JPWO2020016942A1 - Power feeding method with rotary wing machine for power feeding cable relay - Google Patents

Power feeding method with rotary wing machine for power feeding cable relay Download PDF

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JPWO2020016942A1
JPWO2020016942A1 JP2019536990A JP2019536990A JPWO2020016942A1 JP WO2020016942 A1 JPWO2020016942 A1 JP WO2020016942A1 JP 2019536990 A JP2019536990 A JP 2019536990A JP 2019536990 A JP2019536990 A JP 2019536990A JP WO2020016942 A1 JPWO2020016942 A1 JP WO2020016942A1
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rotary wing
power
machine
power feeding
wing machine
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JP6603846B1 (en
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鈴木　陽一
陽一 鈴木
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Aeronext Inc
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C13/00—Control systems or transmitting systems for actuating flying-control surfaces, lift-increasing flaps, air brakes, or spoilers
    • B64C13/02—Initiating means
    • B64C13/16—Initiating means actuated automatically, e.g. responsive to gust detectors
    • B64C13/18—Initiating means actuated automatically, e.g. responsive to gust detectors using automatic pilot
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
    • B64D27/02—Aircraft characterised by the type or position of power plants
    • B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F3/00—Ground installations specially adapted for captive aircraft
    • B64F3/02—Ground installations specially adapted for captive aircraft with means for supplying electricity to aircraft during flight
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power
    • B64U50/34—In-flight charging
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/25—UAVs specially adapted for particular uses or applications for manufacturing or servicing
    • B64U2101/26—UAVs specially adapted for particular uses or applications for manufacturing or servicing for manufacturing, inspections or repairs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T50/00—Aeronautics or air transport
    • Y02T50/60—Efficient propulsion technologies, e.g. for aircraft

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)

Abstract

【課題】作業部は作業対象に対して適切な距離に近づけることが可能な飛行体を提供すること。【解決手段】本発明による飛行体の給電方法は、作業用回転翼機と、中継用回転翼機と、少なくとも前記作業用回転翼機に対して給電ケーブルを利用して給電を行う給電機とを含んでいる。給電方法は、給電ケーブルによる給電がされた状態で作業用回転翼機を飛行させるステップと、作業用回転翼機と給電機との位置関係が所定の関係になった場合に、中継用回転翼機を給電ケーブルの所定の部位に接続させて給電ケーブルを支持するステップとを含んでいる。【選択図】図２PROBLEM TO BE SOLVED: To provide a flying body in which a working unit can approach a work target at an appropriate distance. A power supply method for an aircraft according to the present invention includes a working rotary wing machine, a relay rotary wing machine, and a power feeder that supplies power to at least the working rotary wing machine using a power feeding cable. Is included. The power feeding method is a relay rotor when the step of flying the working rotary wing machine while the power is being fed by the power feeding cable and the positional relationship between the working rotary wing machine and the power feeder are in a predetermined relationship. Supporting the power supply cable by connecting the machine to a predetermined portion of the power supply cable. [Selection diagram] Figure 2

Description

本発明は、給電ケーブル中継用回転翼機を備える給電方法に関する。 The present invention relates to a power feeding method including a rotary wing machine for relaying a power feeding cable.

近年、様々な用途に利用されるドローン（Ｄｒｏｎｅ）や無人航空機（ＵＡＶ：Ｕｎｍａｎｎｅｄ Ａｅｒｉａｌ Ｖｅｈｉｃｌｅ）などの回転翼機（以下、単に「回転翼機」と総称する）を利用してインフラ点検やイベント会場の監視等様々な業務を行う動きがある。前記業務の様に、長期間かつ広範囲での使用を目的とする回転翼機は、その使用時間に耐え得る電力の供給が可能なバッテリーを備える必要がある。 Infrastructure inspections and event venues using rotary wing aircraft (hereinafter simply referred to as "rotary wing aircraft") such as drones and unmanned aerial vehicles (UAVs) that have been used for various purposes in recent years. There is a movement to perform various tasks such as monitoring. The rotary wing machine intended for long-term and wide-range use as in the above-mentioned business needs to be provided with a battery capable of supplying electric power that can withstand the use time.

一方、特許文献１では、バッテリーによる制限を受けることなく、長時間の飛行が可能となる飛行体のシステムを提供する。 On the other hand, Patent Document 1 provides a system of a flying body that can fly for a long time without being limited by a battery.

