WO2021074985A1 - 接続モジュール及び飛行体 - Google Patents

接続モジュール及び飛行体 Download PDF

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Publication number
WO2021074985A1
WO2021074985A1 PCT/JP2019/040597 JP2019040597W WO2021074985A1 WO 2021074985 A1 WO2021074985 A1 WO 2021074985A1 JP 2019040597 W JP2019040597 W JP 2019040597W WO 2021074985 A1 WO2021074985 A1 WO 2021074985A1
Authority
WO
WIPO (PCT)
Prior art keywords
connection module
guide rail
connection
gimbal
present
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2019/040597
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
鈴木陽一
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Aeronext Inc
Original Assignee
Aeronext Inc
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 Aeronext Inc filed Critical Aeronext Inc
Priority to PCT/JP2019/040597 priority Critical patent/WO2021074985A1/ja
Priority to JP2019556720A priority patent/JPWO2021074985A1/ja
Publication of WO2021074985A1 publication Critical patent/WO2021074985A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use

Definitions

  • the present invention relates to a connection module and an air vehicle including the connection module.
  • flying objects such as drones and unmanned aerial vehicles (UAVs).
  • aerial photography using a rotorcraft called a drone or multicopter may be performed.
  • This type of rotary wing aircraft is being applied not only to aerial photography but also to fields such as carrying luggage L.
  • Patent Document 1 describes a rotary wing machine having a plurality of rotary wings, a support portion installed vertically below the center of the rotary wing machine, and a mounting portion installed at the vertically downward end of the support portion.
  • An aerial rotorcraft system consisting of a mooring rope connected to the bottom of the mounting part, one end of the mooring rope connected to the vertically lower end of the mounting part, and the other end of the mooring rope locked to the ground. It is disclosed.
  • Patent Document 1 discloses a delivery system using a rotary wing aircraft (for example, Patent Document 1).
  • the rotary wing machine (drone) autonomously forms a shipping list for delivering the parcel L to be delivered to the delivery destination.
  • Patent Document 1 has a problem that the flight becomes unstable when the position of the center of gravity of the flying object is significantly separated from that of the rotary wing aircraft having a plurality of rotary wings.
  • connection module capable of adjusting the position of the center of gravity to an optimum position and stabilizing flight.
  • One purpose is to provide an air vehicle.
  • An object having a predetermined length in the first direction and It is provided with a connecting portion that is displaceable with respect to the object within a predetermined range and is configured to be detachably attached to the object. You get a connection module.
  • connection module capable of adjusting the position of the center of gravity to an optimum position and stabilizing flight, and an air vehicle equipped with the connection module.
  • connection module has the following configuration.
  • the connection has a gimbal structure.
  • the object is a guide rail.
  • the connection is movable on the guide rail.
  • connection module according to an embodiment of the present invention and an air vehicle provided with the connection module will be described with reference to the drawings.
  • the flying object 1 As shown in FIG. 1, the flying object 1 according to the embodiment of the present invention has a flying unit 2 and a connecting module 3.
  • the flight unit 2 has a propeller 20, a motor 21, and an arm (frame) 22 for supporting the propeller 20 for generating thrust.
  • the propeller 20 has an elongated blade. Any number of blades (rotors) (eg, 1, 2, 3, 4, or more blades) may be used. Further, the shape of the blade can be any shape such as a flat shape, a bent shape, a twisted shape, a tapered shape, or a combination thereof.
  • the propellers 20 can all rotate in the same direction, or can rotate independently. Some of the propellers 20 rotate in one direction and the other propellers 20 rotate in the other direction. The propellers 20 can all rotate at the same rotation speed, and can also rotate at different rotation speeds. The number of rotations can be automatically or manually determined based on the dimensions (for example, size, weight) and control state (speed, moving direction, etc.) of the moving body.
  • the motor 21 causes the propeller to rotate.
  • the drive unit can include an electric motor, an engine, or the like.
  • the propeller 20 is driveable by a motor and rotates clockwise and / or counterclockwise around the axis of rotation of the motor (eg, the major axis of the motor).
  • the arm 22 can be formed of a material appropriately selected from carbon, stainless steel, aluminum, magnesium and the like, alloys thereof, combinations and the like.
  • the arm 22 is connected to a guide rail 30 described later via a gimbal 31 described later. According to such a configuration, the arm 22 and the guide rail 30 of the flying object 1 are connected to each other via the gimbal 31 so as to be independently displaceable.
  • the angle of displacement is not particularly limited.
  • the connection module 3 includes a guide rail 30 (object) having a predetermined length in the first direction (Z direction) and a gimbal 31 (connection portion) that can be displaced within a predetermined range with respect to the guide rail 30. doing.
  • the guide rail 30 includes objects to be mounted (cameras, sensors, microphones, and other information acquisition devices capable of acquiring external information, surveys, recordings, sprayers and spraying devices, water discharge devices, speakers and odor generators, light emitting devices, tools, and the like. It is a mechanism for mounting and holding a robot arm, etc.).
  • the guide rail 30 is made of, for example, carbon fiber reinforced plastic, and is lightweight while maintaining strength.
  • the length of the guide rail 2 is, for example, a short object for a camera, which is several tens of centimeters, and a long object, which is several meters.
  • the guide rail 30 has a substantially U-shaped cross section, and has an opening extending in the first direction (Z direction).
  • a camera 4 having a known weight is mounted on the tip of the guide rail 30, for example.
  • a hook 5 for suspending the object L to be mounted is provided at the lower end of the guide rail 30.
  • a weight sensor 6 capable of detecting the weight of the object L to be mounted is provided in the vicinity of the hook 5.
  • various known weight sensors such as a weight sensor using a metal resistor type strain gauge and a weight sensor using a semiconductor type strain gauge can be applied.
