance portion While the warning appearance part does not visually warn the operator by the appearance of the warning appearance part while the warning appearance part does not appear from the wire feeding device, the warning appearance part does not appear after the warning appearance part appears from the wire feeding device It is characterized in that a visual warning is given to the operator by the appearance of the part.

According to this, when the effective length of the extension portion of the mooring wire member that is extended from the wire reeling device to the unmanned air vehicle reaches the specified distance, the wire reeling device 30 is suspended. The stopper function stops the feeding of the mooring wire rod. Also, the wire rod feeding device is held by the operator via a holder. This makes it possible to comply with the statutory requirement of "flight within a specified distance". At this time, since the tip of the mooring wire rod is connected to the wire rod connection part so that it can swing freely, the mooring wire rod can be attached to the unmanned aircraft from the wire rod connection part side in a state in which the mooring wire rod is stopped. On the other hand, even if a pulling force is applied, the unmanned air vehicle can be prevented from greatly tilting or becoming disturbed, and a stable attitude can be maintained.

Further, a warning appearance portion is provided between the first position and the second position near the proximal end of the mooring wire member. After the flight of the unmanned aerial vehicle starts, the mooring wire rod body is gradually fed out from the wire rod feeding device as the altitude increases. The appearance of the exterior portion provides a visual warning to the operator. This allows the operator to reliably recognize that the unmanned flying object will soon reach the flight range limit (upper altitude limit) stipulated by law. As a result, the operator can safely and securely fly the unmanned flying object while visually confirming the observance condition of "flight within a specific distance" as stipulated by law.

Further, in the mooring device for an unmanned aerial vehicle of the present invention, the warning appearance part is provided with an appearance color different from the appearance color of the portion other than the warning appearance part of the extension part of the mooring wire member. It is characterized by including a unique appearance part.

Further, in the mooring device for an unmanned aerial vehicle of the present invention, the mooring wire member is composed of a single wire in a portion of the extension portion other than the warning appearance portion, and the extension portion Of these, the warning appearance part is characterized by being composed of a plurality of wires.

Further, in the mooring device for an unmanned aerial vehicle according to the present invention, the warning appearance portion is attached to a portion other than the warning appearance portion of the extension portion of the mooring wire member. It is characterized by including a decorated decoration part.

Further, in the mooring device for an unmanned flying object according to the present invention, the warning appearance portion includes a spiral cord portion having a spiral shape that can be extended.

Further, in the mooring device for an unmanned flying object according to the present invention, the warning appearance part is configured as a stepwise warning part in which the warning mode or warning level changes stepwise from the first position to the second position. It is characterized by being

According to the invention of the present application, it is possible to safely fly an unmanned flying object with a sense of security while an operator can certainly visually confirm the compliance condition of "flight within a specific distance" stipulated by laws and regulations.

1 is a perspective view of an unmanned air vehicle mooring device according to a first embodiment of the present invention; FIG. FIG. 2 is a perspective view of the unmanned flying object flying with the mooring device of the unmanned flying object shown in FIG. 1 connected; FIG. 2 is an overall schematic view of the mooring device for the unmanned aerial vehicle shown in FIG. 1 , showing the operation of unmanned mooring wire members being let out as the unmanned aerial vehicle flies. It is a diagram. FIG. 10 is an overall schematic view of the mooring device for an unmanned aerial vehicle according to a second embodiment of the present invention, showing an operation in which the mooring wire member is paid out as the unmanned aerial vehicle flies. FIG. 11 is an overall schematic view of the mooring device for an unmanned aerial vehicle according to a third embodiment of the present invention, showing an operation in which the mooring wire member is paid out as the unmanned aerial vehicle flies. FIG. 11 is an overall schematic view of the mooring device for an unmanned aerial vehicle according to a fourth embodiment of the present invention, showing an operation in which the mooring wire member is paid out as the unmanned aerial vehicle flies. FIG. 11 is a perspective view of an unmanned air vehicle mooring device according to a modification of the embodiment of the present invention; FIG. 8 is a perspective view of the unmanned flying object flying with the mooring device of the unmanned flying object shown in FIG. 7 connected;

Each embodiment of the present invention will be described below with reference to the drawings.

[First embodiment]
<Configuration of mooring device for unmanned air vehicle>
As shown in FIG. 1, an unmanned air vehicle mooring device 100 according to the first embodiment of the present invention includes a mooring wire rod body 10, a wire rod connecting portion 20, a wire reeling-out device 30, and a holder 40. . As shown in FIG. 2, the mooring device 100 is applied to an unmanned air vehicle DR. The unmanned flying object DR is, for example, a drone or the like, and may take other forms as long as it is an unmanned aerial vehicle regulated by the Civil Aeronautics Act. 1 and 7 correspond to the front, rear, left, and right of the mooring device 100, respectively.

