WO2021132372A1 - Dispositif de décollage et d'atterrissage pour multicoptère - Google Patents

Dispositif de décollage et d'atterrissage pour multicoptère Download PDF

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Publication number
WO2021132372A1
WO2021132372A1 PCT/JP2020/048238 JP2020048238W WO2021132372A1 WO 2021132372 A1 WO2021132372 A1 WO 2021132372A1 JP 2020048238 W JP2020048238 W JP 2020048238W WO 2021132372 A1 WO2021132372 A1 WO 2021132372A1
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WO
WIPO (PCT)
Prior art keywords
multicopter
fixing
top plate
frame
support
Prior art date
Application number
PCT/JP2020/048238
Other languages
English (en)
Japanese (ja)
Inventor
一平 山地
智也 辻野
敏彰 高木
佳己 佐久間
Original Assignee
株式会社クボタ
筑波工業株式会社
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 株式会社クボタ, 筑波工業株式会社 filed Critical 株式会社クボタ
Publication of WO2021132372A1 publication Critical patent/WO2021132372A1/fr

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    • 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
    • B64U10/16—Flying platforms with five or more distinct rotor axes, e.g. octocopters
    • 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
    • B64F1/12—Ground or aircraft-carrier-deck installations for anchoring aircraft
    • 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
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
    • E01F3/00—Landing stages for helicopters, e.g. located above buildings

Definitions

  • the present invention relates to a multicopter takeoff and landing device.
  • the device disclosed in Patent Document 1 includes an unmanned traveling mobile body and a heliport provided on the upper surface of the unmanned traveling mobile body.
  • Patent Document 1 has a rod for fixing the legs of a multicopter.
  • this rod has a structure in which the multicopter is fixed at a predetermined position, it cannot be applied to various multicopters having different sizes. Therefore, in view of the above problems, it is an object of the present invention to provide a multicopter takeoff and landing device capable of reliably fixing the legs of multicopters of various sizes.
  • the technical means of the present invention for solving this technical problem is characterized by the following points.
  • the takeoff and landing device of the multicopter includes a machine frame, a top plate supported on the machine frame and having an area where the multicopter can take off and land, and a multicopter provided on the top plate and landed on the top plate.
  • a fixing portion capable of fixing a pair of legs is provided, and the fixing portion includes a fixing portion capable of fixing one leg portion of the multicopter and a fixing portion capable of fixing the other leg portion of the multicopter. It has a fixing portion and an adjusting mechanism capable of adjusting the distance between the one fixing portion and the other fixing portion.
  • the machine frame has a support frame for supporting the top plate and a plurality of support legs for supporting the support frame at a predetermined height, and the multicopter flies between the plurality of support legs.
  • a storage space is formed that can accommodate the necessary equipment.
  • the support legs extend linearly downward from the support frame.
  • the top plate has an area on which the equipment can be placed, and the machine frame has a fixing mechanism for fixing the equipment in the area.
  • the fixing mechanism has a locking portion capable of locking a string-like body for fixing the equipment to the region.
  • the takeoff and landing device includes a hood structure having a cover member that covers the upper part of the multicopter that has landed on the top plate and a support member that supports the cover member above the multicopter.
  • the top plate is provided with a mounting portion for detachably attaching the support member.
  • the machine frame has a movable portion that can be moved with respect to the top plate, and the movable portion has a first position having an area where the multicopter can take off and land as a first area, and the multicopter. It is possible to move to a second position where the takeoff and landing area is a second area larger than the first area. Further, the movable portion can be folded from the second position to the first position.
  • the movable portion can be slidably moved between the first position and the second position.
  • the adjusting mechanism has a first adjusting portion and a second adjusting portion arranged at intervals in the front-rear direction, and the first adjusting portion and the second adjusting portion are fixed to the top plate.
  • the support rod has a fixing member and a support rod attached to the fixing member, and the support rod extends from the fixing member to one side and the other side, respectively, and the left portion of the first adjusting portion and the second portion.
  • the one fixing portion is provided on the left portion of the adjusting portion
  • the other fixing portion is provided on the right portion of the first adjusting portion and the right portion of the second adjusting portion, respectively, and the one fixing portion and the other fixing portion are provided.
  • the portion can be slidably moved along the support rod.
  • the distance between one fixed portion capable of fixing one leg of the multicopter and the other fixed portion capable of fixing the other leg can be adjusted, so that multicopters of various sizes can be adjusted. It is possible to provide a multicopter takeoff and landing device capable of securely fixing the legs.
  • the takeoff and landing device 1 of the multicopter includes a machine frame 2, a top plate 3, and a fixing portion 4.
  • the direction of arrow F in FIGS. 1 to 3 is referred to as forward
  • the direction of arrow B is referred to as rear
  • the direction of arrow L is referred to as left
  • the direction of arrow R is referred to as right
  • the arrow W direction is called the machine frame width direction.
  • the machine frame 2 has a support frame 5 that supports the top plate 3 and a plurality of support legs 6 that support the support frame 5 at a predetermined height.
  • the top plate 3 is attached so as to cover the upper surface of the support frame 5.
  • the support frame 5 covered with the top plate 3 is also shown by a solid line.
  • the support frame 5 has a first frame material 5A, a second frame material 5B, a third frame material 5C, and a fourth frame material 5D.
  • the first frame material 5A is arranged on the left side of the support frame 5.
  • the second frame material 5B is arranged on the right side of the support frame 5.
  • the third frame material 5C is arranged at the front portion of the support frame 5.
  • the fourth frame material 5D is arranged at the rear part of the support frame 5.
  • the first frame material 5A and the second frame material 5B extend in the front-rear direction in parallel with each other.
  • the third frame material 5C and the fourth frame material 5D extend in the machine frame width direction in parallel with each other.
  • the first frame material 5A, the second frame material 5B, the third frame material 5C, and the fourth frame material 5D are combined so as to form a quadrangle in a plan view.
  • the support frame 5 is a second connecting frame material that connects the first connecting frame material 5E that connects the first frame material 5A and the second frame material 5B, and the third frame material 5C and the fourth frame material 5D. It has 5F.