特開２０１６−７４２５７号公報JP, 2016-74257, A

特許文献１のシステムは、地上に設置した給電機から、有線で飛行体に給電を行い、また、給電に使用するケーブルを軽量の物としている。これによれば、飛行体が自機に搭載するバッテリーによる制限を受けることなく、長時間かつ広範囲の飛行が可能となる。 The system of patent document 1 supplies electric power to a flying body from a power supply device installed on the ground in a wired manner, and uses a lightweight cable as a power supply. According to this, a flight object can fly for a long time and in a wide range without being restricted by the battery mounted on the aircraft.

しかしながら、インフラ点検等に給電ケーブルを備えた回転翼機を用いる場合、回転翼機の航路周辺には障害物が存在するため、回転翼機の飛行はケーブルの取り回しに制約される。また、給電機から距離が離れれば、ケーブルが地面や水面等に接し、回転翼機の飛行を阻害する他、ケーブルの周囲の安全性を保てない等の問題がある。 However, when a rotary wing machine equipped with a power supply cable is used for infrastructure inspection and the like, there are obstacles around the route of the rotary wing machine, so flight of the rotary wing machine is restricted by the routing of the cables. In addition, if the distance from the power supply device is increased, the cable may come into contact with the ground, the water surface, or the like to hinder the flight of the rotary wing machine, and there is a problem in that the safety around the cable cannot be maintained.

そこで、本発明は、効率と安全性を向上し得るケーブル支持方法を持つ給電システムを提供することを一つの目的とする。 Therefore, it is an object of the present invention to provide a power feeding system having a cable supporting method capable of improving efficiency and safety.

本発明によれば、作業用回転翼機と、中継用回転翼機と、少なくとも前記作業用回転翼機に対して給電ケーブルを利用して給電を行う給電機とを含む、回転翼機の給電方法であって、前記給電ケーブルによる前記給電がされた状態で前記作業用回転翼機を飛行させるステップと、前記作業用回転翼機と前記給電機との位置関係が所定の関係になった場合に、前記中継用回転翼機を前記給電ケーブルの所定の部位に接続させて前記給電ケーブルを支持するステップと、を含む、給電方法を提供することができる。 ADVANTAGE OF THE INVENTION According to this invention, electric power feeding of a rotary wing machine including a working rotary wing machine, a relay rotary wing machine, and a power feeder which feeds power to at least the work rotary wing machine using a power feeding cable. A method, wherein the step of flying the working rotary wing machine in a state where the power is fed by the power feeding cable, and the positional relationship between the working rotary wing machine and the power feeder have a predetermined relationship And connecting the relay rotary wing machine to a predetermined portion of the power feeding cable to support the power feeding cable.

本発明によれば、効率と安全性を向上し得るケーブル支持方法を持つ給電システムを提供し得る。 According to the present invention, it is possible to provide a power feeding system having a cable supporting method capable of improving efficiency and safety.

本発明による給電方法の全体を示す図である。It is a figure which shows the whole electric power feeding method by this invention. 本発明による給電方法の使用例を示す図である。It is a figure which shows the usage example of the electric power feeding method by this invention. 本発明による給電方法の他の使用例を示す図である。It is a figure which shows the other usage example of the electric power feeding method by this invention. 図１の回転翼機の機能ブロック図である。It is a functional block diagram of the rotary wing machine of FIG.