As shown in FIG. 1, the mooring wire rod body 10 has a longitudinal dimension greater than or equal to a specified distance. The above specific distance is the distance defined as the upper limit of the mooring cord in exceptions that do not require permission/approval stipulated in the prescribed laws and regulations related to the regulation of the unmanned air vehicle DR. The above-mentioned "permissions and approvals stipulated by prescribed laws and regulations" are, for example, those stipulated in Article 132-2, Paragraph 1, Item 7 of the Civil Aeronautics Act. According to this provision, permission and approval are required for flying an unmanned aerial vehicle DR within 30m from a third party. On the other hand, if the unmanned air vehicle DR is moored with a mooring cord during flight within 30 m, permission and approval are not required as an exception. That is, by mooring the unmanned flying object DR with a mooring cord and flying within a specific distance, it is possible to comply with legal requirements. From this point of view, this embodiment will be described assuming that the specific distance is 30 m.

The mooring wire member 10 is a long linear member such as thread or string. The mooring wire rod body 10 should be flexible so as to be wound up by the wire rod feeder 30 and have strength so as not to be cut by the tension from the unmanned air vehicle DR. is not limited.
For example, a so-called rope can be used as the mooring wire rod body 10 . For example, a fiber rope made of twisted natural fibers or synthetic fibers, a wire rope made of steel wire, or the like can be used.
Also, a so-called string can be used as the mooring wire rod body 10 as long as it can secure the above-described sufficient strength (or is processed to increase such strength). That is, for example, synthetic resin cords, cotton cords that were widely used before synthetic resins became common, hemp cords that are often used for agricultural purposes, and the like may be used.
In the mooring wire member 10, a proximal end 10a as one end and a distal end 10b as the other end are defined. The proximal end 10 a is connected to the wire reeling-out device 30 . A wire connecting portion 20 is connected to the tip 10b. A detailed configuration of the mooring wire rod body 10 will be described later.

The wire connecting portion 20 includes an annular member 21 , a connecting member 22 and a fixing member 23 . The annular member 21 is configured so that the mooring wire rod body 10 can be tied. That is, the knot in the annular member 21 corresponds to the tip 10b of the mooring wire rod body 10. As shown in FIG. The tied mooring wire member 10 extends radially outward of the annular member 21 from the tip 10b. A connecting member 22 is provided at a portion of the circumference of the annular member 21 opposite to the tip 10b. The connecting member 22 protrudes radially outward, and has a ring-shaped string portion 22a formed at its tip. The fixing member 23 has a ring shape and is made of a material such as elastic rubber. The fixing member 23 can be fixed to the unmanned air vehicle DR. The fixing member 23 is connected to the string portion 22a in a chained manner. Therefore, the connecting member 22 can be twisted and slid relative to the fixed member 23 . When the torsion occurs, the annular member 21 and the connecting member 22 are rotatable about the same axis as the mooring wire member 10 passing through the cord portion 22a.

As shown in FIG. 2, the unmanned air vehicle DR includes a main body DRa and rotor blades DRb. The main body DRa has a substantially rectangular parallelepiped shape. There are four rotor blades DRb in this embodiment, and one rotor blade is provided at each tip of each support that extends horizontally outward from the vicinity of the four corners of the main body DRa. The unmanned air vehicle DR can fly by rotating the rotor blades DRb. The rotational speed and the like of the rotor blade DRb are controlled by the operator to control the flight speed, flight direction, air attitude, and the like of the unmanned air vehicle DR.

When fixing the fixing member 23 to the unmanned air vehicle DR, first, the fixing member 23 is passed through the two rotor blades DRb in a state where the diameter of the fixing member 23 is expanded against the elastic force. Next, the fixing member 23 is moved to a substantially central portion of the main body DRa and fitted to the main body DRa according to the restoring force. Then, the string portion 22a is slid along the fixing member 23 and moved to substantially the center of the bottom surface DRa1 of the main body DRa. In this manner, the fixing member 23 is fixed to the unmanned air vehicle DR, and the unmanned air vehicle DR is connected to the mooring wire member 10 via the wire connection portion 20 .

When the unmanned air vehicle DR connected to the mooring wire member 10 flies, the wire connection portion 20 is positioned inside the virtual hemisphere HS (see the dashed line) whose top end is a horizontal plane including the bottom surface DRa1. 22a can be freely swung as a starting point. Also, the wire connecting portion 20 can freely rotate with the cord portion 22a as a starting point. In this manner, the wire connecting portion 20 connects the tip 10b of the mooring wire member 10 to the unmanned air vehicle DR so as to be swingable.

As shown in FIG. 1 , the wire rod feeding device 30 includes a housing 31 , a winding member 32 and a winding operation tool 33 . The housing 31 has a substantially rectangular parallelepiped shape. A winding member 32 is built in the inside of the housing 31 . The take-up member 32 is a substantially cylindrical spool and is rotatable around a shaft 32a. The take-up member 32 is pivotally supported inside the side surfaces of the housing 31 so that the shaft 32 a is orthogonal to the left and right side surfaces of the housing 31 . An opening 31a is provided in the front face of the housing 31 to communicate between the inside and the outside. The cross-sectional area of the opening 31 a is larger than the cross-sectional area of the mooring wire member 10 . A base end 10 a of the mooring wire rod body 10 is fixed to the winding member 32 inside the housing 31 . Along with this, the tip 10b side of the mooring wire rod body 10 extends in a direction perpendicular to the shaft 32a through the opening 31a. A winding operation tool 33 is provided on one side surface of the housing 31 . The winding operation tool 33 is a crank handle rotatable around a shaft 32 a and is adapted to input rotational force to the winding member 32 .