  • the second connecting frame material 5F includes a left connecting frame material 5FL and a right connecting frame material 5FR.
  • the left connection frame material 5FL connects the left portion of the third frame material 5C and the left portion of the fourth frame material 5D.
  • the right connecting frame material 5FR connects the right portion of the third frame material 5C and the right portion of the fourth frame material 5
  • the support legs 6 extend linearly downward from the support frame 5.
  • the support leg 6 includes a first support leg 6A, a second support leg 6B, a third support leg 6C, and a fourth support leg 6D.
  • the first support leg 6A extends downward from the left front corner of the support frame 5.
  • the second support leg 6B extends downward from the right front corner of the support frame 5.
  • the third support leg 6C extends downward from the left rear corner of the support frame 5.
  • the fourth support leg 6D extends downward from the right rear corner of the support frame 5.
  • the machine frame 2 has a lower frame 7 that connects the lower ends of the support legs 6 to each other.
  • the lower frame 7 has a first lower frame material 7A, a second lower frame material 7B, a third lower frame material 7C, and a fourth lower frame material 7D.
  • the first lower frame material 7A, the second lower frame material 7B, the third lower frame material 7C, and the fourth lower frame material 7D which are hidden by overlapping with other frame materials, are drawn with broken lines. It has a line.
  • the first lower frame material 7A, the second lower frame material 7B, the third lower frame material 7C, and the fourth lower frame material 7D are combined so as to form a quadrangle in a plan view.
  • the support frame 5 and the lower frame 7 have the same shape and size, and are arranged in parallel with each other at intervals in the vertical direction.
  • the first lower frame material 7A connects the first support leg 6A and the third support leg 6C.
  • the second lower frame material 7B connects the second support leg 6B and the fourth support leg 6D.
  • the third lower frame material 7C connects the first support leg 6A and the second support leg 6B.
  • the fourth lower frame material 7D connects the third support leg 6C and the fourth support leg 6D.
  • the top plate 3 is supported on the machine frame 2 (specifically, on the support frame 5).
  • the top plate 3 is fixed to the support frame 5 with bolts or the like so as to cover the upper part of the support frame 5.
  • the top plate 3 is a plate having a flat or substantially flat upper surface, and has at least an area where a multicopter can take off and land.
  • the plan view shape of the top plate 3 is set according to the plan view shape of the support frame 5.
  • the plan view shape of the support frame 5 is quadrangular
  • the plan view shape of the top plate 3 is also quadrangular.
  • the shape of the top plate 3 and the plan view shape of the support frame 5 are not limited to a quadrangle, and may be other shapes such as a hexagon, an octagon, a circle, and an ellipse.
  • ⁇ Multicopter> 4 to 6 show an example of the multicopter 60.
  • the configuration of the multicopter 60 is not limited to the illustrated configuration.
  • the multicopter 60 is a rotary wing aircraft capable of flying unmanned by a plurality of rotary wings, and is, for example, an air vehicle called a drone.
  • the multicopter 60 may fly by remote control by wireless or wired communication, or may fly by autonomous control without depending on a remote device.
  • the multicopter 60 includes a machine body 61 and a working device 66. First, the machine body 61 will be described.
  • the airframe 61 has a main body 62, an arm 63, a rotary wing 64, and a leg (skid) 65.
  • the main body 62 includes a case 67 (hereinafter, referred to as “first case 67”) and an electrical component 68 (hereinafter, referred to as “first electrical component 68”).
  • the first case 67 is a box body that constitutes the outer shell of the main body 62, and has an internal space that can be sealed.
  • the first electrical component 68 is housed in the internal space of the first case 67. That is, the periphery of the first electrical component 68 is covered with the first case 67.
  • the first electrical component 68 is an electrical component that controls the flight of the multicopter 60, and is, for example, a GPS antenna, a control device 90, various sensors (gyro sensor, acceleration sensor, etc.) and the like.
  • the control device 90 is a computer including a CPU, a storage unit 90a, and the like, and controls flight based on the altitude and the like of the aircraft 61 detected by the altitude detection device 91.
  • a plurality of arms 63 are attached to the main body 62.
  • four arms 63 are attached to the main body 62.
  • the four arms 63 extend radially from the center of the main body 62 in a horizontal plane (a plane parallel to the ground in the landing state).
  • the number of arms 63 is not limited to four, and may be five or more, or three or less.
  • the arm 63 may have a structure that can be folded toward the main body 62 side.
  • the base end side of the arm 63 is attached to the main body 62.
  • the tip end side of the arm 63 is bifurcated (Y-shaped) in the middle.
  • Rotor blades 64 are attached to the tip sides of the plurality of arms 63, respectively.
  • the rotor 64 generates lift for the multicopter 60 to fly.
  • the rotor 64 is composed of a rotor 69 and a blade (propeller) 70.
  • the rotor 69 is composed of an electric motor.
  • the rotor 69 is driven by the electric power supplied from the battery 71, which will be described later.
  • a blade 70 is attached to the upper part of the rotation shaft of the rotor 69.
  • the adjacent rotors 64 rotate in opposite directions.
  • the number of rotary blades 64 is not particularly limited and can be changed according to the required lift and the like.
  • the multicopter 60 may be a tricopter with three rotors 64, a quadcopter with four rotors 64, or a hexacopter with six rotors 64. It may be an octocopter having eight rotors 64.
  • the leg portion 65 touches the ground when the multicopter 60 lands and supports the main body 62 above the landing surface.
  • the leg portion 65 includes a pair of leg portions 65L and 65R.
  • the leg portion 65 includes a leg portion 65L provided on the left side of the main body 62 and a leg portion 65R provided on the right side of the main body 62.
  • the legs 65L and 65R have a lower extension portion 65a extending downward from the main body 62 and a ground contact portion 65b provided at the lower end of the lower extension portion 65a.
  • the ground contact portion 65b of the leg portion 65L and the ground contact portion 65b of the leg portion 65R extend in the front-rear direction in parallel with each other.
  • a mounting portion 72 is provided below the main body 62.
  • the mounting portion 72 detachably supports the working device 66 between the leg portion 65L and the leg portion 65R.
  • the working device 66 will be described.
