WO2022137461A1 - 格納装置、無人飛行体及びシステム - Google Patents
格納装置、無人飛行体及びシステム Download PDFInfo
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- WO2022137461A1 WO2022137461A1 PCT/JP2020/048564 JP2020048564W WO2022137461A1 WO 2022137461 A1 WO2022137461 A1 WO 2022137461A1 JP 2020048564 W JP2020048564 W JP 2020048564W WO 2022137461 A1 WO2022137461 A1 WO 2022137461A1
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- main body
- flying object
- unmanned
- magnet
- storage device
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/90—Launching from or landing on platforms
- B64U70/99—Means for retaining the UAV on the platform, e.g. dogs or magnets
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
-
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U80/00—Transport or storage specially adapted for UAVs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U80/00—Transport or storage specially adapted for UAVs
- B64U80/20—Transport or storage specially adapted for UAVs with arrangements for servicing the UAV
- B64U80/25—Transport or storage specially adapted for UAVs with arrangements for servicing the UAV for recharging batteries; for refuelling
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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
- B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
- B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/25—UAVs specially adapted for particular uses or applications for manufacturing or servicing
- B64U2101/26—UAVs specially adapted for particular uses or applications for manufacturing or servicing for manufacturing, inspections or repairs
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- 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
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- 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
- B64U2101/70—UAVs specially adapted for particular uses or applications for use inside enclosed spaces, e.g. in buildings or in vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
Definitions
- This disclosure relates to containment devices, unmanned vehicles and systems.
- unmanned aerial vehicles for example, drones, multicopters, etc.
- that fly by rotating multiple propellers may be used for inspection of infrastructure structures.
- Non-Patent Document 1 It is known to use manual hand release and catch as a method for storing such an unmanned air vehicle (Non-Patent Document 1). As another method, it is known to use a ground station installed on the ground to autonomously store an unmanned aircraft (Non-Patent Document 2).
- the method using hand release and catch requires skilled manpower to store the unmanned aircraft. Since the ground station is supposed to be installed on the ground, if it is used in underground infrastructure, there is a risk that the unmanned aircraft will be damaged by the accumulated water generated by water leakage or the like.
- An object of the present disclosure is a containment device, unmanned vehicle and system capable of safely performing the departure and return operations of an unmanned aircraft, both underground and above ground, as well as indoors and outdoors, without human intervention. Is to provide.
- the storage device is a storage device for storing an unmanned vehicle, and includes a main body having a magnet or a magnetic material for exerting a magnetic force on the unmanned vehicle having a magnet on the upper surface. ..
- the unmanned air vehicle includes a propeller and a main body portion having a plurality of magnets on the upper surface.
- the system includes the above-mentioned storage device and the above-mentioned unmanned aircraft.
- connection part which has a magnet provided on the upper surface part of an unmanned flying object. It is a figure which shows the structural example of the connection part which has a magnet provided in the main body part of a storage device. It is a figure which shows the structural example of the connection part which has a magnet provided on the upper surface part of an unmanned flying object. It is a figure which shows the structural example of the connection part which has a magnet provided on the upper surface part of an unmanned flying object. It is a figure which shows the structural example of the connection part which has a magnet provided on the upper surface part of an unmanned flying object. It is a figure which shows the structural example of the connection part which has a magnet provided on the upper surface part of an unmanned flying object. It is a figure which shows the structural example of the connection part which has a magnet provided on the upper surface part of an unmanned flying object.
- connection part which has a magnet and an electrode provided in the main body part of a storage device. It is a figure which shows the structural example of the connection part which has the magnet and the electrode provided on the upper surface part of the unmanned flying body. It is a figure which shows the structural example of the connection part which has a magnet and an electrode provided in the main body part of a storage device. It is a figure which shows the structural example of the connection part which has the magnet and the electrode provided on the upper surface part of the unmanned flying body. It is a figure which shows the structural example of the connection part which has a magnet and an electrode provided in the main body part of a storage device.
- connection part which has the magnet and the electrode provided on the upper surface part of the unmanned flying body. It is a figure which shows the structural example of the connection part which has a magnet and an electrode provided in the main body part of a storage device. It is a figure which shows the structural example of the connection part which has the magnet and the electrode provided on the upper surface part of the unmanned flying body. It is a figure which shows the structural example of the connection part which has a magnet and an electrode provided in the main body part of a storage device. It is a figure which shows the structural example of the connection part which has the magnet and the electrode provided on the upper surface part of the unmanned flying body.
- FIG. 1 is a diagram showing an outline of the inspection system 1.
- the inspection system 1 shown in FIG. 1 includes a storage device 10 and an unmanned flying object 30.
- the inspection system 1 may be configured to further include a terminal 50.
- FIG. 1 shows a case where the number of unmanned aircraft 30 is one, the number of unmanned aircraft 30 may be plural.
- FIG. 1 shows a state in which the storage device 10 is installed by replacing the lid of the manhole 100, that is, a state in which the main body 20 of the storage device 10 is installed in the upper part of the upper hole of the manhole 100.
- the storage device 10 is not limited to the case where it is installed by replacing the lid of the manhole 100, and can be installed in any place regardless of whether it is underground or above ground, or indoors or outdoors.
- the manhole 100 is, for example, a communication manhole.