When the winding operation tool 33 is rotated, the winding member 32 rotates around the shaft 32a. As the proximal end 10 a fixed to the winding member 32 also rotates integrally, the mooring wire member 10 is wound along the circumference of the winding member 32 . As a result, the tip 10b side of the mooring wire body 10 outside the housing 31 of the wire feeding device 30 is housed inside the housing 31 through the opening 31a.

On the other hand, when the tip 10b side of the mooring wire body 10 is pulled, the mooring wire body 10 that has been housed is let out through the opening 31a while the winding member 32 rotates in the reverse direction. When the mooring wire rod body 10 continues to be let out and the winding amount of the winding member 32 becomes zero, the winding member 32 that has been rotating in the reverse direction stops. As a result, the base end 10a fixed to the winding member 32 also stops integrally, and the mooring wire rod body 10 stops being let out. In the present embodiment, when the mooring wire member 10 stops being paid out, the effective length of the extension portion 10c extending from the wire member 30 to the unmanned air vehicle DR is the same as the above-mentioned specific distance (=30 m). ing. Thus, the wire rod feeder 30 has a stopper function to stop feeding the mooring wire rod body 10 when the effective length of the extension portion 10c reaches a specific distance (see FIG. 3(c)). ).

The holder 40 includes a locking member 41 and a hanging string member 42 . The locking member 41 and the suspension string member 42 are provided on the wire reeling device 30 and used by the operator of the unmanned air vehicle DR to hold the wire reeling device 30 . The locking member 41 is provided on the side surface of the housing 31 opposite to the installation surface of the winding operation tool 33 . The locking member 41 has a hook shape and can be locked to a belt or the like worn by the operator. The suspension string member 42 is provided on the rear surface portion of the housing 31 on the side opposite to the installation surface of the opening 31a. The suspension string member 42 has a ring shape and can be held appropriately by the operator.

As shown in FIG. 3, the mooring wire rod body 10 defines a first position P1 and a second position P2. The first position P1 is positioned at least closer to the wire feeding device 30 than the midpoint of the extension portion 10c that provides the effective length. The second position P2 is the end portion of the extension portion 10c on the base end 10a side of the mooring wire body 10 . In this embodiment, the distance L1 from the tip 10b of the mooring wire rod body 10 to the first position P1 is 20 m, and the distance L2 from the first position P1 to the second position P2 is 10 m. That is, the specific distance described above is distance L1+distance L2=30 m. As long as the first position P1 and the second position P2 are in a range that satisfies the above positional relationship, the distances L1 and L2 are not limited to the numerical values described above and are arbitrary.

The mooring wire rod body 10 also includes a non-warning portion 11 and a warning appearance portion 12 . The non-warning portion 11 corresponds to a portion from the tip 10b of the mooring wire rod body 10 to the first position P1. In this embodiment, the shape of the non-warning portion 11 is a single linear shape. The non-warning part 11 and the warning appearance part 12 are connected to each other via the first position P1. The warning appearance portion 12 corresponds to a specific portion from the first position P1 to the second position P2 of the extended portion 10c that provides the effective length. The warning appearance portion 12 is capable of showing, by appearance, that the mooring wire rod body 10 is about to stop being let out by the above-described stopper function.

The warning appearance portion 12 defines a third position P3. The third position P3 is located between the first position P1 and the second position P2. In this embodiment, the distance L2a from the first position P1 to the third position P3 is 5.0 m, and the distance L2b from the third position P3 to the second position P2 is 5.0 m. Note that the distances L2a and L2b are not limited to the above numerical values and are arbitrary as long as the third position P3 is within a range that satisfies the above positional relationship.

The warning appearance portion 12 includes a first different color appearance portion 12a and a second different color appearance portion 12b. The first unique appearance portion 12a corresponds to a portion from the first position P1 to the third position P3 of the extended portion 10c that provides the effective length. The first different color appearance portion 12a and the second different color appearance portion 12b are connected to each other via a third position P3. The second unique appearance portion 12b corresponds to a portion from the third position P3 to the second position P2 of the extended portion 10c that provides the effective length. In the present embodiment, the shape of the first unique appearance portion 12a and the shape of the second unique appearance portion 12b are one linear shape. The first different color appearance portion 12a and the second different color appearance portion 12b are given an appearance color different from the appearance color of the non-warning portion 11 other than the warning appearance portion 12, respectively. For example, when the appearance color of the non-warning portion 11 is black, the appearance color of the first different color appearance portion 12a may be yellow and the appearance color of the second different color appearance portion 12b may be red. As described above, in this embodiment, the appearance color of the warning appearance portion 12 is divided into two colors. One color may be used, or three or more colors may be used.
Note that the warning appearance part 12 is made of an appropriate stretchable material (although detailed explanation is omitted). It is designed so that there is no Instead of the warning appearance portion 12, the proximal end 10a and the portion in the vicinity thereof of the mooring wire member 10 may be made of an appropriate stretchable material.

