WO2020008582A1

WO2020008582A1 - Image-capturing unmanned aerial vehicle equipped with suspension device

Info

Publication number: WO2020008582A1
Application number: PCT/JP2018/025445
Authority: WO
Inventors: 哲一郎北川
Original assignee: 株式会社ドローンネット
Priority date: 2018-07-05
Filing date: 2018-07-05
Publication date: 2020-01-09

Abstract

[Program] To provide an easy-to-operate and safe image-capturing unmanned aerial vehicle equipped with a suspension device such that the unmanned aerial vehicle can glide safely while also being prevented from crashing in the event of an abnormality such as a malfunction. [Solution] This image-capturing unmanned aerial vehicle equipped with a suspension device comprises: an unmanned aerial vehicle equipped with an image-capturing device; a main wire; a main wire suspension unit; and a wire length adjusting unit. The configuration is such that: the main wire is connected through the main wire suspension unit to the unmanned aerial vehicle at one end and to the wire length adjusting unit and at the other end; the main wire suspension unit is composed of a long rod-shaped member, the wire length adjusting unit being installed at one end of the main wire suspension unit and an inlet/outlet opening for the main wire being installed at the other end; the wire length adjusting unit performs control so that the tension of the main wire is maintained; and the unmanned aerial vehicle captures video and/or a still image with the image-capturing device according to a user instruction.

Description

Unmanned aerial vehicle for photography with suspension device

The present invention relates to a suspension apparatus for an unmanned aerial vehicle equipped with an imaging device for performing aerial photography at a concert or event venue, and more particularly, to safely and freely floating an unmanned aerial vehicle for performing a floating operation. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a photographing unmanned aerial vehicle having a suspension device for enabling gliding and preventing the unmanned aerial vehicle from crashing when an abnormality such as a failure of the unmanned aerial vehicle occurs.

数多く Many unmanned aerial vehicles that can be steered wirelessly have been developed and used. In recent years, many small unmanned aerial vehicles that can be steered by radio, called drones, have been developed and used for various purposes such as transportation and photographing.

Drones have strong lift and propulsion, so they have excellent transportability, and they also have excellent stability, which makes it easy to control their attitude in the air, so they can transport heavy objects. Have. For this reason, for example, drones are equipped with various shooting devices, and can easily shoot images from places that cannot be normally shot, and have come to be widely used for shooting all aerial images. ing. However, there is always a risk of crashing due to the nature of floating sailing and gliding in the air, and it has been pointed out that there is a safety problem that a person or an object may come into contact with or be damaged when falling.

Drones have a structure in which four rotors are usually mounted, so that their attitude control in the air is relatively easy and the stability is high. However, there is a problem that the risk of a crash when a failure occurs is not zero, for example, when a failure occurs in one of a plurality of driving devices or when a failure occurs in a wireless device and control becomes impossible. .

All parts of the drone are lighter to obtain higher buoyancy, but if you include a battery and shooting equipment, it will be quite heavy, so it is extremely dangerous if a drone equipped with many equipment crashes It is. Especially when shooting from the air in a place where there are many people, it is possible that there are many people under the drone floating in the air, for example, shooting from the air in a crowded place such as a concert Flying a drone to perform a task involves considerable danger.

At present, flying a drone in such a location is a difficult situation in view of perfect safety, and it is possible to freely admit drones etc. to such points. There was no problem. In addition, the fall of the drone not only destroyed the drone itself but also the mounted shooting equipment, and there was also a risk of economic loss.

技術 As a technique for solving such a problem, there is a technique disclosed in Japanese Patent Application Laid-Open No. 2017-144986. Here, an area where the unmanned aerial vehicle may crash is superimposed on an image captured by a camera that captures the vertical direction of the unmanned aerial vehicle, and if an avoidance target is detected in that region, the There is disclosed a technique for controlling the flight of an unmanned aerial vehicle such that the avoidance target is no longer detected from the vehicle. This suggests that the unmanned aerial vehicle can be prevented from falling on the avoidance target and that the unmanned aerial vehicle can be efficiently flown.

Certainly, this technology would be able to prevent personal injury due to a crash, damage to the flying affair itself, and damage to the camera mounted, but it is insufficient from the viewpoint of completely suppressing the crash. There was a point. Especially, if there is a problem with the flying object during use in a crowded place, it is possible that there is not enough time and space to avoid the crash, so it is not always necessary to effectively prevent accidents There was a problem that it was not possible to do so.

Japanese Patent Application Laid-Open Publication No. 2018-079911 discloses a structure in which an airbag surrounding a drone in a horizontal plane is held by a holding portion, and the holding portion is turned outward by supplying gas. A configuration is disclosed in which an airbag that expands so as to protrude is attached in a folded state. It is suggested that by inflating the airbag before the collision with an object such as a person and surrounding the drone in a horizontal plane, it is possible to prevent the danger that the crashed drone may injure a person if the collision occurs. ing.

Certainly, according to this technology, it is possible to suppress the danger to the human body even if it falls or collides, but it is difficult to avoid contact because it cannot prevent fall. There was also a problem. Further, since the airbag and the equipment for supplying the gas are installed, there is a problem that the weight of the unmanned aerial vehicle, which is desirably lightweight, increases.