本発明の実施形態の内容を列記して説明する。本発明の実施の形態による給電ケーブル中継用回転翼機を備える給電方法は、以下のような構成を備える。
［項目１］
作業用回転翼機と、中継用回転翼機と、少なくとも前記作業用回転翼機に対して給電ケーブルを利用して給電を行う給電機とを含む、回転翼機の給電方法であって、 前記給電ケーブルによる前記給電がされた状態で前記作業用回転翼機を飛行させるステップと、前記作業用回転翼機と前記給電機と位置関係が所定の関係になった場合に、前記中継用回転翼機を前記給電ケーブルの所定の部位に接続させて前記給電ケーブルを支持するステップと、を含む、給電方法。
［項目２］
項目１に記載の給電方法であって、前記中継用回転翼機は、自機を構造物に対して固定可能な固定手段を有しており、前記給電ケーブルの前記所定の部位に接続させた後に、前記中継用回転翼機を前記構造体に固定させるステップを更に含む、給電方法。
［項目３］
項目２に記載の給電方法であって、前記中継用回転翼機は、自機を前記構造体に固定させた後に、その飛行を停止する、給電方法。
［項目４］
項目１乃至項目３のいずれかに記載の給電方法であって、前記給電機は、前記中継用回転翼機に対して前記給電ケーブルを利用して給電を行う給電方法。
［項目５］
項目１乃至項目４のいずれかに記載の給電方法であって、前記中継用回転翼機は、前記ケーブルをその延伸方向に移動自在に係止可能な支持部を有しており、前記中継用回転翼機は、前記支持部によって前記給電ケーブルを支持する、給電方法。The contents of the embodiments of the present invention will be listed and described. A power feeding method including a rotary blade machine for relaying a power feeding cable according to an embodiment of the present invention has the following configuration.
[Item 1]
A rotary wing machine power feeding method, including a working rotary wing machine, a relay rotary wing machine, and a power feeder that feeds power to at least the work rotary wing machine using a power feeding cable, wherein: When the step of flying the working rotary wing machine in a state where the power is fed by the power feeding cable and the positional relationship between the working rotary wing machine and the power feeder have a predetermined relationship, the relay rotary blade Supporting the power feeding cable by connecting a machine to a predetermined portion of the power feeding cable.
[Item 2]
The power feeding method according to Item 1, wherein the relay rotary wing machine has a fixing means capable of fixing itself to a structure, and is connected to the predetermined portion of the power feeding cable. The power feeding method further including the step of fixing the relay rotary wing machine to the structure later.
[Item 3]
The power feeding method according to Item 2, wherein the relay rotary wing aircraft stops its flight after fixing its own aircraft to the structure.
[Item 4]
The power feeding method according to any one of Items 1 to 3, wherein the power feeder feeds power to the relay rotor blade using the power feeding cable.
[Item 5]
The power feeding method according to any one of Items 1 to 4, wherein the relay rotary wing machine has a support portion capable of locking the cable movably in its extension direction, The rotary wing machine is a power feeding method in which the power feeding cable is supported by the supporting portion.

＜本発明の実施の形態＞
以下、本発明の実施の形態による給電ケーブル中継用回転翼機を備える給電方法について、図面を参照しながら説明する。<Embodiment of the present invention>
Hereinafter, a power feeding method including a rotary blade machine for relaying a power feeding cable according to an embodiment of the present invention will be described with reference to the drawings.

本発明の実施の形態による、給電ケーブル中継用回転翼機を備える給電方法では、有線で給電される作業用回転翼機１０と、給電ケーブル２を支持する（少なくとも一台以上の）中継用回転翼機２０と、少なくとも作業用回転翼機１０に対して給電ケーブル２を利用して給電を行う給電機３０の組み合わせにより、作業用回転翼機１０が給電ケーブル２の取り回しに制約されることなく長時間、広範囲に作業を行うことが実現される。 In the power feeding method including the rotary wing machine for feeding cable relay according to the embodiment of the present invention, the rotary wing machine for work 10 to be fed by wire and the rotary rotation for relay (at least one or more) supporting the power feeding cable 2 are provided. By combining the wing machine 20 and the power feeder 30 that supplies power to at least the work rotary wing machine 10 by using the power supply cable 2, the work rotary wing machine 10 is not restricted by the handling of the power supply cable 2. It is possible to work over a wide area for a long time.

図２に示されるように、作業用回転翼機１０及び中継用回転翼機２０は、各々プロペラ１３（２３）およびモータ１４（２４）を少なくとも１つ以上備えている。モータ１４（２４）は、プロペラ１３（２３）の回転を生じさせるものであり、例えば、駆動ユニットは、電気モータ又はエンジン等を含むことが可能である。プロペラ１３（２３）は、モータ１４（２４）によって駆動可能であり、時計方向に及び／または反時計方向に、モータの回転軸（例えば、モータの長軸）の周りに回転することにより、作業用回転翼機１０ならびに中継用回転翼機２０を出発地から離陸させ、水平移動させ、目的地に着陸させるための推進力を発生させる。 As shown in FIG. 2, the working rotary wing machine 10 and the relay rotary wing machine 20 each include at least one or more propellers 13 (23) and motors 14 (24). The motor 14 (24) causes the rotation of the propeller 13 (23), and the drive unit can include, for example, an electric motor or an engine. The propeller 13 (23) is drivable by the motor 14 (24) and rotates in a clockwise and/or counterclockwise direction about the axis of rotation of the motor (e.g., the long axis of the motor). The rotary wing aircraft 10 and the relay rotary wing aircraft 20 are taken off from the starting point, horizontally moved, and a propulsive force for landing at the destination is generated.