  • the work device 66 is a device for performing work related to agriculture.
  • the working device 66 is a spraying device and has a tank 73 for containing a liquid.
  • the tank 73 is mounted on the mounting portion 72 provided below the main body 62.
  • the tank 73 is removable from the mounting portion 72.
  • the tank 73 may be integrally molded with the mounting portion 72.
  • the mounting portion 72 is a rail having an L-shaped cross section.
  • a mounted portion 73a that projects outward from the side of the tank 73 in the width direction is suspended on the mounting portion 72.
  • the mounted state of the tank 73 is shown by a solid line
  • the state of sliding the tank 73 in the direction of detaching from the mounting portion 72 (indicated by the arrow B) is shown by a virtual line.
  • the tank 73 has a container 74 and a lid 75.
  • the container 74 forms an internal space in which the liquid to be sprayed on the farm is housed.
  • the liquid is, for example, a chemical such as a pesticide, a diluting chemical, a fertilizer, water, or the like.
  • the container 74 has a supply unit 76 for supplying a liquid to the internal space on the upper surface of the container 74.
  • the supply unit 76 has a tubular body 76a that projects cylindrically from the upper surface of the container 74.
  • a lid 75 is detachably attached to the tubular body 76a by a screw or the like.
  • the chemicals and the like contained in the tank 73 are supplied from the tank 73 to the pump 77.
  • the airframe 61 is equipped with an electrical component 78 (hereinafter referred to as “second electrical component 78”) different from the first electrical component 68.
  • the second electrical component 78 is detachably arranged below the main body 62 and below the rotary blade 64.
  • the second electrical component 78 includes an energy supply unit 71 that supplies energy to the rotor 69 of the rotary blade 64.
  • the energy supply unit 71 includes a battery 71 that supplies electric power.
  • the energy supply unit 71 is a gasoline tank containing gasoline.
  • the second electrical component 78 is partially or wholly housed in a case 79 (hereinafter, referred to as “second case 79”) different from the first case 67.
  • the second case 79 is provided below the main body 62.
  • the fixing portion 4 of the takeoff and landing device 1 can fix a pair of legs 65L and 65R of the multicopter 60 landed on the top plate 3.
  • the fixing portion 4 has one fixing portion 4L, the other fixing portion 4R, and an adjusting mechanism 8.
  • the fixing portion 4L can fix one leg portion 65L of the multicopter 60.
  • the other fixing portion 4R can fix the other leg portion 65R of the multicopter 60.
  • the adjusting mechanism 8 is a mechanism capable of adjusting the distance between the one fixed portion 4L and the other fixed portion 4R.
  • the fixing portion 4L has a mounting portion 4La and a pressing portion 4Lb.
  • the mounting portion 4La is formed in a tubular shape.
  • the pressing portion 4Lb is provided below the mounting portion 4La.
  • the pressing portion 4Lb has a groove portion 4Lc extending in the front-rear direction on the lower surface thereof, and is formed in a downward concave shape.
  • the ground contact portion 65b of the leg portion 65L can be fitted into the groove portion 4Lc.
  • the fixing portion 4R has a mounting portion 4Ra and a pressing portion 4Rb.
  • the mounting portion 4Ra is formed in a tubular shape.
  • the pressing portion 4Rb is provided below the mounting portion 4Ra.
  • the pressing portion 4Rb has a groove portion 4Rc extending in the front-rear direction on the lower surface thereof, and is formed in a downward concave shape.
  • the ground contact portion 65b of the leg portion 65R can be fitted into the groove portion 4Rc.
  • the adjusting mechanism 8 has a first adjusting unit 9 and a second adjusting unit 10.
  • One fixing portion 4L is provided on each of the left portion of the first adjusting portion 9 and the left portion of the second adjusting portion 10.
  • the other fixing portion 4R is provided on the right portion of the first adjusting portion 9 and the right portion of the second adjusting portion 10, respectively.
  • the first adjusting unit 9 and the second adjusting unit 10 are arranged at intervals in the front-rear direction.
  • the first adjusting unit 9 is arranged in front of the center of the top plate 3 in the front-rear direction.
  • the second adjusting unit 10 is arranged behind the center of the top plate 3 in the front-rear direction.
  • the configuration of the first adjusting unit 9 and the configuration of the second adjusting unit 10 are the same.
  • the first adjusting portion 9 and the second adjusting portion 10 have a fixing member 11 fixed to the top plate 3 and a support rod 12 attached to the fixing member 11.
  • the fixing member 11 is fixed to the upper surface of the top plate 3 by bolts, welding, or the like.
  • the support rod 12 is attached to the fixing member 11 by a fixture (bolt 13, wing nut 14).
  • the support rod 12 is formed with a through hole extending in the vertical direction, and the bolt 13 is inserted through the through hole from below.
  • the tip (upper end) of the bolt 13 protrudes upward from the support rod 12, and the wing nut 14 is screwed into the protruding portion.
  • the support rod 12 extends from the fixing member 11 to one side (left side) and the other side (right side), respectively.
  • the support rod 12 is arranged so as to be separated upward from the upper surface of the top plate 3.
  • the attachment portion 4La of the one fixing portion 4L is attached on one side (left side) of the support rod 12.
  • the attachment portion 4Ra of the other fixing portion 4R is attached on the other side (right side) of the support rod 12.
  • the support rod 12 is inserted through the mounting portion 4La and the mounting portion 4Ra formed in a tubular shape.
  • the one fixing portion 4L and the other fixing portion 4R can be slidably moved along the support rod 12.
  • the ground contact portion 65b of the leg portion 65L is fitted into the groove portion 4Lc of the holding portion 4Lb, the ground contact portion 65b of the leg portion 65R is fitted into the groove portion 4Rc of the holding portion 4Rb, and the wing nut 14 is inserted.
  • the fixing portion 4L has a positioning portion 4Ld that fixes the position of the fixing portion 4L with respect to the support rod 12.
  • the other fixing portion 4R has a positioning portion 4Rd that fixes the position of the other fixing portion 4R with respect to the support rod 12. Since the configuration of the positioning unit 4Ld and the configuration of the positioning unit 4Rd are the same, the configuration of the positioning unit 4Ld will be described as a representative.