In order to shoot from above using a flying object such as a drone, it is necessary to ensure stable flight while ensuring stable flight. Therefore, it has been desired to develop an unmanned shooting vehicle capable of performing shooting while freely floating and gliding on a flying object and ensuring safety in the event of an abnormality such as a failure.
Japanese Patent Application Laid-Open Publication No. 2017-144986 JP 2018-079911 A

The present invention relates to a suspension device for an unmanned aerial vehicle equipped with an imaging device for performing aerial photography at a concert or event venue, and more particularly, to an unmanned aerial vehicle for performing an imaging operation. Operable and safe suspension device that enables the unmanned aerial vehicle to crash safely and freely, and prevents the unmanned aerial vehicle from crashing when an abnormality such as a failure of the unmanned aerial vehicle occurs. It is intended to provide an unmanned aerial vehicle for photography.

In order to achieve the above object, an unmanned aerial vehicle for photographing provided with a suspension device according to the present invention includes an unmanned aerial vehicle equipped with a photographing device, a main wire for pulling and holding the unmanned aerial vehicle, and the main wire. And a wire length adjusting unit that adjusts winding / drawing of the main wire in order to maintain the tension of the main wire and to make the main wire a length desired by a user, An unmanned aerial vehicle for photographing provided with a suspension device consisting of: a main wire, one end of which is connected to the unmanned aerial vehicle via the main wire suspension, and the other end of which is the wire The main wire suspension is connected to a length adjustment part, and the main wire suspension part is formed of a long rod-shaped member for suspending the main wire loosely, and a wire length adjustment part is provided at one end of the main wire suspension part. Is installed At the other end, an entrance / exit portion for suspending and entering / leaving a main wire extending from the wire length adjustment unit is installed at the other end, and the wire length adjustment unit sets a desired flight range of the unmanned aerial vehicle. In order to prevent the unmanned aerial vehicle from falling down when an abnormality occurs, the slack does not occur in response to the looseness of the main wire generated as the unmanned aerial vehicle floats up and down, back and forth, and left and right. Thus, by winding or drawing out the main wire, the main wire is controlled so as to maintain the tension, and the unmanned aerial vehicle can shoot a moving image and / or a still image by the shooting device according to a user's instruction. Configuration.

Further, the wire length adjusting unit detects a loosening of the main wire, a winding device for winding or extending the main wire, a winding driving device for performing normal rotation and reversal of the winding device. A sensor, a winding control device for controlling the rotation of the winding driving device, and an operating means for a user to operate the winding control device, wherein the winding control device is And / or controls the forward or reverse rotation of the winding device in accordance with the instruction of the sensor and / or the detection information of the sensor. The operating means manually controls the winding control device and controls the normal operation of the winding drive device. In addition to controlling the rotation or reversal, the winding control device controls the normal rotation or the reversal of the winding driving device in accordance with the looseness of the main wire detected by the sensor, whereby the winding is controlled. Key to the device Performs winding or withdrawals over a structure to keep the tension of the main wire.

The unmanned aerial vehicle has a configuration in which a main wire fixing portion for preventing refraction of the main wire is provided at the one end of the main wire in order to prevent the main wire from being entangled with the unmanned aerial vehicle.
Further, the main wire fixing portion has a configuration in which a tubular member having substantially the same length as the entire length of the unmanned aerial vehicle is installed through the main wire.
Further, the main wire suspension is configured to have an extendable and variable length structure.

In addition, an unmanned aerial vehicle for photographing provided with a suspension device according to the present invention includes an unmanned aerial vehicle equipped with a photographing device, a suspension wire for pulling and holding the unmanned aerial vehicle, and fishing the suspension wire. A hanging wire fishing support that supports, a main wire that movably suspends and holds the hanging wire fishing support, and a pair of main wire hooks that are connected to both ends of the main wire and hook the main wire. In the unmanned shooting vehicle provided with a suspending device, the hanging wire is formed of a bendable member, and one end is fixedly connected to the unmanned aerial vehicle, and the other end is suspended. The hanging wire fishing support is connected to a wire fishing support, and the hanging wire fishing support is formed of a tubular member through which the main wire passes, and supports the hanging wire, and is movable back and forth along the main wire. Lord to be Ear to be suspended retained, the unmanned air vehicle is photographed for unmanned air vehicles provided with a suspension device by a user instruction and performs capturing a moving and / or still image by the imaging device.

In addition, the hanging wire fishing support portion supports the hanging wire loosely and freely and is movably hung on the main wire, and holds the tension of the hanging wire. A suspending wire length adjusting unit for adjusting winding / drawing of the suspending wire in order to make the suspending wire have a desired length is installed, and the suspending wire length adjusting unit is configured to fly the unmanned aerial vehicle. In order to limit the range to a desired range and to prevent the crash when an abnormality occurs, the unmanned aerial vehicle responds to the looseness of the suspension wire generated as the unmanned aerial vehicle floats up, down, front, back, left and right in the air. Then, the suspension wire is wound or pulled out so as not to cause slack, so that the tension of the suspension wire is controlled to be maintained.

The hanging wire length adjusting unit includes a winding device that winds or pulls out the hanging wire, a winding driving device that performs normal rotation and reversal of the winding device, and a tensioning device for the hanging wire. A winding control device for controlling rotation of the winding driving device, wherein the winding control device controls forward or reverse rotation of the winding device according to detection information of the sensor. By controlling the forward or reverse rotation of the winding driving device according to the tension of the hanging wire detected by the sensor, winding of the hanging wire around the winding device. It is configured to take out or draw out to maintain the tension of the hanging wire.

In addition, the unmanned aerial vehicle has a configuration in which a suspending wire fixing portion for preventing refraction of the suspending wire is provided at the one end of the suspending wire in order to prevent the hanging wire from being entangled with the unmanned aerial vehicle. It is.
Further, the suspension wire fixing portion has a configuration in which a tubular member having substantially the same length as the entire length of the unmanned aerial vehicle is penetrated and installed in the suspension wire.
Further, the main wire hooking portion is configured to have a stretchable variable length structure.