また、作業用回転翼機１０は、作業の目的に応じた機構を備えていてもよい。例えば、カメラやセンサ等の外界情報を取得可能な情報取得機器、人が行う作業の代替となり得る作業ハンド、スピーカー、噴霧機器、照明機器等が挙げられるが、前記機構の用途や種類に関してはこの限りではない。 The working rotary wing machine 10 may include a mechanism according to the purpose of the work. For example, information acquisition devices such as cameras and sensors that can acquire external information, work hands that can be a substitute for work performed by humans, speakers, spraying devices, lighting devices, etc. Not as long.

作業用回転翼機１０は、給電ケーブル２によって給電されている状態で飛行することが可能である。作業用回転翼機１０は自機にバッテリー等を備えていてもよいが、給電機３０から給電されながら飛行することで、さらに長時間の活動が可能となる。自機にバッテリー等を備えた場合は、給電機３０や給電ケーブル２に障害が起こった際の予備電源として使用し、安全な運用を行うこともできる。 The working rotary wing machine 10 is capable of flying while being supplied with power by the power supply cable 2. The working rotary wing machine 10 may be equipped with a battery or the like in its own machine, but by flying while being supplied with power from the power supply device 30, it is possible to perform activities for a longer period of time. When the self-device is equipped with a battery or the like, it can be used as a standby power source when a failure occurs in the power feeder 30 or the power feeding cable 2 and can be operated safely.

給電ケーブル２は、少なくとも作業用回転翼機１０の飛行および作業に必要な電力を提供する。ほかに、データ（例えば、回転翼機の操縦に関わる情報、情報取得機器が取得した情報等）の転送機能を有していてもよい。無線の送受信は自然的あるいは人為的に障害を起こす場合があり、有線でのやりとりが適している場所では給電ケーブル２を使用するのが望ましい。 The power supply cable 2 provides at least electric power required for flight and work of the work rotorcraft 10. In addition, it may have a function of transferring data (for example, information relating to the operation of the rotorcraft, information acquired by the information acquisition device, etc.). Radio transmission/reception may cause natural or artificial failure, and it is desirable to use the power supply cable 2 in a place where wired communication is suitable.

中継用回転翼機２０は、作業用回転翼機１０と、給電機３０との位置関係が所定の関係になった場合に、支持部２２を給電ケーブル５の所定の部位に接続して、給電ケーブル２を支持する。 When the positional relationship between the working rotary wing machine 10 and the power feeder 30 becomes a predetermined relationship, the relay rotary wing machine 20 connects the support portion 22 to a predetermined portion of the power supply cable 5 to supply power. Support the cable 2.

なお、中継用回転翼機２０が備える支持部２２は、給電ケーブル２をその延伸方向に移動自在に係止可能な支持部２２を有しており、これにより、中継用回転翼機２０が給電ケーブル２を支持すると同時に、作業用回転翼機１０が中継用回転翼機２０との距離にとらわれることなく移動を継続することを可能にする。 The support portion 22 included in the relay rotary wing machine 20 includes the support portion 22 that is capable of locking the power feeding cable 2 movably in the extension direction thereof. While supporting the cable 2, the working rotary wing machine 10 is allowed to continue moving regardless of the distance from the relay rotary wing machine 20.

中継用回転翼機２０は、自機を構造物（例えば、橋梁、建造物、樹木など）に対して固定可能な固定手段を有しており、給電ケーブル２の前記所定の部位に支持部２２を接続させた後に、固定部２１を前記構造体に固定させることが出来る。固定部２１による固定方法は、フック形状による吊り下がり、磁気による吸着、空気による負圧吸着等、固定の対象物に適する方法を決定する。 The relay rotary wing machine 20 has a fixing means capable of fixing itself to a structure (for example, a bridge, a building, a tree, etc.), and a supporting portion 22 is provided at the predetermined portion of the power feeding cable 2. After connecting, the fixing portion 21 can be fixed to the structure. The fixing method by the fixing unit 21 determines a method suitable for an object to be fixed, such as hanging in a hook shape, magnetic attraction, negative pressure attraction by air, or the like.