  • the positioning portion 4Ld has a female screw portion 4a formed on the upper portion of the mounting portion 4La and a set screw 4b screwed into the female screw portion 4a.
  • the fixing portion 4L cannot slide along the support rod 12. It becomes.
  • the fixing portion 4L can be positioned with respect to the support rod 12.
  • the positioning portion 4Rd can position the other fixed portion 4R with respect to the support rod 12.
  • the distance between the one fixing portion 4L and the other fixing portion 4R can be adjusted by sliding the one fixing portion 4L and the other fixing portion 4R along the support rod 12. Further, the one fixed portion 4L and the other fixed portion 4R can be positioned in a state where the distance is adjusted. Therefore, by adjusting the distance between the one fixed portion 4L and the other fixed portion 4R according to the distance between the leg portion 65L and the leg portion 65R of the multicopter 60, the distance between the pair of legs (leg portion 65L and the leg portion) is adjusted.
  • the legs of the multicopters 60 having different sizes (with a distance from the 65R) can be reliably fixed.
  • the configuration of the adjusting mechanism 8 is not limited to the above-described configuration, and another configuration may be adopted as long as the distance between the fixing portion 4L on the one hand and the fixing portion 4R on the other side can be adjusted.
  • 8 and 9 show an example of another embodiment of the adjusting mechanism 8.
  • the adjusting mechanism 8 of this other embodiment is referred to as a second adjusting mechanism 8A.
  • the second adjusting mechanism 8A will be described, but the description of the same configuration as that of the adjusting mechanism 8 described above will be omitted.
  • the second adjusting mechanism 8A has a first adjusting unit 9A and a second adjusting unit 10A.
  • the first adjusting unit 9A and the second adjusting unit 10A are arranged at intervals in the front-rear direction.
  • the first adjusting unit 9A is arranged in front of the center of the top plate 3 in the front-rear direction.
  • the second adjusting unit 10A is arranged behind the center of the top plate 3 in the front-rear direction.
  • the configuration of the first adjusting unit 9A and the configuration of the second adjusting unit 10A are the same.
  • the first adjusting portion 9A and the second adjusting portion 10A have a fixing member 11A fixed to the top plate 3 and a support rod 12A attached to the fixing member 11A.
  • the fixing member 11A is fixed to the upper surface of the top plate 3 by bolts, welding, or the like.
  • the fixing member 11A is provided with a support shaft 15 supported by a bearing or the like.
  • the fixing member 11A is rotatable around an axial center in the front-rear direction.
  • the support rod 12A is composed of one support rod 12AL extending from the fixing member 11A to one side (left side) and the other support rod 12AR extending to the other side (right side).
  • the support rod 12A has a base end portion 12a on the fixing member 11A side attached to the support shaft 15. As a result, the support rod 12A can rotate upward or downward with the support shaft 15 as a fulcrum (see arrow D in FIG. 8).
  • the second adjusting mechanism 8A has a receiving member 22 that receives the support rod 12A in a state of being rotated downward (horizontal state).
  • the receiving member 22 is attached to the upper surface of the top plate 3.
  • the support rod 12A is provided with an engaging portion
  • the receiving member 22 is provided with an engaged portion.
  • the attachment portion 4La of the one-side fixing portion 4L is attached on one side (left side) of the one-side support rod 12AL.
  • the attachment portion 4Ra of the other fixing portion 4R is attached on the other side (right side) of the other support rod 12AR.
  • the support rod 12A is inserted through the mounting portion 4La and the mounting portion 4Ra formed in a tubular shape.
  • the one fixing portion 4L and the other fixing portion 4R can be slidably moved along the support rod 12A (see arrow E in FIG. 8).
  • the one-sided fixing portion 4L has a positioning portion 4Ld for fixing the position of the one-sided fixing portion 4L with respect to the support rod 12A.
  • the other fixing portion 4R has a positioning portion 4Rd that fixes the position of the other fixing portion 4R with respect to the support rod 12A.
  • the support rod 12A is rotated downward to fit the ground contact portion 65b of the leg portion 65L into the groove portion 4Lc of the holding portion 4Lb, and the leg portion 65R is fitted into the groove portion 4Rc of the holding portion 4Rb.
  • the legs 65L and 65R can be fixed to the fixing portion 4 by engaging the engaging portion with the engaged portion after fitting the grounding portion 65b of the above.
  • the one fixing portion 4L and the other fixing portion 4R are adjusted to the distance between the leg portion 65L and the leg portion 65R of the multicopter 60.
  • the machine frame 2 preferably has a movable portion 16 that can move with respect to the top plate 3.
  • the movable portion 16 has a first position P1 having an area where the multicopter 60 can take off and land as a first area, and a second position P2 having an area where the multicopter 60 can take off and land as a second area larger than the first area. It is possible to move to. That is, the area of the top plate 3 can be changed by moving the movable portion 16.
  • FIG. 2 shows a state in which the area where the multicopter 60 can take off and land is set as the first area
  • FIG. 11 shows a state in which the area where the multicopter 60 can take off and land is set as the second area.
  • the movable portion 16 is connected to the edge portion of the machine frame 2 by a hinge 53.
  • the movable portion 16 is rotatable about a hinge axis facing in the horizontal direction, and can be moved to the first position P1 and the second position P2 by rotating.
  • the movable portion 16 changes its position with respect to the top plate 3 by moving to the first position P1 and the second position P2.
  • the movable portion 16 has a movable frame 16A formed by combining frame materials and a movable plate 16B fixed to the surface (upper surface) of the movable frame 16A. When the movable plate 16B is in the second position P2, the movable plate 16B is arranged side by side with the top plate 3 provided on the machine frame 2.
  • the shape of the movable portion 16 is a quadrangle in a plan view, but it can be any shape such as a triangle or a semicircle.
  • the upper surface of the movable plate 16B forms a plane (horizontal plane) flush with the top plate 3 when the movable portion 16 is at the second position P2.
  • the movable portion 16 is supported from below by the reinforcing member 17 when it is in the second position P2.
  • the movable portion 16 includes a first movable portion 161, a second movable portion 162, and a third movable portion 163.