The unmanned aerial vehicle for photographing provided with the suspension device according to the present invention has the configuration described above in detail, and thus has the following effects.
1. The unmanned aerial vehicle is towed and held by the main wire, so the flight range of the unmanned aerial vehicle can be limited to a certain range, and the unmanned aerial vehicle can be suspended from above to prevent the unmanned aerial vehicle from dropping to the ground when abnormal It becomes possible. In addition, since the suspension of the main wire is provided, the unmanned aerial vehicle can be pulled and held from the sky, and can be freely moved to an arbitrary place to fly the unmanned aerial vehicle. Further, since the wire length adjusting section is provided, it is possible to prevent the main wire from being loosened and to fly the unmanned aerial vehicle more safely.
2. The wire length adjustment unit is configured to take up or pull out the wire according to the tension of the main wire detected by the sensor, so the main wire can always be stretched, and abnormalities occur in the unmanned aerial vehicle Even if it falls down, it is possible to make it hang without dropping.

3. Since the main wire fixing portion is provided, refraction of the main wire on the unmanned aerial vehicle side can be prevented, and it is possible to prevent the main wire from being entangled with the unmanned aerial vehicle, particularly the propeller portion.
4. Since the main wire fixing portion is a tubular member having substantially the same length as the entire length of the unmanned aerial vehicle, it is possible to reliably prevent the main wire from being entangled with the unmanned aerial vehicle.

5. Since the main wire suspension has a telescopic variable length structure, the altitude at which the unmanned aerial vehicle flies can be adjusted, and the unmanned aerial vehicle for photography can be used anywhere.
6. Since the pair of main wire hanging portions is provided, the flying object can freely fly between the two movable points. In addition, since the suspension wire is a bendable member, the unmanned aerial vehicle can smoothly move up and down.

7. Since the hanging wire length adjustment unit is installed in the hanging wire fishing branch, the slack of the main wire is prevented, and the unmanned aerial vehicle can be safely flown.
8. The suspension wire length adjustment unit is configured to wind / draw the wire according to the tension of the main wire detected by the sensor, so that the main wire can always be in a stretched state, and the flight of unmanned aerial vehicles The range can be kept wide, and even if the unmanned aerial vehicle falls due to an abnormality, it can be hung without falling.

9. Since the suspension wire fixing portion is provided, it is possible to prevent the suspension wire on the unmanned aerial vehicle side from being bent, and to prevent the suspension wire from being entangled with the unmanned aerial vehicle, particularly the propeller portion.
10. Since the hanging wire fixing portion is a tubular member having substantially the same length as the entire length of the unmanned aerial vehicle, it is possible to reliably prevent the hanging wire from being entangled with the unmanned aerial vehicle.
11. Since the main wire suspension portion has a telescopic variable length structure, the altitude at which the unmanned aerial vehicle flies can be adjusted, and the unmanned aerial vehicle for photography can be used everywhere.

Hereinafter, an unmanned shooting vehicle equipped with a suspension device according to the present invention will be described in detail based on an embodiment shown in the drawings.
FIG. 1 is a conceptual diagram of an unmanned aerial vehicle for photographing provided with a suspension device according to the present invention, FIG. 2 is a side view of the unmanned aerial vehicle, and FIG. 3 is used in a place having a height difference. It is a figure of the unmanned aerial vehicle for photography provided with the suspension device in the case. FIG. 4 is a conceptual diagram of an unmanned shooting vehicle provided with a suspension device provided with a pair of main wire suspension portions, and FIG. 5 is a perspective view of a suspension wire fishing support portion.

The unmanned aerial vehicle 100 for photographing provided with the suspension device according to the present invention includes an unmanned aerial vehicle 110, an imaging device 120, a main wire 130, a main wire suspension 140, and a wire length adjusting unit 150. , Equipped with a function to prevent unmanned vehicles from falling down when an unmanned vehicle becomes abnormal, as well as to photograph the subject while flying in a floating sailing glide in all directions. It is an unmanned aerial vehicle equipped with a suspension device for use in high photography.

The unmanned aerial vehicle 110 is a flying vehicle that can fly, fly, and stop in the air that can be steered wirelessly. In this embodiment, as shown in FIGS. 1 and 2, a small to medium-sized drone equipped with a plurality of rotors is used, but the invention is not limited to this. If so, it is possible to select and use one having an appropriate structure.

The image capturing device 120 is a camera capable of capturing a still image and a moving image, and is configured to be mounted on the unmanned aerial vehicle 110 as shown in FIG. In this embodiment, the imaging device 120 is desirably small and lightweight because it is mounted on an unmanned aerial vehicle. Further, in the present embodiment, the photographing device 120 is configured to be installed below the unmanned aerial vehicle 110, but is not limited to this. It is possible to adopt a configuration in which 120 is installed above or on the side of the unmanned aerial vehicle 110.

The main wire 130 is a cable-like member for towing and holding the unmanned aerial vehicle 110, and is configured to be fixedly installed on the unmanned aerial vehicle 110 as shown in FIGS. In the present embodiment, the main wire 130 is made of a hard-to-cut, flexible and lightweight cable formed by twisting a piano wire or the like (twist). Regardless of the material, it can be appropriately selected and used.