<Actual operation>
An actual operation of the mooring device 100 for an unmanned flying object configured as described above will be described. As an initial state, the mooring device 100 is connected to the unmanned air vehicle DR, and the mooring wire rod body 10 is almost completely wound by the winding member 32, and then the flight of the unmanned air vehicle DR is started. shall be Also, it is assumed that the locking member 41 or the hanging string member 42 of the mooring device 100 is held by the operator.

As shown in FIG. 3(a), the unmanned flying object DR starts to move away from the operator immediately after the flight of the unmanned flying object DR starts. Along with this, the tip 10b connected to the unmanned air vehicle DR is pulled in the flight direction, and the mooring wire member 10 also starts to be let out. When feeding is started, first, the non-warning portion 11 of the mooring wire rod body 10 extends outside the wire rod feeding device 30 as the extension portion 10c. After that, as the distance between the unmanned air vehicles DR increases, the effective length of the extended portion 10c also increases.

As shown in FIG. 3B, when the flight of the unmanned air vehicle DR continues and the separation distance of the unmanned air vehicle DR reaches the distance L1 (=20 m), the effective length of the extended portion 10c also reaches the distance L1. (=20m). As a result, the extended non-warning portion 11 is completely exposed to the outside of the wire rod feeding device 30 . Immediately after this, the first different color external appearance portion 12a including the first position P1 also appears outside the wire rod feeding device 30 as the extension portion 10c and extends.

As shown in FIG. 3(c), when the flight of the unmanned air vehicle DR continues and the separation distance of the unmanned air vehicle DR reaches the distance L1+L2a (=25 m), the effective length of the extended portion 10c is also distanced. It reaches L1+L2a (=25m). As a result, the extended first different-color external appearance portion 12 a is also completely exposed to the outside of the wire rod feeding device 30 . Immediately after this, the second different color external appearance portion 12b including the third position P3 also appears outside the wire rod feeding device 30 as the extension portion 10c and extends. Then, when the separation distance of the unmanned air vehicle DR reaches the distance L1+L2a+L2b (=30 m), the effective length of the extension portion 10c reaches the specific distance (=30 m), and the extending second unique appearance portion 12b , are all delivered to the outside of the wire rod feeder 30. At the same time, the second position P2 appears outside the wire rod feeding device 30, and the stopper function described above is activated. As a result, as the extension portion 10c, the mooring wire member 10 from the tip 10b to the second position P2, that is, the non-warning portion 11 and the warning appearance portion 12 (the first different color appearance portion 12a and the second different color appearance portion 12b) is maintained.

In this way, after the unmanned flying object DR starts flying, when the mooring wire rod bodies 10 are successively fed out from the wire rod feeding device 30 with the passage of time, the warning appearance part 12 does not appear from the wire rod feeding device 30. During this period, no visual warning is given to the operator by the appearance of the warning appearance section 12 (see FIG. 3(a)). On the other hand, after the warning appearance portion 12 emerges from the wire feeding device 30, the appearance of the warning appearance portion 12 gives a visual warning to the operator (Fig. 3(b), and , see FIG. 3(c)).

<Effects of Embodiment>
As described above, according to the unmanned flying object mooring device 100 according to the first embodiment of the present invention, of the mooring wire members 10 fed out from the wire feeding device 30, the unmanned flying object DR When the effective length of the extension portion 10c extending to the mooring wire body 10 reaches the above-mentioned specific distance (30 m in this embodiment), the stopper function of the wire rod reeling-out device 30 stops the mooring wire rod body 10 from being reeled out. Also, the wire rod feeding device 30 is held by the operator through the holder 40 . This makes it possible to comply with the statutory requirement of "flight within a specified distance". At this time, since the tip 10b of the mooring wire rod body 10 is connected to the wire rod connecting portion 20 so as to be swingable and rotatable, when the mooring wire rod body 10 is stopped, the wire rod connecting portion 20 side Even if a pulling force is applied to the unmanned flying object DR from the above, the unmanned flying object DR can be prevented from greatly tilting or being disturbed in its attitude, and can maintain a stable attitude.

A warning appearance portion 12 is provided in the mooring wire rod body 10 between the first position P1 and the second position P2 near the proximal end 10a. After the flight of the unmanned air vehicle DR starts, the mooring wire rod body 10 is gradually fed out from the wire rod feeder 30 as the altitude increases. When the warning appearance part 12 is put out, a visual warning is given to the operator by the appearance of the warning appearance part 12 . This allows the operator to reliably recognize that the unmanned air vehicle DR will soon reach the flight range limit (upper altitude limit) stipulated by law. As a result, the operator can safely fly the unmanned flying object DR with peace of mind while reliably visually confirming the observance condition of "flight within a specific distance" stipulated by law.