  • the first movable portion 161 is connected to the rear portion of the machine frame 2 (support frame 5).
  • the second movable portion 162 is connected to the left portion of the machine frame 2 (support frame 5).
  • the third movable portion 163 is connected to the right portion of the machine frame 2 (support frame 5).
  • the first movable portion 161 and the second movable portion 162 and the third movable portion 163 can be folded from the second position P2 to the first position P1.
  • the first movable portion 161 can be folded downward, and the second movable portion 162 and the third movable portion 163 can be folded upward.
  • FIG. 13 shows another embodiment of the movable portion 16.
  • the movable portion 16 is slidable between the first position P1 and the second position P2.
  • a rail (not shown) that guides the sliding movement of the movable portion 16 is attached to the machine frame 2, and the movable portion 16 moves along this rail between the first position P1 and the second position P2. It is possible to move with.
  • ⁇ Take-off and landing device (hood structure)> As shown in FIG. 14, it is preferable that the takeoff and landing device 1 can be attached with the hood structure 18.
  • the hood structure 18 has a cover member 18A that covers the upper part of the multicopter 60 that has landed on the top plate 3, and a support member 18B that supports the cover member 18A above the multicopter 60.
  • the support member 18B has a support column 18B1 and an upper frame body 18B2.
  • the support column 18B1 is detachably attached to the attachment portion 19 provided on the machine frame 2 or the top plate 3.
  • the mounting portion 19 is, for example, a cylinder provided at each of the four corners of the machine frame 2 or the top plate 3, and the lower end portion of the support column 18B1 is inserted into the cylinder and fixed.
  • the support columns 18B1 are erected at the four corners (left front portion, right front portion, left rear portion, and right rear portion) of the machine frame 2 or the top plate 3, respectively.
  • the upper frame body B2 is configured by connecting the upper portions of the columns 18B1 to each other, and is configured as a quadrangle in a plan view. However, it is preferable that the plan view shape of the upper frame body B2 matches the plan view shape of the top plate 3. In the case of this embodiment, since the plan view shape of the top plate 3 is quadrangular, the plan view shape of the upper frame body B2 is also quadrangular.
  • the cover member 18A is attached to the upper frame body B2 so as to cover the upper frame body B2 from above.
  • the cover member 18A is, for example, a sheet material made of synthetic resin, cloth, or the like.
  • the cover member 18A may have a size (area) that can cover at least the upper part of the multicopter 60 that has landed on the top plate 3, but is a size that covers the entire area above the top plate 3. Is preferable.
  • the cover member 18A may cover not only the upper part of the multicopter 60 landed on the top plate 3 but also the surroundings (sides). In this case, the cover member 18A not only covers the upper portion of the upper frame body B2, but also between adjacent columns 18B1 (for example, between the left front column and the left rear column, between the right front column and the right rear column). A size that can cover between the stanchions, between the left front stanchion and the right front stanchion, and between the left rear stanchion and the right rear stanchion) is used.
  • the cover member 18A has a function of protecting the multicopter 60 landed on the top plate 3 and the equipment 80 described later from wind and rain.
  • the takeoff and landing device 1 includes a traveling body 20 capable of traveling together with the machine frame 2.
  • the traveling body 20 is a bogie 21 on which the machine frame 2 can be mounted. As shown in FIG. 18, the carriage 21 can travel by being towed by the towing vehicle 30.
  • the towing vehicle 30 is not particularly limited as long as it can tow the bogie 21, but in the case of the present embodiment, it is a tractor.
  • the towing vehicle (tractor) 30 includes a vehicle body 31, front wheels 32, rear wheels 33, a driver's seat 34, and a connecting mechanism 35.
  • the vehicle body 31 is configured by connecting a prime mover (engine) 36, a clutch housing 37 having a clutch, a transmission case 38 having a transmission, and the like.
  • the prime mover 36 is mounted on the vehicle body 31 and is arranged at the front portion of the vehicle body 31.
  • the clutch housing 37 is connected to the rear portion of the engine 36 and houses the clutch.
  • the transmission case 38 is connected to the rear portion of the clutch housing 37 and extends rearward.
  • the transmission case 38 houses a transmission, a rear wheel differential, and the like.
  • a PTO shaft 39 projects behind the mission case 38.
  • the connecting mechanism 35 is provided at the rear of the towing vehicle 30.
  • the connecting mechanism 35 is a mechanism for connecting the bogie 21 to the rear part of the towing vehicle 30.
  • the connecting mechanism 35 can also connect a working device (cultivator or the like) that performs work on a field or the like.
  • the connecting mechanism 35 is composed of a link mechanism such as a three-point link mechanism, and can connect the trolley 21 and the working device so as to be able to move up and down.
  • the link mechanism constituting the connecting mechanism 35 includes a top link 35a, left and right lower links 35b, left and right lift arms 35c, and left and right lift rods 35d.
  • the front end of the lift arm 35c is swingably supported above or below the rear upper part of the mission case 38.
  • the lift arm 35c swings (elevates) by being driven by the lift cylinder 35e.
  • the lift cylinder 35e is composed of a hydraulic cylinder.
  • the lift cylinder 35e is connected to the pump of the hydraulic system via a control valve.
  • the control valve is a solenoid valve controlled by a control device.
  • the front end of the lower link 35b is swingably supported upward or downward in the lower rear part of the mission case 38.
  • the front end of the top link 35a is swingably supported above or below the rear of the mission case 38 above the lower link 35b.
  • the lift rod 35d connects the lift arm 35c and the lower link 35b.
  • a carriage 21 is connected to the rear portion of the lower link 35b and the rear portion of the top link 35a.
  • the lift cylinder 35e is driven (expanded / contracted)
  • the lift arm 35c moves up and down
  • the lower link 35b connected to the lift arm 35c moves up and down via the lift rod 35d.
  • the bogie 21 swings (up and down) upward or downward with the front portion of the lower link 35b as a fulcrum.
  • the connecting mechanism 35 raises and lowers the bogie 21, the top plate 3 on the machine frame 2 mounted on the bogie 21 is maintained horizontally.
  • the rotational power from the prime mover 36 can be taken out of the towing vehicle 30 via the PTO shaft 39.