The main wire suspension part 140 is a member for suspending the main wire 130 that can connect and hold the unmanned aerial vehicle 110 so as to be stretchable, and as shown in FIG. Is a rod-shaped member for suspending the unmanned aerial vehicle 110 by the main wire 130. In the present embodiment, the main wire suspension 140 is made of a long rod-shaped member in order to secure a flightable range of the unmanned aerial vehicle 110, and is made of a lightweight material such as carbon so that it can be moved by a person. Although the configuration is made of a material, the invention is not limited to this, and the length and material can be appropriately selected and used according to the purpose such as a shooting place.

The wire length adjusting unit 150 appropriately holds the tension of the main wire 130 that connects and holds the unmanned aerial vehicle 110 so that the unmanned aerial vehicle 110 can be pulled, and winds and winds the main wire 130 so that the main wire 130 has a length desired by the user. A member for adjusting withdrawal / delivery. The wire length adjusting unit 150 adjusts the length of the main wire 130 so as to be able to expand and contract in order to prevent the main wire 130 from becoming loose or over-constricted due to the movement of the unmanned aerial vehicle 110 in the air. To maintain an appropriate tension of the main wire 130.

As shown in FIG. 1, the main wire 130 has one end 132 a of the main wire 130 connected to the unmanned aerial vehicle 110 via the main wire suspension 140, and the other end 132 b connected to the wire length adjustment unit 150. It has a connected configuration. As shown in FIG. 1, the main wire suspension 140 has a configuration in which the wire length adjustment unit 150 is installed at one end 142 b serving as a hand, and the other end 142 a on the opposite side (the front side) is provided. An entrance / exit 144 for suspending and entering / leaving the main wire 130 extending from the wire length adjusting unit 150 is provided.

In the present embodiment, the main wire 130 pulled out from the wire length adjustment unit 150 extends along the main wire suspension 140 and forms a ring 144 serving as an entrance 144 provided at the other end 142 a of the main wire suspension 140. It is configured to be connected to the unmanned aerial vehicle 110 by inserting a shaped member. With this configuration, the main wire 130 can be smoothly wound or pulled out / sent, but the structure is not limited to this. Suppose that the main wire suspension 140 is formed in a tubular shape, the wire length adjustment unit 150 is installed inside the main wire suspension 140, and the main wire 130 is pulled out from the entrance 144 at the tip of the main wire suspension 140. It is also possible.

In the present embodiment, the wire length adjusting unit 150 includes a main wire 130 generated along with the floating movement glide so that the main wire 130 does not sag when the unmanned aerial vehicle 110 floats and glides up and down, front and rear, and left and right in the air. The main wire 130 is wound or pulled out / sent in accordance with the tightening of the main wire 130, and the tension is controlled so as to maintain the tension of the main wire 130. With this configuration, the flight range of the unmanned aerial vehicle 110 can be limited to a range desired by the user. Further, when an abnormality occurs in the unmanned aerial vehicle 110, the tension of the main wire 130 can be fixed and maintained, and the unmanned aerial vehicle 110 can be prevented from falling.

The unmanned aerial vehicle 110 is configured to be able to shoot a moving image and / or a still image by the imaging device 120 according to a user's instruction. With this configuration, the unmanned aerial vehicle 110 can shoot a moving image and / or a still image by the imaging device 120 in accordance with a user's instruction while floating or gliding or stopping by a user's operation. Further, when the unmanned aerial vehicle 110 is about to crash due to an abnormality, it is possible to prevent the unmanned aerial vehicle 110 from crashing by the main wire 130 maintaining the tension (tension).

For example, when a plurality of rotors of the unmanned aerial vehicle 110 stop and crash, the tension of the main wire 130 sharply increases as the unmanned aerial vehicle 110 falls. When a sensor 153 of the wire length adjusting unit 150 described later detects this sudden increase in tension and determines that the rate of increase is equal to or greater than a certain value, the main wire 130 is automatically stopped and pulled out and locked. I do. Thereby, it is possible to prevent the unmanned aerial vehicle 110 from falling down, and the unmanned aerial vehicle 110 is suspended from the main wire suspension 140 via the main wire 130 in a hollow state.

Further, when the unmanned aerial vehicle 110 becomes uncontrollable, the withdrawal / delivery of the main wire 130 by the wire length adjusting unit 150 is stopped in advance according to a user's instruction, and the length of the main wire 130 is further extended. Even by fixing the unmanned aerial vehicle 110, it is possible to prevent the unmanned aerial vehicle 110 from crashing.

The unmanned aerial vehicle 110 according to the present invention includes, as shown in FIG. 2, a rotary wing 112, a driving device 114, a control device 116, and a main body 118 as a base. The rotary wings 112 are rotatably provided fans for generating a floating force for lifting the unmanned aerial vehicle 110, and are provided in plural around the main body 118 of the unmanned aerial vehicle 110. In this embodiment, the four rotors 112 are arranged in a well-balanced manner around the unmanned aerial vehicle 110. However, the present invention is not limited to this, and three or less or five or more rotors 112 may be provided. It is also possible to use the unmanned aerial vehicle 110 mounted.

The driving device 114 is a device for applying rotational power to the plurality of rotating blades 112, and the plurality of driving devices 114 are installed independently of each other so as to correspond to the plurality of rotating blades 112, respectively. With this configuration, each rotary wing 112 rotates independently, and by individually controlling the output of the driving device 114 connected to each rotary wing 112, the attitude of the unmanned aerial vehicle 110 in the air can be finely adjusted. It becomes possible to control. In the present embodiment, the driving device 114 is composed of a motor that is driven electrically, but is not limited to this.

