WO2020178946A1 - Marqueur de reconnaissance et véhicule volant - Google Patents

Marqueur de reconnaissance et véhicule volant Download PDF

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Publication number
WO2020178946A1
WO2020178946A1 PCT/JP2019/008395 JP2019008395W WO2020178946A1 WO 2020178946 A1 WO2020178946 A1 WO 2020178946A1 JP 2019008395 W JP2019008395 W JP 2019008395W WO 2020178946 A1 WO2020178946 A1 WO 2020178946A1
Authority
WO
WIPO (PCT)
Prior art keywords
battery
recognition marker
camera
skid
recognition
Prior art date
Application number
PCT/JP2019/008395
Other languages
English (en)
Japanese (ja)
Inventor
與明 鳥潟
Original Assignee
東光鉄工株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 東光鉄工株式会社 filed Critical 東光鉄工株式会社
Priority to JP2019548347A priority Critical patent/JP6735424B1/ja
Priority to PCT/JP2019/008395 priority patent/WO2020178946A1/fr
Publication of WO2020178946A1 publication Critical patent/WO2020178946A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/02—Undercarriages
    • B64C25/08—Undercarriages non-fixed, e.g. jettisonable
    • B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
    • 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
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/02—Dropping, ejecting, or releasing articles
    • 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
    • B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
    • B64D1/02—Dropping, ejecting, or releasing articles
    • B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
    • B64D1/12—Releasing
    • 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
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/02—Arrangements or adaptations of signal or lighting devices
    • 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
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/02—Arrangements or adaptations of signal or lighting devices
    • B64D47/04—Arrangements or adaptations of signal or lighting devices the lighting devices being primarily intended to illuminate the way ahead
    • 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
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/18—Visual or acoustic landing aids
    • B64F1/20—Arrangement of optical beacons
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • 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
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U60/00—Undercarriages
    • B64U60/40—Undercarriages foldable or retractable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U60/00—Undercarriages
    • B64U60/50—Undercarriages with landing legs