Moreover, in the above-described first embodiment, when the mooring wire rod body 10 is fed out from the wire rod feeding device 30 to some extent and the effective length of the extension portion 10c approaches the specific distance to some extent, the first unique appearance portion 12a and the second The different color appearance part 12b emerges from the wire rod feeder 30. As shown in FIG. As a result, the color of the mooring wire rod body 10 changes to a different color. Therefore, the operator can visually and reliably recognize that the unmanned flying object DR will soon reach the upper altitude limit by the change in the color of the mooring wire member 10 that is clearly visible.

[Second embodiment]
Next, an unmanned air vehicle mooring device 100 according to a second embodiment of the present invention will be described. In the second embodiment, the warning appearance portion 12 is provided with a spiral cord portion 12c, and the warning appearance portion 12 is a stepwise warning in which the shape and appearance color change stepwise from the first position P1 toward the second position P2. It is organized as a part. The second embodiment differs from the first embodiment only in this respect, and the rest is the same as the first embodiment. Only different points will be described in detail below.

4(a), (b) and (c) respectively correspond to FIGS. 3(a), (b) and (c) showing the configuration and operation of the first embodiment. In FIG. 4, the same or equivalent parts as those of the first embodiment are given the same reference numerals, and descriptions thereof are omitted.

As shown in FIG. 4, the warning appearance portion 12 defines a fourth position P4. The fourth position P4 is located between the third position P3 and the second position P2. In this embodiment, the distance L2b from the third position P3 to the fourth position P4 is 4.9 m, and the distance L2c from the fourth position P4 to the second position P2 is 0.10 m. Note that the distance L1 and the distance L2a are 20 m and 5.0 m, respectively, as in the first embodiment. Note that the distances L2a, L2b, and L2c are not limited to the numerical values described above and are arbitrary as long as the third position P3 and the fourth position P4 are in a range that satisfies the positional relationship described above.

Further, the warning appearance portion 12 includes a spiral cord portion 12c in addition to the first different color appearance portion 12a and the second different color appearance portion 12b. The first unique appearance portion 12a corresponds to a portion from the first position P1 to the third position P3 of the extended portion 10c that provides the effective length. The first different color appearance portion 12a and the second different color appearance portion 12b are connected to each other via a third position P3. The second unique appearance portion 12b corresponds to a portion from the third position P3 to the fourth position P4 of the extended portion 10c that provides the effective length. The second unique appearance portion 12b and the spiral cord portion 12c are connected to each other via a fourth position P4. The spiral cord portion 12c corresponds to a portion from the fourth position P4 to the second position P2 of the extending portion 10c that provides the effective length.

In the present embodiment, the shape of the first unique appearance portion 12a and the shape of the second unique appearance portion 12b are one linear shape. On the other hand, the helical cord portion 12c has a helical shape that can be extended in the pulling direction. That is, in the warning appearance portion 12, the shape from the first position P1 to the fourth position P4 is linear, and the shape from the fourth position P4 to the second position P2 is spiral. In this way, the shape changes in two stages from the first position P1 toward the second position P2. The gradual change in shape causes the gradual change in the warning mode.

In the present embodiment, the first different color appearance portion 12a, the second different color appearance portion 12b, and the spiral cord portion 12c have an appearance color different from the appearance color of the non-warning portion 11, which is a portion other than the warning appearance portion 12. are given to each. For example, when the appearance color of the non-warning portion 11 is black, the appearance color of the first different color appearance portion 12a is yellow, the appearance color of the second different color appearance portion 12b is red, and the appearance color of the spiral cord portion 12c is Appearance color may be blue. That is, in the warning appearance portion 12, the appearance color from the first position P1 to the third position P3 is yellow, the appearance color from the third position P3 to the fourth position P4 is red, and the appearance color from the fourth position P4 to the fourth position P4 is red. The appearance color up to the second position P2 is blue. In this way, the appearance color changes in three stages from the first position P1 toward the second position P2. The gradual change in appearance color changes the degree of warning in gradual steps.

As described above, in the present embodiment, the warning appearance part 12 has a shape as a warning mode, and an appearance color as a warning degree, which changes stepwise from the first position P1 toward the second position P2. It is organized as a part. In this embodiment, both the shape and the appearance color of the warning appearance part 12 are designed to change in stages. You may make it In addition, in the present embodiment, the warning appearance part 12 is divided into two shapes, but instead of this, the shape may be changed stepwise. may In the present embodiment, the warning appearance part 12 is divided into three colors. Two colors may be used, or four or more colors may be used.

As shown in FIGS. 4(a) and 4(b), immediately after the flight of the unmanned air vehicle DR starts, the mooring wire member 10 is let out. extends outside the wire rod feeding device 30 . Immediately after all the non-warning portions 11 have come out, the first different color appearance portion 12a including the first position P1 also appears outside the wire rod feeding device 30 as the extended portion 10c and extends.