また、中継用回転翼機２０は、自機を構造体に固定させた後に飛行を停止することが出来る。これにより、中継用回転翼機２０は、自機が飛行していない間も給電ケーブル２を支持し続ける。 In addition, the relay rotary wing aircraft 20 can stop the flight after fixing itself to the structure. As a result, the relay rotary wing machine 20 continues to support the power feeding cable 2 even while the relay rotary wing machine 20 is not flying.

なお、中継用回転翼機２０は、自機が備えるバッテリー等により駆動しても良いし、給電機３０より給電ケーブル２を利用して給電を受けて駆動してもよい。 The relay rotary wing machine 20 may be driven by a battery or the like included in itself, or may be driven by receiving power from the power supply device 30 using the power supply cable 2.

給電ケーブル２の端に位置する作業用回転翼機１０は、離陸地点より、作業ポイントへ向かって飛行を開始する。作業用回転翼機１０と給電機３０との位置関係が所定の関係になると、給電ケーブル２へ中継用回転翼機２０の支持部２２が接続する。中継用回転翼機２０は、作業用回転翼機１０の航路に応じて、最適な位置に留まり、給電ケーブル２を支持する。作業用回転翼機１０が作業を終えると、中継用回転翼機２０ならびに作業用回転翼機１０は着陸地点へ向かい、着陸する。 The work rotorcraft 10 located at the end of the power supply cable 2 starts flying from the takeoff point toward the work point. When the positional relationship between the working rotary wing machine 10 and the power feeder 30 becomes a predetermined relationship, the support portion 22 of the relay rotary wing machine 20 is connected to the power feeding cable 2. The relay rotary wing machine 20 stays at an optimum position according to the route of the work rotary wing machine 10 and supports the power feeding cable 2. When the work rotary wing machine 10 finishes the work, the relay rotary wing machine 20 and the work rotary wing machine 10 head toward the landing point and land.

［変形例１］
図１に示されるように、中継用回転翼機２０の台数は複数でもよい。中継用回転翼機２０の台数は、給電ケーブル２の長さや剛性、ならびに作業用回転翼機１０の飛行範囲や飛行航路等に応じて、好適な台数を用いることが望ましい。[Modification 1]
As shown in FIG. 1, the number of relay rotary wing aircraft 20 may be plural. It is desirable to use the suitable number of the relay rotary wing machines 20 according to the length and rigidity of the power feeding cable 2, the flight range and flight route of the working rotary wing machines 10, and the like.

［変形例２］
本発明の実施にかかる給電機３０には、必要に応じてウインチ構造を設ける。この動力は人力であったり、電動機、エンジン、空気等であったりする。ウインチを設けることで、給電ケーブル２の引き出し、巻取りを簡便に行うほか、作業用回転翼機１０および中継用回転翼機２０の係留の役割を担うことも可能である。[Modification 2]
The power supply 30 according to the present invention is provided with a winch structure as needed. This power may be human power, an electric motor, an engine, air, or the like. By providing the winch, the power supply cable 2 can be easily pulled out and wound up, and also the work rotary blade machine 10 and the relay rotary blade machine 20 can be moored.

［変形例３］
上述した実施の形態においては、作業用回転翼機１０は飛行状態で作業を行うことをメインとしていたが、図３に示されるように、中継用回転翼機２０と同様に構造体に固定した状態で作業（監視、センサ等による情報の取得等）を行うこととしてもよい。[Modification 3]
In the embodiment described above, the working rotary wing machine 10 was mainly designed to work in a flying state, but as shown in FIG. Work (monitoring, acquisition of information by a sensor, etc.) may be performed in the state.