Definitions

  • the present invention relates to a recognition marker and a flying body for practical application of unmanned flight in civilian fields such as distress search.
  • UAVs Unmanned Aerial Vehicles
  • unmanned exploration helicopters have been studied for military use in the United States and elsewhere.
  • LiPo Lithium Polymer
  • the present invention has been made in consideration of the above-mentioned conventional problems, and an object thereof is to provide a recognition marker more suitable for rescue.
  • the present invention also aims to provide a flying body with high waterproof performance.
  • the present invention also aims to provide a flying body that is stronger against wind pressure.
  • Another object of the present invention is to provide a flying body that can realize various multifunctional functions by remote control.
  • the present invention also aims to provide a flying body that can quickly find a victim.
  • Another object of the present invention is to provide a flying body that can easily drop a searchlight with a lightweight device.
  • Another object of the present invention is to provide a lightweight flying object.
  • the first invention is A recognition marker having a digital recognition code for predetermined information
  • the recognition marker can be heated, The presence of the heated recognition marker can be grasped by an infrared camera,
  • the recognition marker is characterized in that predetermined information of the recognition marker can be read by a visible camera.
  • the second invention is The recognition marker is the recognition marker according to the first aspect of the present invention, which can be heated by an internal or external battery and can be used as a heating appliance at the same time. This allows you to quickly find markers even in the middle of the night.
  • the third invention is A method of using the recognition marker according to the first or second aspect of the present invention, comprising: First, an infrared camera mounted on a flying body searches for the heated recognition marker, and the found recognition marker is irradiated with visible light by a light mounted on the flying body to perform the flight.
  • a method of using a recognition marker characterized in that the predetermined information is read by recognizing a digital recognition code attached to the recognition marker with a visible camera mounted on the body.
  • the fourth invention is A main body having a flight controller provided with a barometric pressure sensor inside, a plurality of hollow arms extending from the main body, a flying body with a motor and a propeller at the ends of these arms,
  • a battery is arranged in the main body, a cable for supplying power from the battery to the motor is passed through the hollow arm,
  • the inside of the case of the battery, the inside of the main body, and the hollow portion of the arm are sealed as one space in order to provide waterproof performance to the outside,
  • the main body is provided with an atmospheric pressure regulating valve or a waterproof breathable sheet portion, and the atmospheric pressure sensor can detect an external atmospheric pressure. This allows flight control while having a waterproof function.
  • the fifth aspect of the present invention is
  • the arm is a foldable type, and a groove for sealing and a sealing material are provided on a joint surface of the foldable portion, which is a flying body according to the fourth aspect of the present invention, in which waterproofness is maintained when the arm is deployed. ..
  • the arm can be folded during storage, which is convenient, and the waterproof property can be maintained during flight.
  • the sixth invention is A fifth aspect of the present invention is an aircraft in which the skid of the aircraft is removable.
  • the seventh invention is It is an aircraft equipped with a propeller, a drive source, a battery, a controller and a skid,
  • the skid is an openable and closable type, and is capable of taking off and landing by being closed so as to be in parallel with the propeller at the time of flight and opening at the time of takeoff and landing.
  • the eighth invention is It is an air vehicle equipped with a propeller, a drive source, a battery, a control unit, a camera and a skid,
  • the battery case and the camera housing case have a spherical or hemispherical shape.
  • the ninth invention is It is an air vehicle equipped with a propeller, a drive source, a battery, a control unit, a camera and a skid, It is a wireless operation type air vehicle that is equipped with a function of dropping materials, a searchlight search function, a compound eye camera function, a gimbal function, and a loud call function at the same time, and can be operated by remote control.
  • one aircraft can perform multiple functions.
  • the tenth invention is It is an air vehicle equipped with a propeller, a drive source, a battery, a control unit, a camera and a skid, It is an air vehicle that has an infrared night-vision camera and an analysis unit that can detect the body temperature of the human body from the sensor output data, and that can search for a victim.
  • the eleventh invention is It is an air vehicle equipped with a propeller, a drive source, a battery, a control unit, a camera and a skid, Searchlight and And a holding means for holding the searchlight,
  • the holding means has a mechanism for holding the searchlight by a resin layer having an electrothermal nichrome wire on the outside or inside, Upon receiving a drop command of the searchlight, the battery applies a current to the electrothermal nichrome wire to generate heat, thereby melting the resin layer, and the searchlight naturally falls due to its own weight. It is a flying object.
  • the searchlight can be dropped without using a motor, which leads to a reduction in the weight of the aircraft.
  • a twelfth aspect of the present invention is an aircraft including a propeller, a drive source, a battery, a controller, a camera, and a skid,
  • the flying body is characterized in that a chemical reaction type warming/warming device for heating the battery is built in the storage case of the battery.
  • a lightweight flying object can be provided.
  • a perspective view of a recognition marker according to an embodiment of the present invention The perspective view of the modification of the recognition marker of embodiment of this invention. 1 is a perspective view of an aircraft according to an embodiment of the present invention as seen from above.
  • Schematic front view of an aircraft according to an embodiment of the present invention (A), (b) Schematic front view of a modified example of the flying object according to the embodiment of the present invention.
  • the recognition marker 1 is a marker having a two-dimensional code 2 printed in the center.
  • the two-dimensional code 2 As the information described in the two-dimensional code 2, the number of persons in distress, water required, food required, heating required, and other distress information are written.
  • the 2D code 2 itself does not make sense to people, the back side of the sentence that says "I need water, I need food, I need a heater, I can go down the mountain on my own" in ordinary sentences. Is added to. It is necessary to make many recognition markers 1 according to the information.
  • a heater 4 is wired inside the recognition marker 1 so that power can be supplied from the built-in battery 3.
  • the battery 3 may be externally attached. By supplying electric power to the heater 4, the temperature of the recognition marker 1 can be raised.
  • the degree of this temperature rise is at least a temperature that can be grasped by an infrared camera. It should be noted that the wiring of the heater 4 for heating is not necessarily required to extend over the entire recognition marker 1, and it is sufficient that it can be grasped by the infrared camera, and therefore it may be provided only at four corners.
  • FIG. 2 shows a modification in which a plurality of two-dimensional codes 2 are printed on one recognition marker 1. It has the advantage of being able to write a lot of information.