  • the gimbal 31 is made of a material having a small coefficient of friction and excellent wear resistance and heat resistance in order to reduce the frictional resistance with the guide rail 30.
  • a porous resin fiber cloth made of fluororesin was used as a base layer, and a PET resin sheet was wrapped around the surface on the guide rail 30 side, and a sintered PTFE resin sheet and Teflon (registered trademark) were impregnated. It can be exemplified that it is molded by a glass fiber sheet or the like.
  • the gimbal 31 is detachably configured on the guide rail 30.
  • a known attachment / detachment mechanism can be used.
  • the gimbal 31 according to the present embodiment is a gimbal 31 that can move only in the front-rear direction, which is the same direction as the traveling direction of the flying object 1 (uniaxial gimbal).
  • the gimbal 31 can move along the guide rail 30.
  • a known moving mechanism can be used.
  • the moving mechanism can be configured by, for example, an actuator such as an electric motor that is fixed to the guide rail 30 and moves a groove (not shown) provided in the guide rail 30 to move the gimbal 31.
  • flying object 1 is drawn in a simplified manner to facilitate the explanation of the structure of the present invention. Therefore, in FIG. 1, the elements of the electrical system are not shown.
  • FIG. 2 is a functional block diagram showing the configuration of the electrical system in the flying object 1. As shown in FIG. 2, the flying object 1 has a center of gravity position detecting means 50 and a center of gravity movement controlling means 51.
  • the center of gravity position detecting means 50 detects the position of the center of gravity of the flying object 1 based on the weights of the camera 4 whose weight is known and the mounted object L (for example, a tool) detected by the weight sensor 6.
  • FIG. 3 is a diagram showing an initial state of the flying object 1.
  • the center of gravity mark in the figure represents the center of gravity (Center Of Gravity: COG) of the flying object.
  • the center of gravity movement control means 51 flies the position of the gimbal 31 by driving the actuator to move the gimbal 31 along the guide rail 30 based on the position of the center of gravity of the flying object 1 detected by the center of gravity position detecting means 50. Match the position of the center of gravity of body 1 (see FIG. 1).
  • the positions of the center of gravity of the flight unit 2 and the flight body 1 are prevented from being significantly separated. Therefore, the position of the center of gravity of the flying object 1 can be adjusted to the optimum position, and the flight of the flying object 1 can be stabilized.
  • the above-mentioned flying object 1 has a functional block shown in FIG.
  • the functional block in FIG. 4 has a minimum reference configuration.
  • the flight controller is a so-called processing unit.
  • the processing unit can have one or more processors, such as a programmable processor (eg, a central processing unit (CPU)).
  • a programmable processor eg, a central processing unit (CPU)
  • the processing unit has a memory (not shown), and the memory can be accessed.
  • 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.
  • a separable medium such as an SD card or random access memory (RAM) or an external storage device.
  • the data acquired from the cameras and sensors may be directly transmitted and stored in the memory. For example, still image / moving image data taken by a camera or the like is recorded in an internal memory or an external memory.
  • the processing unit includes a control module configured to control the state of the rotorcraft.
  • the control module adjusts the spatial arrangement, velocity, and / or acceleration of a rotorcraft with 6 degrees of freedom (translational motion x, y and z, and rotational motion ⁇ x , ⁇ y and ⁇ z).
  • the control module can control one or more of the states of the mounting unit and the sensors.
  • the processing unit is capable of communicating with a transmitter / receiver configured to transmit and / or receive data from one or more external devices (eg, terminals, display devices, or other remote controls).
  • the transmitter / receiver can use any suitable communication means such as wired communication or wireless communication.
  • the transmitter / receiver uses one or more of local area network (LAN), wide area network (WAN), infrared, wireless, WiFi, point-to-point (P2P) network, telecommunications network, cloud communication, and the like. be able to.
  • LAN local area network
  • WAN wide area network
  • infrared wireless
  • WiFi point-to-point
  • P2P point-to-point
  • telecommunications network cloud communication, and the like. be able to.
  • the transmitter / receiver can transmit and / or receive one or more of the data acquired by the sensors, the processing result generated by the processing unit, the predetermined control data, the user command from the terminal or the remote control, and the like. ..
  • the sensors according to this embodiment may include an inertial sensor (accelerometer, gyro sensor), GPS sensor, proximity sensor (eg, rider), or vision / image sensor (eg, camera).
  • an inertial sensor accelerelerometer, gyro sensor
  • GPS sensor GPS sensor
  • proximity sensor eg, rider
  • vision / image sensor eg, camera
  • the air vehicle of the present invention can be expected to be used as an air vehicle dedicated to home delivery services over medium and long distances, and as an industrial air vehicle in wide area monitoring services and reconnaissance / rescue services in mountainous areas. Further, the air vehicle of the present invention can be used in an airplane-related industry such as a multicopter drone, and further, the air vehicle of the present invention is suitably used as an air vehicle equipped with a camera or the like and capable of performing aerial photography missions. In addition, it can be used in various industries such as security field, agriculture, and infrastructure monitoring.
  • the flying object of the present invention may be applied to a manned flying object.
  • connection portion is composed of a uniaxial gimbal.
  • the connection portion may be composed of a 2-axis gimbal or a 3-axis gimbal.
  • Wall members extending upward may be provided on both sides of the plate member to form an object.
  • the gimbal 31 is automatically moved along the guide rail 30 by using a known moving mechanism.
  • the gimbal 30 may be manually moved along the guide rail 30.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Toys (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
PCT/JP2019/040597 2019-10-16 2019-10-16 接続モジュール及び飛行体 Ceased WO2021074985A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/JP2019/040597 WO2021074985A1 (ja) 2019-10-16 2019-10-16 接続モジュール及び飛行体
JP2019556720A JPWO2021074985A1 (https=) 2019-10-16 2019-10-16