The control device 116 is an arithmetic device for individually controlling the driving speed of the plurality of driving devices 114. The control device 116 issues a command to each drive device 114 to stabilize the attitude of the unmanned aerial vehicle 110 based on information detected by a gyro sensor or an acceleration sensor (not shown) installed in the unmanned aerial vehicle 110, for example. And controls the output of each drive 114 individually. Further, based on a user's instruction, a command is issued to each drive unit 114 to move the unmanned aerial vehicle 110 in a desired direction, and the output is controlled.

In the present embodiment, the control device 116 is composed of a drone flight controller, controls the attitude by issuing a command to each drive device 116 based on information detected by various sensors installed on the drone (unmanned aerial vehicle 110). , And is controlled to move based on a command from the user by the user.

The main body 118 is a member serving as a frame (base) of the unmanned aerial vehicle 110, and fixedly holds a plurality of driving devices 114 to which the rotary wings 112 are connected and a control device 116. The main body 118 is specifically made of a thin plate frame member, but is not limited to this. A body having a circular cross section may be used. It is possible. In addition, in the present embodiment, the main body 118 is made of steel in order to ensure durability, but is not limited to this, and the material is appropriately selected, such as using a carbon material to reduce the weight. It is possible to use.

Further, in this embodiment, as shown in FIG. 2, the main body 118 is additionally provided with a protective frame 160 surrounding the outer periphery of the rotary wing 112 and covering the rotary wing 112 at a place where the rotary wing 112 and the driving device 114 are mounted. Configuration. With this configuration, even when the unmanned aerial vehicle 110 comes into contact with another object during the flight, it is possible to prevent the rotary wing 112 from being damaged and falling. In addition, it is possible to prevent the main wire 130 from getting tangled with the rotary wing 112 and to fall down, and it is possible to perform safe operation.

As shown in FIG. 1, the wire length adjusting unit 150 includes a winding device 151, a winding driving device 152, a sensor 153, a winding control device 154, and an operation unit 155.

The winding device 151 is a member for winding or pulling out / delivery of the main wire 130. In the present embodiment, the winding device 151 is configured by a cylindrical pulley member capable of winding the main wire 130. Further, the winding driving device 152 is a driving device for performing normal rotation and reversal of the winding device 151, and in the present embodiment, includes a motor driven electrically.

The sensor 153 is a detector for detecting the looseness of the main wire 130, and detects the looseness when the main wire 130 is loosened or contracted due to the gliding movement or stop of the unmanned aerial vehicle 110 based on the operation of the user. And signal the degree of relaxation.

The winding control device 154 is a device that controls the rotation of the winding driving device 152, and receives a signal regarding the degree of looseness of the main wire 130 detected and transmitted by the sensor 153, and rotates the winding driving device 152. The direction and rotation speed are determined, and the rotation direction and output of the winding driving device 152 are controlled.

The operation means 155 is provided for the user to operate the winding control device 154, and controls the winding drive device 152 forward or reverse by manually controlling the winding control device 154. In the present embodiment, the winding control device 154 can be directly operated by input means such as a switch installed in the wire length adjusting unit 150. With this configuration, the main wire 130 can be adjusted to a length desired by the user, and the user can directly operate the winding control device 154 in an emergency or the like in which the sensor 153 cannot be detected. The rotation of the device 152 can be adjusted.

In the present embodiment, the winding control device 154 controls the forward or reverse rotation of the winding driving device 152 and the output in accordance with a command from the operating means 155 or the looseness of the main wire 130 detected by the sensor 153. Is performed, the main wire 130 is wound or pulled out / sent to the winding device 151. This makes it possible to maintain the tension of the main wire 130, so that the main wire 130 can always be appropriately tensioned. In such a case, the unmanned aerial vehicle 110 may fall due to an abnormality. However, it is possible to hang the main wire suspension 140 without dropping it, and it is possible to provide the unmanned shooting vehicle 100 equipped with a suspension device having operability and safety. Was.

The unmanned aerial vehicle 110 has a configuration in which a main wire fixing portion 170 is installed at one end 132a of a main wire 130. The main wire fixing portion 170 is a member installed to prevent the main wire 130 from being bent. In the present embodiment, as shown in FIGS. 1 and 2, the main wire fixing portion 170 has substantially the same length as the entire length of the unmanned aerial vehicle 110. In this configuration, a cylindrical member is penetrated through the main wire 130. With this configuration, it is possible to prevent the main wire 130 from becoming entangled with the unmanned aerial vehicle 110, particularly with respect to the rotary wing 112 portion.

In this embodiment, the main wire suspension 140 has a variable length structure that can be extended and contracted. The main wire suspension 140 can have a configuration (a retractable / storage type multi-stage fishing rod structure) in which, for example, a plurality of cylindrical members each having a tapered shape are sequentially added to each other so as to be expandable and contractible. With this configuration, the main wire suspension 140 can be adjusted to a desired length by the user, and the usability is improved, and the height of the unmanned aerial vehicle 110 can be adjusted. As shown in FIG. 3, the unmanned flying object for photography can be used in any place.

As another embodiment, as shown in FIG. 4, an unmanned aerial vehicle 200 for photographing provided with a suspension device according to the present invention includes an unmanned aerial vehicle 210, an imaging device 220, a main wire 230, and a main wire hanger. This is a configuration including a frame 240, a suspension wire 260, and a suspension wire fishing support 270.

The unmanned aerial vehicle 210 is a vehicle that can glide and stop in the air that can be steered by radio. In this embodiment, as shown in FIGS. 2 and 4, a small to medium-sized drone equipped with a plurality of rotors is used. However, the present invention is not limited to this, and a device capable of gliding and stopping in the air is used. If so, it can be appropriately selected and used.