  • FIG. 3 to 5 are perspective views of the flying object 5 of the present embodiment.
  • This is an example of an air vehicle 5 such as a drone that uses the recognition marker 1 described above.
  • First, the outline of the flying body 5 will be described.
  • the flight control unit 6 is provided at the top, the battery case 13 is arranged below the flight control unit 6, and the gimbal case 7 is provided below the flight control unit 6.
  • An infrared camera 10 and a visible camera 11 are mounted on a gimbal mechanism in the gimbal case 7 so that the camera can be aimed in a desired direction.
  • a searchlight 8 is installed next to the gimbal case 7 so as to face downward.
  • a speaker 12 is provided next to it, and a rope 9 for dropping materials is suspended.
  • 14 is a skid, which is T-shaped in this example. Further, four arms 15 are provided, a motor 16 is mounted on the tip of each arm 15, and the propeller 17 is driven by the motor 16.
  • the flying object 5 is flown to that location (if the location of the distress is known).
  • several types of the above-mentioned recognition markers 1 are carried by using the rope 9 of the flying body 5 or the like.
  • the visible camera 11 of the flying object 5 is used to image the two-dimensional code 2 of the recognition marker 1, converted into Japanese by the analysis means provided inside the flying object 5, and the communication function is used. Then, inform the fire department about the victims.
  • the image data of the two-dimensional code 2 captured by the visible camera 11 may be directly communicated to the fire station, and the fire station side may decode the two-dimensional code 2.
  • the recognition marker 1 can read the two-dimensional code 2 sufficiently even in a compact size, so that it does not become a baggage and can be easily carried.
  • the victim side appropriately selects and takes out the recognition marker 1 at hand, puts the switch of the battery 3 on, and puts it on the ground in a heated state. For example, it is heated to 38 degrees or more.
  • the air vehicle 5 drives the infrared camera 10 to search. Since the recognition marker 1 is heated to the extent that it can be recognized by the infrared camera 10, the recognition marker 1 can be found.
  • the infrared camera 10 discovers the recognition marker 1, this time the searchlight 8 illuminates the recognition marker 1. Then, this time, the visible camera 11 reads the two-dimensional code 2 of the recognition marker 1 as described above.
  • FIG. 6 is a front view of an aircraft 1 according to another embodiment of the present invention.
  • a motor 16 and a propeller 17 are attached to the tips of a plurality of arms 15 extending from a main body 60, a battery 130 is arranged above or below the main body 60, and power is supplied from the battery 130 to the motor 16.
  • a cable 18 for feeding the wire is passed through the inside of the hollow arm 15.
  • the flight controller (FC) 6 for stable control of the aircraft is located inside the main body 60, and a pressure sensor (not shown) is built in the FC 6 to measure the altitude of the aircraft from atmospheric pressure. ing. Since the FC6 is an electronic device, it cannot be used in an environment where it is exposed to water, but the barometric pressure sensor must be able to properly measure the same atmospheric pressure as the outside air. In a completely sealed aircraft, a difference occurs between the internal pressure and the external pressure. Therefore, in order to eliminate this difference, as shown in FIG. 6, an air pressure adjusting valve 61 or a waterproof breathable sheet is provided in the main body 60, so that the air pressure inside and outside can be kept equal.
  • the camera storage case 101 also has a spherical shape or a hemispherical shape so as to withstand wind pressure from a direction of 360 degrees.
  • the battery case 13 is also preferably spherical.
  • FIG. 7A shows another example of the aircraft 1 according to the embodiment of the present invention. That is, the arm 15 has a folding mechanism in order to enhance portability. In that case, as shown in FIG. 7( b ), the sealing groove 151 and the sealing material 152 are provided on the joint surface so that water does not permeate through the gap between the folded portions, whereby the waterproof property is maintained when the arm 15 is deployed. Is done.
  • FIG. 8B shows another example of the aircraft 1 according to the embodiment of the present invention. That is, in the arm having the folding mechanism of the arm 15 as described above, the skid 14, which is a leg, is longer than that in which the arm 15 is folded downward, and the angle at which the arm 15 is folded is also limited (see FIG. )), there is a problem that the size during transportation becomes large. In order to solve this, as shown in FIG. (b), the skid 14 can be removed, and it can be removed only during transportation and put in the carry bag 20 or the like to enhance portability.
  • FIG. 9 shows another example of the aircraft 1 according to the embodiment of the present invention.
  • the skid 14 is a skid 14 open/close type in order to realize stable flight under strong winds and not to receive wind resistance. The impact can be reduced. When taking off and landing, open it so that you can take off and land.
  • FIG. 10 shows another example of the flying vehicle 1 according to the embodiment of the present invention.
  • the survivor can be searched by comparing the signal from the infrared camera 11 which is also an infrared sensor with the body temperature data.
  • the body temperature is around 38 degrees and radiates an external line, so it is easy to search.
  • Reference numeral 31 is human body temperature data.
  • FIG. 11 shows another example of the flying vehicle 1 according to the embodiment of the present invention.
  • the searchlight 8 can be separated from the flying object 1 and dropped.
  • FIG. (A) is a perspective view thereof
  • FIG. (B) is a schematic cross-sectional view thereof.
  • 81 is a holding means for holding the searchlight 8
  • the holding means 81 and the searchlight 8 are provided with a resin layer 82.
  • a nichrome wire 83 is built in the resin layer 82. Power can be supplied to the nichrome wire 83 from the battery 130.
  • the searchlight 8 naturally falls under its own weight.
  • FIG. 11 shows another example of the flying object 1 according to the embodiment of the present invention.
  • Lithium-ion secondary batteries are widely used as the power source for the aircraft 1, but conventionally, in order to guarantee operation in a low temperature environment, the storage battery itself has a built-in heater for heating / retaining heat.
  • a heat insulating material that blocks cold air for example, a heat insulating material such as foamed urethane is used as a case material inside the battery case 13 that houses the battery 130.
  • a so-called disposable body warmer 131 such as a disposable human body heating means which is heated by a chemical reaction is attached to the inner side of the heat insulating material. This heating system enables the battery 130 to operate at the optimum internal temperature in the lightweight and safe battery heating battery case 13.
  • this aircraft when dropped, it replaces the cushioning material and prevents damage to expensive batteries, reducing the risk of fire due to battery destruction.
  • the flight vehicle of the present invention can realize a recognition marker and a flight vehicle that can make contact with a victim more smoothly, and is useful in fields such as disaster rescue.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Theoretical Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Artificial Intelligence (AREA)
  • Toxicology (AREA)
  • General Health & Medical Sciences (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Electromagnetism (AREA)
  • Health & Medical Sciences (AREA)
  • Acoustics & Sound (AREA)
  • Audible And Visible Signals (AREA)
  • Studio Devices (AREA)
  • Photovoltaic Devices (AREA)