As shown in FIG. 4(c), when the flight of the unmanned air vehicle DR continues and the separation distance of the unmanned air vehicle DR reaches the distance L1+L2a (=25 m), the effective length of the extended portion 10c is also distanced. It reaches L1+L2a (=25m). As a result, the extended first different-color external appearance portion 12 a is also completely exposed to the outside of the wire rod feeding device 30 . Immediately after this, the second different color external appearance portion 12b including the third position P3 also appears outside the wire rod feeding device 30 as the extension portion 10c and extends. Then, when the separation distance of the unmanned air vehicle DR reaches the distance L1+L2a+L2b (=29.9 m), the effective length of the extension portion 10c also reaches the distance L1+L2a+L2b (=29.9 m), and the extended second The different-color external appearance part 12b is also completely exposed to the outside of the wire rod feeding device 30. - 特許庁

Immediately after this, the spiral cord portion 12c including the fourth position P4 as the extended portion 10c also appears outside the wire rod feeding device 30 and extends. Then, when the separation distance of the unmanned air vehicle DR reaches the distance L1+L2a+L2b+L2c (=30 m), the effective length of the extension portion 10c reaches a specific distance (=30 m), and the extending spiral cord portion 12c also All the wires are delivered to the outside of the wire rod feeder 30. - 特許庁At the same time, the second position P2 appears outside the wire rod feeding device 30, and the stopper function described above is activated. As a result, as the extended portion 10c, the mooring wire member 10 from the tip 10b to the second position P2, that is, the non-warning portion 11 and the warning appearance portion 12 (first different color appearance portion 12a, second different color appearance portion 12b and spiral cord portion 12c) are maintained.

As described above, according to the unmanned air vehicle mooring device 100 according to the second embodiment of the present invention, the warning appearance portion 12 is configured to include the extendable spiral cord portion 12c. Therefore, when the unmanned flying object DR reaches the limit of the flight range (upper limit of altitude) defined by laws and regulations, and the mooring wire rod body 10 stops feeding from the wire rod feeding device 30, the helical shape of the helical cord portion 12c is extended. As a result, it is possible to alleviate the application of the pulling force to the unmanned air vehicle DR and reliably prevent the unmanned air vehicle DR from being disturbed in its attitude. Moreover, the helical cord portion 12c has a helical shape which is greatly different from other portions in appearance. Therefore, the appearance of the spiral cord portion 12c can give the operator a more reliable visual warning.

Moreover, particularly in the second embodiment, the warning appearance portion 12 is configured as a stepwise warning portion. The gradual warning part has a shape and an external color that change stepwise from the first position P1 toward the second position P2. According to this, while the mooring wire rod member 10 is being paid out, the operator can be given a warning step by step without suddenly giving a strong warning.

[Third Embodiment]
Next, an unmanned air vehicle mooring device 100 according to a third embodiment of the present invention will be described. In the third embodiment, the non-warning portion 11, which is a portion other than the warning appearance portion 12, is composed of one wire rod, and the warning appearance portion 12 of the extended portion 10c is composed of a plurality of wire rods 12d. . The third embodiment differs from the first embodiment only in this respect, and the rest is the same as the first embodiment. Only different points will be described in detail below.

5(a), (b) and (c) respectively correspond to FIGS. 3(a), (b) and (c) showing the configuration and operation of the first embodiment. In FIG. 5, the same or equivalent parts as those of the first embodiment are given the same reference numerals, and their explanations are omitted.

As shown in FIG. 5, in this embodiment, the distances L1 and L2 are 20 m and 10 m, respectively, as in the first embodiment. The non-warning portion 11 is composed of a single wire as in the first embodiment. On the other hand, the warning appearance part 12 has two wires 12d. Each of the two wires 12d is a long linear body such as thread or string. The two wires 12d correspond to the portion from the first position P1 to the second position P2 of the extended portion 10c that provides the effective length. Each of the two wires 12d has a length equal to the distance L2 (=10 m), one end of which is connected to the first position P1, and the other end of which is connected to the second position P2. In this manner, the number of wires changes from one to two from the non-warning portion 11 toward the warning appearance portion 12 .

In this embodiment, the number of wires 12d of the warning appearance portion 12 is two.

As shown in FIG. 5A, when the mooring wire rod body 10 is paid out immediately after the flight of the unmanned air vehicle DR starts, the non-warning portion 11 of the mooring wire rod body 10 is first paid out. It extends out of the container 30 . That is, one wire extends.

As shown in FIG. 5B, when the separation distance of the unmanned air vehicle DR reaches the distance L1 (=20 m), the effective length of the extended portion 10c also reaches the distance L1 (=20 m). As a result, the extended wire rod (non-warning portion 11 ) is completely exposed to the outside of the wire rod feeding device 30 . Immediately after all the non-warning portions 11 have come out, the warning appearance portion 12 including the first position P1 as the extension portion 10c also appears outside the wire rod feeding device 30 and extends. That is, two wires 12d appear and extend.

As shown in FIG. 5(c), when the flight of the unmanned air vehicle DR continues and the separation distance of the unmanned air vehicle DR reaches the distance L1+L2 (=30 m), the effective length of the extended portion 10c is specified. As the distance (=30 m) is reached, the two extended wires 12 d (warning external appearance portion 12 ) are all pulled out of the wire feeder 30 . At the same time, the second position P2 appears outside the wire rod feeding device 30, and the stopper function described above is activated. As a result, the extending state of the mooring wire member 10 from the tip 10b to the second position P2, that is, the non-warning portion 11 and the warning appearance portion 12 (two wires 12d) as the extension portion 10c is maintained.