上述した回転翼機は、図４に示される機能ブロックを有している。なお、図示される機能ブロックは最低限の参考構成である。フライトコントローラは、所謂処理ユニットである。処理ユニットは、プログラマブルプロセッサ（例えば、中央処理ユニット（ＣＰＵ））などの１つ以上のプロセッサを有することができる。処理ユニットは、図示しないメモリを有しており、当該メモリにアクセス可能である。メモリは、１つ以上のステップを行うために処理ユニットが実行可能であるロジック、コード、および／またはプログラム命令を記憶している。メモリは、例えば、ＳＤカードやランダムアクセスメモリ（ＲＡＭ）などの分離可能な媒体または外部の記憶装置を含んでいてもよい。カメラやセンサ類から取得したデータは、メモリに直接に伝達されかつ記憶されてもよい。例えば、カメラ等で撮影した静止画・動画データが内蔵メモリ又は外部メモリに記録される。 The rotary wing machine described above has the functional blocks shown in FIG. The functional blocks shown are the minimum reference configurations. The flight controller is a so-called processing unit. The processing unit may have one or more processors, such as programmable processors (eg, central processing unit (CPU)). The processing unit has a memory (not shown) and can access the memory. The memory stores logic, code, and/or program instructions that a processing unit can execute to perform one or more steps. The memory may include, for example, a separable medium such as an SD card or random access memory (RAM) or an external storage device. The data obtained from the cameras and sensors may be directly transmitted to and stored in the memory. For example, still image/moving image data captured by a camera or the like is recorded in a built-in memory or an external memory.

処理ユニットは、回転翼機の状態を制御するように構成された制御モジュールを含んでいる。例えば、制御モジュールは、６自由度（並進運動ｘ、ｙ及びｚ、並びに回転運動θｘ、θｙ及びθｚ）を有する回転翼機の空間的配置、速度、および／または加速度を調整するために回転翼機の推進機構（モータ等）を制御する。制御モジュールは、搭載部、センサ類の状態のうちの１つ以上を制御することができる。The processing unit includes a control module configured to control the condition of the rotorcraft. For example, the control module may adjust the spatial arrangement, velocity, and/or acceleration of a rotorcraft having six degrees of freedom (translational motions x, y and z, and rotational motions θ x , θ y and θ z ). Control the propulsion mechanism (motor, etc.) of the rotorcraft. The control module can control one or more of the states of the mount and sensors.

処理ユニットは、１つ以上の外部のデバイス（例えば、端末、表示装置、または他の遠隔の制御器）からのデータを送信および／または受け取るように構成された送受信部と通信可能である。送受信機は、有線通信または無線通信などの任意の適当な通信手段を使用することができる。例えば、送受信部は、ローカルエリアネットワーク（ＬＡＮ）、ワイドエリアネットワーク（ＷＡＮ）、赤外線、無線、ＷｉＦｉ、ポイントツーポイント（Ｐ２Ｐ）ネットワーク、電気通信ネットワーク、クラウド通信などのうちの１つ以上を利用することができる。送受信部は、センサ類で取得したデータ、処理ユニットが生成した処理結果、所定の制御データ、端末または遠隔の制御器からのユーザコマンドなどのうちの１つ以上を送信および／または受け取ることができる。 The processing unit is in communication with a transceiver configured to transmit and/or receive data from one or more external devices (eg, terminals, displays, or other remote controllers). The transceiver can use any suitable communication means, such as wired or wireless communication. For example, the transmission/reception unit uses one or more of a local area network (LAN), a wide area network (WAN), infrared, wireless, WiFi, a point-to-point (P2P) network, a telecommunication network, cloud communication, and the like. be able to. The transmission/reception unit can transmit and/or receive one or more of data acquired by the sensors, processing results generated by the processing unit, predetermined control data, a user command from a terminal or a remote controller, and the like. ..

本実施の形態によるセンサ類は、慣性センサ（加速度センサ、ジャイロセンサ）、ＧＰＳセンサ、近接センサ（例えば、ライダー）、またはビジョン／イメージセンサ（例えば、カメラ）を含み得る。 The sensors according to the present embodiment may include an inertial sensor (acceleration sensor, gyro sensor), a GPS sensor, a proximity sensor (eg, rider), or a vision/image sensor (eg, camera).