The image capturing device 220 is a camera that can capture a still image and a moving image, and is configured to be mounted on the unmanned aerial vehicle 210 as shown in FIG. It is desirable that the imaging device 220 be small and light because it is mounted on the unmanned aerial vehicle 210. In the present embodiment, the photographing device 220 is configured to be installed below the unmanned aerial vehicle 210, but is not limited to this. It is possible to adopt a configuration in which it is installed above or on the side of the unmanned aerial vehicle 210.

The suspension wire 260 is a cable-like member for towing and holding the unmanned aerial vehicle 210, and is configured to be fixedly installed on the unmanned aerial vehicle 210 as shown in FIG. In the present embodiment, the suspension wire 260 is made of a hard-to-cut, flexible, and lightweight cable formed by twisting a piano wire or the like. Regardless of the type, it can be appropriately selected and used. Further, the suspension wire fishing support portion 270 is a member for supporting the suspension wire 260, and the end of the suspension wire 260 is fixed.

The main wire 230 is a cable-like member for movably suspending and suspending the hanging wire fishing support 270. As shown in FIGS. 4 and 5, the main wire 230 movably retains the hanging wire fishing support 270. It is. In the present embodiment, the main wire 230 is made of a hard-to-cut, flexible, and lightweight cable formed by twisting a piano wire or the like (twist). Regardless of the material, it can be appropriately selected and used.

The main wire hooking portion 240 is a member for hanging and holding the main wire 230. As shown in FIG. 4, the main wire hooking portion 240 is connected to both ends of the main wire 230, and is a pair for hanging the main wire 230 from both ends. It is a rod-shaped member made of In the present embodiment, the main wire suspension portion 240 is formed of a long rod-shaped member in order to secure a range in which the unmanned aerial vehicle 210 can fly, and is made of a lightweight material such as carbon in order to be able to be carried by a person. Although the configuration is made of various materials, the present invention is not limited to this, and the length and material can be appropriately selected and used according to the purpose such as the shooting location.

The suspension wire 260 is made of a bendable member in this embodiment. As shown in FIG. 4, one end 262a is fixedly connected to the unmanned aerial vehicle 210, and the other end 262b is connected to the suspension wire fishing support 270 side. Thereby, the unmanned aerial vehicle 210 can secure a flight range corresponding to the length of the suspension wire 260. The hanging wire 260 may be configured to be hooked directly to the hanging wire fishing support 270 and fixed in length, or may be configured to be variable in length by using a hanging wire length adjusting unit 250 described later. .

(5) The suspended wire fishing support portion 270 is configured by a cylindrical member through which the main wire 230 passes, as shown in FIG. Further, the suspension wire fishing support portion 270 is configured to support the suspension wire 260. The suspended wire fishing support 270 is suspended and held by the main wire 230 so as to be movable back and forth along the main wire 230. Thus, the unmanned aerial vehicle 210 connected to the main wire 240 via the suspension wire 260 and the suspension wire fishing support 270 can make a floating sailing gliding flight along the main wire 230.

The unmanned aerial vehicle 210 is configured to be able to shoot a moving image and / or a still image by the imaging device 220 according to a user's instruction. With this configuration, it is possible for the unmanned aerial vehicle 210 to capture a moving image and / or a still image by the imaging device 220 in accordance with a user's instruction while performing a floating sailing glide or a stop by a user's operation. Further, when the unmanned aerial vehicle 210 is about to crash due to an abnormality, it is possible to prevent the unmanned aerial vehicle 210 from crashing due to the tension of the suspension wire 260 suspended from the suspension wire fishing support 270.

The suspension wire fishing support portion 270 is configured to support the suspension wire 260 loosely and freely. Further, as shown in FIGS. 4 and 5, the main wire 230 is movably suspended. In the present embodiment, the suspension wire length adjustment section 250 is installed on the suspension wire fishing support section 270, and thereby the suspension wire 260 is supported loosely and freely.

The suspension wire length adjustment unit 250 holds the tension of the suspension wire 260 that connects and holds the unmanned aerial vehicle 210 in a towable manner, and also adjusts the suspension wire 260 to a length desired by the user. It is a member for adjusting winding and withdrawal / delivery. The suspension wire length adjustment unit 250 can extend and retract the length of the suspension wire 260 in order to prevent a state in which the suspension wire 260 is loosened or overstricted due to the movement of the unmanned aerial vehicle 210 in the air. In this case, the suspension wire 260 is maintained at an appropriate tension.

In the present embodiment, the suspension wire length adjustment unit 250 is configured to suspend the suspension wire 260 such that the suspension wire 260 does not sag when the unmanned aerial vehicle 210 floats up and down, front and rear, and left and right. In accordance with the tension of the wire 260, the suspension or retraction of the suspension wire 260 is performed so that the tension of the suspension wire 260 is maintained. With this configuration, the flight range of the unmanned aerial vehicle 210 can be limited to a range desired by the user. In addition, when an abnormality occurs in the unmanned aerial vehicle 210, the tension of the suspension wire 260 can be fixed and maintained, and the unmanned aerial vehicle 210 can be prevented from falling.

For example, when a plurality of rotors of the unmanned aerial vehicle 210 stop and crash, the tension of the suspension wire 260 sharply increases as the unmanned aerial vehicle 210 falls. When the sensor 253 of the hanging wire length adjusting unit 250, which will be described later, detects this sudden increase in tension and determines that the rate of increase is equal to or greater than a certain value, the pulling / delivery of the hanging wire 260 is automatically stopped. And lock it. Thereby, it is possible to prevent the unmanned aerial vehicle 210 from falling down, and the unmanned aerial vehicle 210 is suspended via the suspension wire 260 by the suspension wire fishing support 270 movably held by the main wire 230. Become.