As described above, according to the unmanned air vehicle mooring device 100 according to the third embodiment of the present invention, the warning appearance portion 12 of the extension portion 10c is composed of a plurality of wire rods 12d. When the mooring wire body 10 is paid out from the wire reeling-out device 30 to some extent and the effective length of the extension portion 10c approaches a specific distance to some extent, the warning appearance portion 12 consisting of a plurality of wires 12d appears from the wire reeling-out device 30. . Therefore, the number of wires constituting the mooring wire rod body 10 is increased from one to a plurality. Therefore, the operator can visually and reliably recognize that the unmanned flying object DR will soon reach the upper limit of altitude from the change in the number of wire rods which is clearly visible.

[Fourth embodiment]
Next, an unmanned air vehicle mooring device 100 according to a fourth embodiment of the present invention will be described. In the fourth embodiment, the non-warning portion 11, which is a portion other than the warning appearance portion 12, is composed of one wire rod, and the warning appearance portion 12 of the extension portion 10c is composed of one wire rod 12e and the decoration imparting portion. 12f is provided. The fourth embodiment differs from the first embodiment only in this respect, and the rest is the same as the first embodiment. Only different points will be described in detail below.

6(a), (b) and (c) respectively correspond to FIGS. 3(a), (b) and (c) showing the configuration and operation of the first embodiment. In FIG. 6, the same or equivalent parts as those of the first embodiment are assigned the same reference numerals, and the description thereof will be omitted.

As shown in FIG. 6, in this embodiment, the distances L1 and L2 are 20 m and 10 m, respectively, as in the first embodiment. The non-warning portion 11 is composed of a single wire as in the first embodiment. On the other hand, the warning appearance portion 12 includes one wire rod 12e and a decoration imparting portion 12f. Equivalent to. The decoration imparting part 12f has decorations such as small flags and ribbons, and the decorations are attached to the wire rod 12e so that a plurality of the decorations are aligned from the first position P1 to the second position P2. . On the other hand, the wire material of the non-warning portion 11 is not provided with the decorative portion 12f.

As shown in FIG. 6(a), when the mooring wire rod body 10 is paid out immediately after the start of flight of the unmanned air vehicle DR, the non-warning portion 11 of the mooring wire rod body 10 is first paid out. It extends out of the container 30 . In other words, one wire without the decoration imparting portion 12f is extended.

As shown in FIG. 6B, when the separation distance of the unmanned air vehicle DR reaches the distance L1 (=20 m), the effective length of the extended portion 10c also reaches the distance L1 (=20 m). As a result, one wire rod (non-warning portion 11) to which the decoration imparting portion 12f is not attached is entirely out of the wire rod feeding device 30. As shown in FIG. Immediately after all the non-warning portions 11 have come out, the warning appearance portion 12 including the first position P1 as the extension portion 10c also appears outside the wire rod feeding device 30 and extends. That is, the wire rod 12e and the ornamental portion 12f appear and extend.

As shown in FIG. 6(c), when the flight of the unmanned air vehicle DR continues and the separation distance of the unmanned air vehicle DR reaches the distance L1+L2 (=30 m), the effective length of the extended portion 10c is specified. As the distance (=30 m) is reached, the extending wire rod 12e and decoration imparting portion 12f (warning external appearance portion 12) are all pulled out of the wire rod feeding device 30 as well. At the same time, the second position P2 appears outside the wire rod feeding device 30, and the stopper function described above is activated. As a result, the extension state of the mooring wire member 10 from the tip 10b to the second position P2, that is, the non-warning portion 11 and the warning appearance portion 12 (the wire 12e and the decoration imparting portion 12f) as the extension portion 10c. is maintained.

As described above, according to the unmanned air vehicle mooring device 100 according to the fourth embodiment of the present invention, the warning appearance portion 12 of the extension portion 10c includes the decoration imparting portion 12f. When the mooring wire body 10 is paid out from the wire payout device 30 to some extent and the effective length of the extension part 10c approaches a specific distance to some extent, the warning appearance part 12 including the decoration imparting part 12f appears from the wire payout device 30. As a result, the appearance of the mooring wire rod body 10 changes from the conventional appearance without the decoration to the appearance with the decoration attached. Therefore, the operator can visually recognize with certainty that the unmanned flying object DR will soon reach the upper altitude limit by the appearance of the decoration that is clearly visible.

[Modification]
In each of the above-described embodiments, the wire connecting portion 20 includes the annular member 21, the connecting member 22, and the fixing member 23, and the ring-shaped fixing member 23 is connected to the cord portion 22a of the connecting member 22 in a continuous ring. was Alternatively, as shown in FIG. 7 , for example, the wire connecting portion 20 may include an annular member 21 and a plate member 24 . In this case, the connecting portion 24a may be provided on one surface of the plate-like member 24, and the other surface of the plate-like member 24 may be configured to be fixed to the unmanned air vehicle DR. The connecting portion 24a connects the annular member 21 to the plate member 24 so that the annular member 21 can be rotated in the circumferential direction and the annular member 21 can be flapped. Due to the connection by the connecting portion 24a, the annular member 21 and the plate-like member 24 are relatively rotatable with the connecting portion 24a as a fulcrum. Further, when twisting occurs, the annular member 21 and the connecting member 22 can rotate 360 degrees around the connecting portion 24a.