  • the rotational power extracted to the outside of the towing vehicle 30 via the PTO shaft 39 can be used for driving the generator 85 of the equipment 80 described later, driving the working device connected to the connecting mechanism 35, and the like.
  • the dolly 21 has a mounting base 40, wheels 41, and a connecting portion 42.
  • the mounting table 40 has a lower frame body 43 and a front frame body 44.
  • the lower frame body 43 has a first lower frame member 43A, a second lower frame member 43B, a third lower frame member 43C, and a fourth lower frame member 43D that are combined in a rectangular shape in a plan view.
  • the first lower frame material 43A and the second lower frame material 43B, and the third lower frame material 43C and the fourth lower frame material 43D are connected by the lower connecting material 43E, respectively.
  • a mounting plate 45 is fixed to the upper part of the lower frame body 43.
  • the machine frame 2 can be mounted on the upper surface of the mounting plate 45.
  • the front frame body 44 extends upward from the front portion of the lower frame body 43.
  • the front frame body 44 has a first front frame member 44A, a second front frame member 44B, a third front frame member 44C, and a fourth front frame member 44D that are combined in a square shape in front view.
  • the first front frame member 44A extends upward from the left front portion of the lower frame body 43.
  • the second front frame member 44B extends upward from the right front portion of the lower frame body 43.
  • the third front frame member 44C connects the upper end portion of the first front frame member 44A and the upper end portion of the second front frame member 44B.
  • the fourth front frame member 44D connects the lower end portion of the first front frame member 44A and the lower end portion of the second front frame member 44B.
  • the third front frame member 44C and the fourth front frame member 44D are connected by vertical connecting members 46L and 46R.
  • the vertical connecting member 46L and the vertical connecting member 46R are arranged in parallel with each other and are connected by the
  • the mounting table 40 has a front-rear midway portion of the first lower frame member 43A, an upper portion of the first front frame member 44A, a front-rear halfway portion of the second lower frame member 43B, and a second. It may have an oblique member 48 connecting the upper portions of the front frame member 44B, respectively.
  • the wheels 41 are attached to the lower part of the lower frame body 43 via the bracket 49.
  • the bracket 49 rotatably supports the wheel 41 around the vertical axis.
  • the wheel 41 and the bracket 49 form a caster.
  • the connecting portion 42 is a portion connected to the connecting mechanism 35 of the towing vehicle 30.
  • the connecting portion 42 is provided on the upper portion of the front frame body 44.
  • the connecting portion 42 has an upper connecting portion 42A connected to the top link 35a, a left connecting portion 42B connected to the left lower link 35b, and a right connecting portion 42C connected to the right lower link 35b.
  • the upper connecting portion 42A has a left member 42A1, a right member 42A2, and a connecting shaft 42A3.
  • the left member 42A1 and the right member 42A2 are arranged in parallel with each other and extend upward and forward from the front frame body 44.
  • the connecting shaft 42A3 connects the left member 42A1 and the right member 42A2.
  • the left connecting portion 42B has a left plate 42B1 and a left shaft 42B2.
  • the right connecting portion 42C has a right plate 42C1 and a right shaft 42C2.
  • the left plate 42B1 is connected to the vertical connecting member 46L.
  • the right plate 42C1 is connected to the vertical connecting member 46R.
  • the left plate 42B1 and the right plate 42C1 project forward from the vertical connecting members 46L and 46R.
  • the left shaft 42B2 projects to the left from the left plate 42B1.
  • the right shaft 42C2 projects to the right from the right plate 42C1.
  • the left plate 42B1 and the left member 42A1 are connected by a left connecting body 50L.
  • the right plate 42C1 and the right member 42A2 are connected by a right connecting body 50R.
  • the connecting portion 42 As shown in FIG. 18, in the connecting portion 42, the upper connecting portion 42A is connected to the top link 35a.
  • the left connecting portion 42B the left shaft 42B2 is connected to the left lower link 35b.
  • the right connecting portion 42C the right shaft 42C2 is connected to the lower link 35b on the right side.
  • the connecting portion 42 is connected to the connecting mechanism 35 of the towing vehicle 30, and the bogie 21 can travel as the towing vehicle 30 travels.
  • the bogie 21 By driving the lift cylinder 35e of the connecting mechanism 35 of the towing vehicle 30, the bogie 21 can be raised and lowered.
  • the machine frame 2 can move together with the traveling body 20 by being mounted on the mounting base 40 of the bogie 21.
  • the traveling body 20 is a vehicle 51 having a loading platform 52 on which the machine frame 2 can be mounted.
  • the vehicle 51 is, for example, a truck, preferably a light truck (a truck manufactured according to the standard of a light vehicle).
  • the machine frame 2 can move together with the traveling body 20 by being mounted on the loading platform 52 of the traveling body 20 (vehicle 51).
  • a storage space S1 capable of accommodating the equipment 80 necessary for the flight of the multicopter 60 is provided. It is formed.
  • FIG. 17 shows the accommodation space S1 formed below the top plate 3 on the machine frame 2 in a plan view.
  • the equipment 80 includes at least a drug container 81 for accommodating the drug and a diluting water container 82 for accommodating the diluting water for diluting the drug.
  • the equipment 80 is a battery 83 (a battery for replacement with the battery 71) mounted on the multicopter 60 in addition to the chemical container 81 and the diluting water container 82.
  • the battery 83 includes a charger 84 capable of charging electric power, a generator 85 for generating electric power for charging the charger 84, and a fuel tank 86 containing fuel for driving the generator 85.
  • the accommodation space S1 is formed between the first support leg 6A and the second support leg 6B and the third support leg 6C and the fourth support leg 6D in the machine frame width direction W.
  • the accommodation space S1 is formed between the first support leg 6A and the third support leg 6C and the second support leg 6B and the fourth support leg 6D in the front-rear direction.
  • the accommodation space S1 is formed between the installation surface G1 of the machine frame 2 and the top plate 3 in the vertical direction.
  • the installation surface G1 is the upper surface of the loading platform 52 (see FIG. 16), the upper surface of the mounting table 40 (see FIG. 15), or the like, and may be the ground.