When the unmanned aerial vehicle 210 becomes uncontrollable, the suspension / extension of the suspension wire 260 by the suspension wire length adjustment unit 250 is stopped in advance by a user's instruction, and the length of the suspension wire 260 is reduced. By fixing the unmanned aerial vehicle 210 so as not to be pulled out for a longer time, it is possible to prevent the unmanned aerial vehicle 210 from falling.

(5) The hanging wire length adjusting unit 250 includes a winding device 251, a winding driving device 252, a sensor 253, and a winding control device 254, as shown in FIG.

The winding device 251 is a member for winding or pulling out / delivery of the suspension wire 260. In the present embodiment, the winding device 251 is configured by a tubular pulley-like member capable of winding the suspension wire 260. . Further, the winding driving device 252 is a driving device for performing normal rotation and reversal of the winding device 251. In the present embodiment, the winding driving device 252 includes a motor driven electrically.

The sensor 253 is a detector for detecting the looseness of the suspension wire 260. When the suspension wire 260 is loosened or contracted due to the gliding movement or stop of the unmanned aerial vehicle 210 based on the operation of the user, the sensor 253 is relaxed. Is detected, and the degree of relaxation is signaled.

The winding control device 254 is a device that controls the rotation of the winding driving device 252, and receives a signal regarding the degree of looseness of the suspension wire 260 detected and transmitted by the sensor 253, and The rotation direction and the rotation speed are determined, and the rotation direction and the output of the winding driving device 252 are controlled.

In the present embodiment, the winding control device 254 controls the normal or reverse rotation of the winding driving device 252 and the output in accordance with the tension of the suspension wire 260 detected by the sensor 253, and thereby the winding is controlled. The suspension wire 260 is wound up or pulled out / sent to the rotation device 251. As a result, the tension of the suspension wire 260 can be maintained, so that the suspension wire 260 can always be appropriately tensioned. Even if it is, it is possible to suspend the hanging wire fishing support portion 270 movably held by the main wire 230 without dropping, and to perform shooting with a hanging device having operability and safety. It becomes possible to provide the unmanned aerial vehicle 200 for use.

The unmanned aerial vehicle 210 has a configuration in which a suspension wire fixing section 280 is installed at one end 262a of the suspension wire 260. The suspension wire fixing portion 280 is a member installed to prevent the refraction of the suspension wire 260. In the present embodiment, as shown in FIG. 4, a tube having substantially the same length as the entire length of the unmanned aerial vehicle 210 is provided. This is a configuration in which the member is penetrated through the hanging wire 260. With this configuration, it is possible to prevent the hanging wire 260 from being entangled with the unmanned aerial vehicle 210.

In the present embodiment, the main wire hooking section 240 is configured to have a variable length structure that can be extended and contracted. The main wire hooking portion 240 can be configured to extend and contract, for example, by successively adding a plurality of cylindrical members each having an internal tapered shape. With this configuration, it is possible to adjust the length of the pair of main wire suspension portions 240 to the length desired by the user, and to improve the usability, and to adjust the altitude for flying the unmanned aerial vehicle 210, This makes it possible to use the unmanned flying object for photography anywhere.

As another embodiment, the hanging wire fishing support portion 270 is provided with a hook member (not shown) instead of the hanging wire length adjustment portion 250 installed on the hanging wire fishing support portion 270, and the hook member The suspension wire length adjustment unit 250 can be installed at the end of the suspension wire 260 extending through the suspension wire, and the suspension wire length adjustment unit 250 can be arranged on the ground or the like. With this configuration also, the control of the length of the suspension wire 260 by the suspension wire length adjustment unit 250 makes it possible to realize free flight and fall prevention of the unmanned aerial vehicle 210.

Conceptual diagram of an unmanned shooting vehicle equipped with a suspension device according to the present invention Unmanned aerial vehicle side view Figure of unmanned shooting vehicle equipped with a suspension device when used in places with height differences Conceptual diagram of an unmanned shooting vehicle equipped with a suspension device provided with a pair of main wire suspension units Perspective view of hanging wire fishing branch

REFERENCE SIGNS LIST 100 Unmanned flying vehicle with suspension device 110 Unmanned flying vehicle 114 Drive unit 116 Control device 118 Main body 120 Imaging device 130 Main wire 132a One end 132b Other end 140 Main wire suspension 142a Other end 142b One end 144 Doorway 150 Wire length adjustment unit 151 Winding device 152 Winding drive device 153 Sensor 154 Winding control device 155 Operating means 160 Protective frame 170 Main wire fixing unit 200 Unmanned air vehicle for shooting equipped with suspension device 210 Unmanned aerial vehicle 220 Photographing Device 230 Main Wire 240 Main Wire Hanging Unit 250 Hanging Wire Length Adjusting Unit 251 Winding Device 252 Winding Drive Device 253 Sensor 254 Winding Control Device 260 Hanging Wire 262a One End 262b Other End 2 0 hanging wire fishing branch 280 hanging wire fixed portion