As shown in FIG. 8, when fixing the plate-like member 24 to the unmanned air vehicle DR, the plate-like member 24 is fixed with the surface opposite to the installation surface of the connecting portion 24a facing the bottom surface DRa1 of the main body DRa. Bring it closer to the unmanned air vehicle DR and bring it into close contact. The plate-like member 24 and the bottom surface DRa1 may be fixed together via an adhesive or the like. As a result, the wire connecting portion 20 can freely swing from the connecting portion 24a inside the virtual hemisphere HS (see the dashed line). Also, the wire connecting portion 20 can freely rotate with the connecting portion 24a as a starting point. In this manner, the wire rod connecting portion 20 of the modified example also connects the tip 10b of the mooring wire rod body 10 to the unmanned air vehicle DR so as to be swingable and rotatable. Therefore, even if a pulling force acts on the unmanned flying object DR from the wire connecting portion 20 side while the mooring wire member 10 is stopped, the attitude of the unmanned flying object DR may be greatly inclined. , to prevent disturbance and maintain a stable posture.

It should be noted that, in the above description, descriptions such as "the same", "equal", and "different" regarding external dimensions and sizes are not strictly defined. That is, the terms "same", "equal", and "different" mean "substantially the same", "substantially equal", and "substantially different", with allowance for design and manufacturing tolerances and errors. .

In addition to the methods already described above, the methods according to the above-described embodiments and modifications may be appropriately combined and used.

In addition, although not exemplified one by one, the present invention can be implemented with various modifications within the scope of the invention.

10 wire rod body for mooring 10a proximal end 10b distal end 10c extended portion 11 non-warning portion 12 warning appearance portion 12a first different color appearance portion 12b second different color appearance portion 12c spiral cord portion 12d wire rod 12e wire rod 12f decoration imparting portion 20 wire connecting portion 30 wire reeling device 40 holder 100 mooring device for unmanned flying object DR unmanned flying object P1 1st position P2 2nd position P3 3rd position P4 4th position

Claims (6)

A mooring wire rod body having a longitudinal dimension greater than or equal to a specific distance stipulated as the upper limit of mooring cords in exceptional provisions that do not require permission or approval stipulated in the prescribed laws and regulations related to the regulation of unmanned air vehicles;
a wire connecting portion that connects the tip of the mooring wire member to the unmanned air vehicle so as to be rotatable about the same axis as the mooring wire member;
a wire reeling-out device that fixes the base end of the mooring wire body and reels out the tip side of the mooring wire body in a rewindable manner;
a holder provided in the wire reeling-out device for an operator of the unmanned air vehicle to hold the wire reeling-out device;
has
The wire rod feeder is
A stopper function is provided to stop unreeling of the mooring wire member when the effective length of the extended portion of the mooring wire member extending from the wire payout device to the unmanned aircraft reaches the specified distance. cage,
The mooring wire material is
The base end of the mooring wire member of the extension portion is moved from a first position located closer to the wire reeling-out device than at least the midpoint of the extension portion of the extension portion that provides the effective length. A specific part up to a second position, which is the end of the side, is used as a warning appearance part that visually indicates that the mooring wire rod body is about to stop being fed out by the stopper function,
After the unmanned air vehicle starts flying, when the mooring wire members are successively paid out from the wire payout device with the passage of time, the warning is issued while the warning appearance portion does not appear from the wire payout device. While not visually warning the operator by the appearance of the appearance part, after the warning appearance part emerges from the wire feeding device, the appearance of the warning appearance part gives a visual warning to the operator. A mooring device for an unmanned flying object, characterized in that a warning is issued. In the unmanned air vehicle mooring device according to claim 1,
The warning appearance part
A mooring device for an unmanned aerial vehicle, wherein the extended portion of the mooring wire member includes a unique appearance portion having an appearance color different from an appearance color of a portion other than the warning appearance portion. In the unmanned air vehicle mooring device according to claim 1,
The mooring wire material is
A portion of the extension portion other than the warning appearance portion is composed of a single wire rod,
The warning appearance part of the extension part is
A mooring device for an unmanned flying object, comprising a plurality of wires. In the unmanned air vehicle mooring device according to claim 1,
The warning appearance part
A mooring device for an unmanned aerial vehicle, comprising: a decoration imparting portion attached with a decoration, which is not attached to a portion of the extending portion of the mooring wire rod other than the warning appearance portion. In the unmanned air vehicle mooring device according to any one of claims 2 to 4,
The warning appearance part
A mooring device for an unmanned aerial vehicle, comprising an extendable spiral cord portion having a spiral shape. In the unmanned air vehicle mooring device according to any one of claims 2 to 4,
The warning appearance part
A mooring device for an unmanned flying object, characterized in that the mooring device for an unmanned aerial vehicle is configured as a stepped warning section in which a warning mode or warning level changes stepwise from the first position to the second position.

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