  • the accommodation space S1 is formed in a region surrounded by the first lower frame material 7A, the second lower frame material 7B, the third lower frame material 7C, and the fourth lower frame material 7D in a plan view.
  • the top plate 3 has an area R1 on which the equipment 80 can be placed.
  • the area R1 has an area on which at least a part of the equipment 80 can be placed. As shown in FIG. 16, this region R1 can be expanded by moving the movable portion 16 to the second position (indicated by a virtual line).
  • the equipment 80 placed in the area R1 may be a part of the equipment 80 accommodated in the accommodation space S1, or is different from the equipment 80 accommodated in the accommodation space S1. May be good.
  • the equipment 80 mounted on the area R1 is, for example, an antenna 97, a liquid container 98 (bucket), a tripod 99, or the like.
  • the machine frame 2 has a fixing mechanism 87 for fixing the equipment 80 to the region R1 on the top plate 3.
  • the fixing mechanism 87 has a locking portion 88 capable of locking a string-shaped body 89 (see FIG. 2) for fixing the equipment 80 to the region R1.
  • the string-shaped body 89 preferably has elasticity (stretchability), and for example, a rubber band is preferably used.
  • the locking portion 88 is composed of a frame body fixed to the upper portion or the lower portion of the support frame 5, and the shape body 89 can be inserted into the frame body to lock the locking portion 88.
  • the locking portions 88 are provided at a plurality of locations on the support frame 5. In the case of the present embodiment, the locking portions 88 are provided at a plurality of positions on the first frame material 5A and the second frame material 5B of the support frame 5 at intervals in the front-rear direction.
  • the locking portion 88 is arranged in front of the intermediate locking portion 88A arranged between the first adjusting portion 9 and the second adjusting portion 10 and the first adjusting portion 9 in the front-rear direction. It has a front locking portion 88B and a rear locking portion 88C arranged behind the second adjusting portion 10.
  • the intermediate locking portion 88A includes a first intermediate locking portion 88A1 arranged in front of the center of the top plate 3 in the front-rear direction and a second intermediate locking portion 88A arranged behind the center of the top plate 3 in the front-rear direction. Includes 88A2 and.
  • the string-like body 89 is locked to the front locking portion 88B provided on the first frame material 5A and the front locking portion 88B provided on the second frame material 5B.
  • the string-shaped body 89 can be extended in the machine frame width direction W in the front region R11 on the top plate 3. Therefore, the string-shaped body 89 can hold and fix the equipment placed in the front region R11 on the top plate 3 from above.
  • the string-like body 89 is locked to the rear locking portion 88C provided on the first frame material 5A and the rear locking portion 88C provided on the second frame material 5B.
  • the string-shaped body 89 can be extended in the machine frame width direction in the rear region R12 on the top plate 3. Therefore, the string-shaped body 89 can hold and fix the equipment placed in the rear region R12 on the top plate 3 from above.
  • the multicopter 60 is formed by a string-like body 89 locked to the first intermediate locking portion 88A1 provided on the first frame material 5A and the first intermediate locking portion 88A1 provided on the second frame material 5B.
  • the front parts of the legs 65L and 65R can be pressed and fixed from above.
  • the legs of the multicopter 60 by the string-like body 89 locked to the second intermediate locking portion 88A2 provided on the first frame material 5A and the second intermediate locking portion 88A2 provided on the second frame material 5B.
  • the rear portions of the portions 65L and 65R can be pressed and fixed from above.
  • the machine frame 2 is raised by fixing the leg portion 65 of the multicopter 60 on the top plate 3 by the fixing portion 4 and fixing the equipment 80 on the top plate 3 by the fixing mechanism 87. And the equipment 80 can be raised together with the top plate 3.
  • the machine frame 2 does not have a portion that enters the accommodation space S1 (passes through the accommodation space S1) when the multicopter 60 is raised.
  • the equipment 80 housed in the storage space S1 supports the equipment 80 when the machine frame 2 rises together with the multicopter 60. It does not hit the leg 6 and hinder the ascent.
  • the equipment 80 can be moved (raised) together with the machine frame 2 by the multicopter 60. Therefore, the work of moving (lowering) the equipment 80 can be performed by the multicopter 60 without relying on human power, and the labor of the worker can be reduced.
  • the equipment 80 mounted on the top plate 3 is located at a high position from the ground, so that it takes a lot of labor to manually lower it, but the multi The labor can be reduced by lowering the copter 60 together with the machine frame 2.
  • the multicopter 60 and the top plate 3 are firmly fixed, so that the multicopter 60 and the top plate 3 are firmly fixed.
  • the top plate 3 can be reliably prevented from coming off and falling together with the machine frame 2 and the equipment 80. Therefore, even when the weight of the equipment 80 is heavy, the equipment 80 can be surely raised together with the multicopter 60 and unloaded from the loading platform or the like.
  • the takeoff and landing device 1 of the multicopter 60 of the above embodiment is provided on the machine frame 2, the top plate 3 supported on the machine frame 2 and having an area where the multicopter 60 can take off and land, and on the top plate 3.
  • the fixed portion 4 is provided with a fixing portion 4 capable of fixing a pair of leg portions 65 of the landed multicopter 60, and the fixing portion 4 includes a fixing portion 4L capable of fixing one leg portion 65 of the multicopter 60 and a multicopter 60. It has the other fixing portion 4R capable of fixing the other leg portion 65 of the above, and the adjusting mechanism 8 capable of adjusting the distance between the one fixing portion 4L and the other fixing portion 4R.
  • the distance between the one fixing portion 4L capable of fixing one leg portion 65 of the multicopter 60 and the other fixing portion 4R capable of fixing the other leg portion 65 can be adjusted, and thus various sizes are available. It is possible to provide the takeoff and landing device 1 of the multicopter 60 capable of securely fixing the leg portion 65 of the multicopter 60. Further, the machine frame 2 has a support frame 5 for supporting the top plate 3 and a plurality of support legs 6 for supporting the support frame 5 at a predetermined height, and a multicopter 60 is provided between the plurality of support legs 6. A storage space S1 capable of accommodating the equipment 80 necessary for the flight of the aircraft is formed.