Claims

An unmanned aerial vehicle (110) equipped with a photographing device (120), a main wire (130) for towing and holding the unmanned aerial vehicle, and a main wire suspension (140) for suspending the main wire so as to be stretchable. ) And a wire length adjusting unit (150) for adjusting the winding / drawing of the main wire in order to maintain the tension of the main wire and to make the main wire a desired length. In the shooting unmanned aerial vehicle (100),
The main wire (130) has one end (132a) connected to the unmanned aerial vehicle (110) via the main wire suspension (140), and the other end (132b) adjusts the wire length. Section (150)
The main wire suspension (140) is formed of a long rod-shaped member for suspending the main wire (130) loosely, and a wire is attached to one end (142b) of the main wire suspension (140). Along with the length adjustment unit (150), an entrance / exit unit (144) for suspending and entering and exiting the main wire extending from the wire length adjustment unit is installed at the other end (142a),
The wire length adjustment unit (150) restricts the flight range of the unmanned aerial vehicle (110) to a desired range and prevents the unmanned aerial vehicle from moving up and down in the air in order to prevent crash when an abnormality occurs. In accordance with the looseness of the main wire caused by floating movement back and forth, right and left, the main wire is controlled so as to maintain the tension of the main wire by winding or drawing out the main wire so as not to cause slack. ,
The unmanned aerial vehicle is a shooting unmanned aerial vehicle equipped with a suspension device, wherein a video and / or a still image is captured by the imaging device (120) according to a user's instruction.
The wire length adjusting unit (150) is a winding device (151) for winding or extending the main wire (130), and a winding driving device (152) for normal rotation and reversal of the winding device. A sensor (153) for detecting the tension of the main wire, a winding control device (154) for controlling the rotation of the winding driving device, and operating means for allowing a user to operate the winding control device (155)
The winding control device (154) controls the normal rotation or reversal of the winding device according to a command from the operating means and / or detection information of the sensor,
The operating means (155) controls the normal or reverse rotation of the winding driving device by manually controlling the winding control device,
The winding control device (154) controls the forward or reverse rotation of the winding driving device in accordance with the tension of the main wire detected by the sensor, so that the main wire to the winding device is controlled. 2. The unmanned flying object for photographing provided with the suspension device according to claim 1, wherein the main wire is wound or pulled out to maintain the tension of the main wire.
The unmanned aerial vehicle (110) is provided with a main wire fixing part (170) at the one end of the main wire to prevent refraction of the main wire in order to prevent the main wire from being entangled with the unmanned aerial vehicle. An unmanned flying object for photographing, comprising the suspension device according to claim 1.
The photographing device provided with the suspension device according to claim 3, wherein the main wire fixing portion (170) has a tubular member having substantially the same length as the entire length of the unmanned aerial vehicle penetratingly installed through the main wire. Unmanned aerial vehicle.
The unmanned flying object for photographing provided with the hanging device according to claim 1, wherein the hanging portion (140) of the main wire has a variable length structure that can be extended and contracted.
An unmanned aerial vehicle (210) equipped with a photographing device (220), a suspension wire (260) for pulling and holding the unmanned aerial vehicle, and a suspension wire fishing support (270) for supporting the suspension wire A main wire (230) that movably suspends and holds the hanging wire fishing support, and a pair of main wire hooks (240) that are connected to both ends of the main wire and hook the main wire, In a shooting unmanned aerial vehicle (200) equipped with a suspension device consisting of
The hanging wire (260) is made of a bendable member, and one end (262a) is fixedly connected to the unmanned aerial vehicle (210), and the other end (262b) is connected to the hanging wire fishing support ( 270)
The hanging wire fishing support portion (270) is formed of a tubular member through which the main wire penetrates, and supports the hanging wire, and is movable back and forth along the main wire (230). Is suspended from the main wire,
The unmanned aerial vehicle (210) is an unmanned aerial vehicle for photographing provided with a suspension device, characterized in that a moving image and / or a still image is photographed by the photographing device (220) according to a user's instruction.
The hanging wire fishing support portion (270), while supporting the hanging wire (260) loosely and freely, is suspended movably on the main wire (230), A suspending wire length adjusting unit (250) for adjusting winding / drawing of the suspending wire to maintain the tension of the wire and to adjust the suspending wire to a length desired by the user is installed.
The hanging wire length adjustment unit (250) restricts the flight range of the unmanned aerial vehicle (210) to a desired range and prevents the unmanned aerial vehicle from crashing when an abnormality occurs. In accordance with the tension of the suspension wire caused by floating movement of the suspension wire up and down, back and forth, and left and right, the tension of the suspension wire is reduced by winding or drawing out the suspension wire so as not to cause slack. An unmanned shooting vehicle equipped with the suspension device according to claim 6, wherein the unmanned flying object is controlled so as to be maintained.
The hanging wire length adjusting unit (250) is a winding device (251) for winding or drawing out the hanging wire, and a winding driving device (252) for performing normal rotation and reversal of the winding device. A sensor (253) for detecting the tension of the hanging wire, and a winding control device (254) for controlling the rotation of the winding driving device,
The winding control device (254) controls the normal rotation or reversal of the winding device according to the detection information of the sensor, according to the tension of the suspension wire detected by the sensor, the The winding wire is wound or pulled out of the winding device by controlling the normal rotation or reversal of the winding driving device, and the tension of the hanging wire is maintained. Unmanned aerial vehicle for photography equipped with a suspension device.
The unmanned aerial vehicle (210) is a suspension wire fixing portion for preventing the suspension wire (260) from being entangled with the unmanned aerial vehicle, and preventing the suspension wire from being bent at one end of the suspension wire. An unmanned aerial vehicle for photographing comprising the suspension device according to claim 7, further comprising (280).
The suspension device according to claim 9, wherein the suspension wire fixing portion (280) has a tubular member having substantially the same length as the entire length of the unmanned aerial vehicle penetrated through the suspension wire. Unmanned aerial vehicle for shooting.
The unmanned flying object for photographing provided with the suspension device according to claim 7, wherein the main wire suspension portion (240) has a variable length structure that can be extended and contracted.