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2019/040597 WO2021074985A1 (ja) 2019-10-16 2019-10-16 接続モジュール及び飛行体

Publications (1)

Publication Number Publication Date
WO2021074985A1 true WO2021074985A1 (ja) 2021-04-22

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PCT/JP2019/040597 Ceased WO2021074985A1 (ja) 2019-10-16 2019-10-16 接続モジュール及び飛行体

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160081505A1 (en) * 2014-09-18 2016-03-24 Donald Joseph Berg Gyroscopic cup holder
KR101783545B1 (ko) * 2016-04-05 2017-10-23 주식회사 드론오렌지 Vr 360도 전방위 촬영을 위한 무인 비행체용 카메라 짐볼 시스템
JP2017193208A (ja) * 2016-04-18 2017-10-26 株式会社自律制御システム研究所 小型無人航空機
JP2019171997A (ja) * 2018-03-27 2019-10-10 株式会社エアロネクスト 飛行体

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6994406B2 (ja) * 2018-02-23 2022-01-14 本田技研工業株式会社 飛行体

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160081505A1 (en) * 2014-09-18 2016-03-24 Donald Joseph Berg Gyroscopic cup holder
KR101783545B1 (ko) * 2016-04-05 2017-10-23 주식회사 드론오렌지 Vr 360도 전방위 촬영을 위한 무인 비행체용 카메라 짐볼 시스템
JP2017193208A (ja) * 2016-04-18 2017-10-26 株式会社自律制御システム研究所 小型無人航空機
JP2019171997A (ja) * 2018-03-27 2019-10-10 株式会社エアロネクスト 飛行体

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