  • the equipment 80 required for the flight of the multicopter 60 can be accommodated in the accommodation space S1 formed between the plurality of support legs 6, so that the equipment 80 is placed on the top plate 3.
  • a large number of equipment 80s can be arranged in the installation space of the machine frame 2 without securing a space for placing them.
  • the support legs 6 extend linearly downward from the support frame 5.
  • the equipment 80 accommodated in the accommodation space S1 does not hit the support legs 6 and hinder the ascent.
  • the top plate 3 has a region R1 on which the equipment 80 can be placed, and the machine frame 2 has a fixing mechanism 87 for fixing the equipment 80 to the region R1.
  • the leg portion 65 of the multicopter 60 is fixed to the fixing portion 4, and the equipment 80 is fixed to the area R1 on the top plate 3, so that the equipment is installed together with the machine frame 2 as the multicopter 60 rises.
  • the 80 can be raised and carried. Therefore, the work of moving (unloading) the equipment 80 from the loading platform or the like can be performed by the multicopter 60 without relying on human power, and the labor of the operator can be reduced.
  • the fixing mechanism 87 has a locking portion 88 capable of locking the string-shaped body 89 for fixing the equipment 80 to the region R1. According to this configuration, the equipment 80 can be easily and surely fixed to the region R1 by locking the string-shaped body 89 to the locking portion 88.
  • the takeoff and landing device 1 has a hood structure 18 having a cover member 18A that covers the upper part of the multicopter 60 that has landed on the top plate 3 and a support member 18B that supports the cover member 18A above the multicopter 60.
  • the machine frame 2 or the top plate 3 is provided with a mounting portion 19 for detachably attaching the support member 18B.
  • the cover member 18A can protect the multicopter 60 landing on the top plate 3 and the equipment 80 arranged on the top plate 3 or in the accommodation space S1 from wind and rain.
  • the machine frame 2 has a movable portion 16 that can move with respect to the top plate 3, and the movable portion 16 has a first position P1 having an area where the multicopter 60 can take off and land as a first area, and a multicopter.
  • the 60 can move to the second position P2 in which the area where the takeoff and landing is possible is a second area larger than the first area.
  • the area where the multicopter 60 can take off and land can be expanded as needed by moving the movable portion 16. Further, the movable portion 16 can be folded from the second position P2 to the first position P1. According to this configuration, when it is not necessary to expand the area where the multicopter 60 can take off and land, the movable portion 16 can be folded toward the first position, so that the movable portion 16 can be used for transporting the takeoff and landing device 1. Does not get in the way.
  • the movable portion 16 can be slidably moved between the first position P1 and the second position P2. According to this configuration, when it is not necessary to expand the area where the multicopter 60 can take off and land, the movable portion 16 can be slid and moved toward the first position, so that the movable portion 16 can carry the takeoff and landing device 1 and the like. It doesn't get in the way when you do.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Remote Sensing (AREA)
  • Soil Working Implements (AREA)
  • Handcart (AREA)

Abstract

L'invention concerne un dispositif de décollage et d'atterrissage (1) pour un multicoptère (60) comprenant : un cadre de machine (2) ; une plaque supérieure (3) qui est soutenue sur le cadre de machine (2) et présente une surface permettant le décollage et l'atterrissage d'un multicoptère ; et une section de fixation (4) qui est disposée sur la plaque supérieure (3) et qui est apte à fixer une paire de sections de patte (65) d'un multicoptère (60) qui a atterri sur la plaque supérieure. La section de fixation (4) comprend une section de fixation (4L) apte à fixer l'une des sections de patte (65L) du multicoptère (60), une autre section de fixation (4R) apte à fixer l'autre section de patte (65R) du multicoptère (60), et un mécanisme de réglage (8) apte à régler l'intervalle entre la première section de fixation (4L) et l'autre section de fixation (4R).
PCT/JP2020/048238 2019-12-27 2020-12-23 Dispositif de décollage et d'atterrissage pour multicoptère WO2021132372A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019237907A JP7235245B2 (ja) 2019-12-27 2019-12-27 マルチコプターの離着陸装置
JP2019-237907 2019-12-27

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Publication Number Publication Date
WO2021132372A1 true WO2021132372A1 (fr) 2021-07-01

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WO (1) WO2021132372A1 (fr)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN204898535U (zh) * 2015-07-08 2015-12-23 何春旺 飞行器用停靠装置
CN205345358U (zh) * 2014-11-28 2016-06-29 湖北智权知识产权咨询有限公司 车载无人飞行器智能补给基地
CN206800229U (zh) * 2017-06-11 2017-12-26 何钰 一种可扩展的无人机起落平台
WO2018034295A1 (fr) * 2016-08-16 2018-02-22 本郷飛行機株式会社 Système de traitement d'informations
JP6292365B1 (ja) * 2017-08-08 2018-03-14 中国電力株式会社 無人飛行体、及び受電コイルユニット
JP2018528123A (ja) * 2015-08-17 2018-09-27 エイチ３ ダイナミックス ホールディングス プライベート リミテッド ドローンボックス
CN109774961A (zh) * 2019-01-09 2019-05-21 徐工集团工程机械股份有限公司 无人机收放装置及其控制方法

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN205345358U (zh) * 2014-11-28 2016-06-29 湖北智权知识产权咨询有限公司 车载无人飞行器智能补给基地
CN204898535U (zh) * 2015-07-08 2015-12-23 何春旺 飞行器用停靠装置
JP2018528123A (ja) * 2015-08-17 2018-09-27 エイチ３ ダイナミックス ホールディングス プライベート リミテッド ドローンボックス
WO2018034295A1 (fr) * 2016-08-16 2018-02-22 本郷飛行機株式会社 Système de traitement d'informations
CN206800229U (zh) * 2017-06-11 2017-12-26 何钰 一种可扩展的无人机起落平台
JP6292365B1 (ja) * 2017-08-08 2018-03-14 中国電力株式会社 無人飛行体、及び受電コイルユニット
CN109774961A (zh) * 2019-01-09 2019-05-21 徐工集团工程机械股份有限公司 无人机收放装置及其控制方法

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JP2021104785A (ja) 2021-07-26

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