本発明の回転翼機は、インフラ点検業務専用回転翼機としての利用、及び倉庫、工場内における産業用の回転翼機としての利用が期待できる。また、本発明の回転翼機は、マルチコプター・ドローン等の飛行機関連産業において利用することができ、さらに、本発明は、カメラ等を搭載した監視用の回転翼機としても好適に使用することができる他、セキュリティ分野、農業、撮影等の様々な産業にも利用することができる。 INDUSTRIAL APPLICABILITY The rotary blade machine of the present invention can be expected to be used as a rotary blade machine dedicated to infrastructure inspection work, and as an industrial rotary blade machine in warehouses and factories. Further, the rotary wing machine of the present invention can be used in airplane-related industries such as multicopters and drones, and further, the present invention can be preferably used as a rotary wing machine for surveillance equipped with a camera and the like. Besides, it can be used in various industries such as security field, agriculture, and photography.

上述した実施の形態は、本発明の理解を容易にするための例示に過ぎず、本発明を限定して解釈するためのものではない。本発明は、その趣旨を逸脱することなく、変更、改良することができると共に、本発明にはその均等物が含まれることは言うまでもない。 The above-described embodiments are merely examples for facilitating the understanding of the present invention, and are not for limiting the interpretation of the present invention. It goes without saying that the present invention can be modified and improved without departing from the spirit thereof and that the present invention includes equivalents thereof.

１ 構造体
２ 給電ケーブル
１０ 作業用回転翼機
１３ プロペラ（作業用回転翼機）
１４ モータ（作業用回転翼機）
２０ 中継用回転翼機
２１ 固定部
２２ 支持部
２３ プロペラ（中継用回転翼機）
２４ モータ（中継用回転翼機）
３０ 給電機


1 Structure 2 Power Supply Cable 10 Working Rotorcraft 13 Propeller (Working Rotorcraft)
14 motors (rotary blades for work)
20 Relay rotor 21 Fixed part 22 Support 23 Propeller (relay rotor)
24 motors (relay rotors)
30 power supply


Claims (5)

作業用回転翼機と、中継用回転翼機と、少なくとも前記作業用回転翼機に対して給電ケーブルを利用して給電を行う給電機とを含む、回転翼機の給電方法であって、
前記給電ケーブルによる前記給電がされた状態で前記作業用回転翼機を飛行させるステップと、
前記作業用回転翼機と前記給電機との位置関係が所定の関係になった場合に、前記中継用回転翼機を前記給電ケーブルの所定の部位に接続させて前記給電ケーブルを支持するステップと、
を含む、
給電方法。A rotary wing machine, a relay rotary wing machine, and a power supply method for a rotary wing machine, including a power supply device for supplying power to at least the work rotary wing machine using a power supply cable,
Flying the work rotorcraft in a state where the power is supplied by the power supply cable,
Supporting the feeding cable by connecting the relay rotating blade machine to a predetermined portion of the power feeding cable when the positional relationship between the working rotary blade machine and the power feeding machine becomes a predetermined relationship; ,
including,
Power supply method. 請求項１に記載の給電方法であって、
前記中継用回転翼機は、自機を構造物に対して固定可能な固定手段を有しており、
前記給電ケーブルの前記所定の部位に接続させた後に、前記中継用回転翼機を前記構造体に固定させるステップを更に含む、
給電方法。The power feeding method according to claim 1,
The relay rotary wing machine has a fixing means capable of fixing the own machine to a structure,
Further comprising fixing the relay rotor machine to the structure after connecting to the predetermined portion of the power supply cable,
Power supply method. 請求項２に記載の給電方法であって、
前記中継用回転翼機は、自機を前記構造体に固定させた後に、その飛行を停止する、
給電方法。The power feeding method according to claim 2,
The relay rotary wing machine stops its flight after fixing its own machine to the structure.
Power supply method. 請求項１乃至請求項３のいずれかに記載の給電方法であって、
前記給電機は、前記中継用回転翼機に対して前記給電ケーブルを利用して給電を行う
給電方法。The power feeding method according to any one of claims 1 to 3,
A power feeding method, wherein the power feeder feeds power to the relay rotor blade using the power feeding cable. 請求項１乃至請求項４のいずれかに記載の給電方法であって、
前記中継用回転翼機は、前記ケーブルをその延伸方向に移動自在に係止可能な支持部を有しており、
前記中継用回転翼機は、前記支持部によって前記給電ケーブルを支持する、
給電方法。

The power feeding method according to any one of claims 1 to 4,
The relay rotary wing machine has a support portion capable of locking the cable movably in its extending direction,
The relay rotary wing machine supports the power supply cable by the support portion,
Power supply method.

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