Abstract

Selon l'invention, des informations relatives à l'état de détresse d'une personne en détresse sont facilement communiquées à une station centrale, etc. Un code de reconnaissance numérique (2) concernant des informations prescrites est attribué à un marqueur de reconnaissance (1), le marqueur de reconnaissance (1) étant caractérisé en ce que le marqueur de reconnaissance (1) peut être chauffé, la présence du marqueur de reconnaissance (1) chauffé peut être constatée par une caméra infrarouge et les informations prescrites du marqueur de reconnaissance (1) sont lues par une caméra visible.
PCT/JP2019/008395 2019-03-04 2019-03-04 Marqueur de reconnaissance et véhicule volant WO2020178946A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2019548347A JP6735424B1 (ja) 2019-03-04 2019-03-04 認識マーカーおよび飛行体
PCT/JP2019/008395 WO2020178946A1 (fr) 2019-03-04 2019-03-04 Marqueur de reconnaissance et véhicule volant

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2019/008395 WO2020178946A1 (fr) 2019-03-04 2019-03-04 Marqueur de reconnaissance et véhicule volant

Publications (1)

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WO2020178946A1 true WO2020178946A1 (fr) 2020-09-10

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JP (1) JP6735424B1 (fr)
WO (1) WO2020178946A1 (fr)

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Publication number Priority date Publication date Assignee Title
JP2006281830A (ja) * 2005-03-31 2006-10-19 Yamaha Motor Co Ltd カメラの視点表示システム
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