- the manhole 100 may be referred to as a maintenance hole.
- accumulated water 101 may be generated due to water leakage or the like.
- the terminal 50 is possessed and operated by an operator (for example, an inspector) U of the unmanned flying object 30. Wireless communication is performed between the terminal 50 and the unmanned aircraft 30.
- the operator U operates the terminal 50 and controls the operation of the unmanned flying object 30.
- the unmanned aircraft 30 can fly without any instruction regarding flight control from the terminal 50.
- the unmanned flying object 30 images the inside of the manhole 100 (in other words, aerial photography) while autonomously controlling the flight or controlling the flight according to the operation of the terminal 50 by the operator U. ..
- the unmanned aircraft 30 may transmit the captured video data to the terminal 50.
- the operator U inspects the inside of the manhole 100 by checking the video data captured by the unmanned flying object 30.
- the items to be inspected by the operator U are, for example, the presence or absence of an abnormality in the inner wall (that is, the wall surface) of the manhole 100, the state of the groundwater stored in the underpass connected to the manhole 100, and the object (structure) installed in the manhole 100. The state of things, equipment, etc.).
- the storage device 10 for storing the unmanned flying object 30 includes a main body portion 20 having a magnet or a magnetic body for exerting a magnetic force on the unmanned flying object 30 provided with a magnet on the upper surface.
- a main body portion 20 having a magnet or a magnetic body for exerting a magnetic force on the unmanned flying object 30 provided with a magnet on the upper surface.
- FIG. 2 is a front view showing an external example of the unmanned aircraft 30.
- the unmanned aircraft 30 includes a control box 311 having a built-in control board, a plurality of propellers (rotor blades) 351 pivotally supported by a motor 352, and a buffer for absorbing vibration and impact. It includes a bumper 318, a camera 34, and a connection portion 12.
- the unmanned aircraft 30 may include a plurality of cameras 34.
- the connecting portion 12 is provided on the upper surface of the unmanned flying object 30.
- FIG. 3 is a block diagram showing an example of the internal configuration of the unmanned flying object 30.
- the unmanned aircraft 30 includes a control unit 31, a memory 32, a communication unit 33, a camera 34, a rotary wing mechanism 35, a GNSS (Global Navigation Satellite System) receiver 36, and an inertial measurement unit (IMU: Inertial Measurement).
- a unit) 37, a magnetic compass 38, and a barometric altimeter 39 are provided.
- the communication unit 33 performs wireless communication with the terminal 50.
- Examples of the wireless communication method include a wireless LAN such as Wi-Fi (registered trademark), a specified low power wireless, and the like.
- the camera 34 captures the surroundings of the unmanned flying object 30 and generates data of the captured image.
- the image data of the camera 34 is stored in the memory 32.
- the rotary blade mechanism 35 has a plurality of (for example, four) propellers 351 and a plurality of (for example, four) motors 352 for rotating the plurality of propellers 351.
- the GNSS receiver 36 receives a plurality of signals indicating the time transmitted from the GNSS satellites, which are a plurality of navigation satellites, and the position (for example, coordinates) of each GNSS satellite.
- the GNSS receiver 36 calculates the position of the GNSS receiver 36 (that is, the position of the unmanned flying object 30) based on the plurality of received signals.
- the GNSS receiver 36 outputs the position information of the unmanned flying object 30 to the control unit 31.
- the inertial measurement unit 37 detects the attitude of the unmanned flying object 30, and outputs the detection result to the control unit 31.
- the inertial measurement unit 37 detects the acceleration in the three axial directions of the front-back, left-right, and up-down of the unmanned flying object 30 and the angular velocity in the three-axis directions of the pitch axis, the roll axis, and the yaw axis as the posture of the unmanned flying object 30. ..
- the inertial measurement unit 37 can be realized by, for example, a semiconductor type sensor capable of measuring slow motion.
- the magnetic compass 38 detects the direction of the nose of the unmanned aircraft 30 and outputs the detection result to the control unit 31.
- the barometric altimeter 39 detects the altitude at which the unmanned vehicle 30 flies, and outputs the detection result to the control unit 31.
- the memory 32 stores a computer program (program) required for the control unit 31 to control the camera 34, the rotary wing mechanism 35, the GNSS receiver 36, the inertial measurement unit 37, the magnetic compass 38, and the barometric altimeter 39. ..
- the memory 32 may be a computer-readable recording medium.
- the memory 32 may be provided inside the unmanned vehicle 30 or may be removable from the unmanned vehicle 30.
- control unit 31 is a processor such as a CPU (Central Processing Unit), MPU (Micro Processing Unit), GPU (Graphics Processing Unit), DSP (Digital Signal Processor), or SoC (System on a Chip). Yes, it may be composed of a plurality of processors of the same type or different types.
- the control unit 31 may be configured by dedicated hardware such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field-Programmable Gate Array).
- the control unit 31 performs signal processing for controlling the operation of each part of the unmanned flying object 30, data input / output processing with other parts, and data calculation processing.
- the control unit 31 controls the autonomous flight of the unmanned aircraft 30 according to a computer program stored in the memory 32.
- the control unit 31 refers to data such as a flight path and flight time stored in the memory 32.
- the control unit 31 may control the flight of the unmanned vehicle 30 according to a command received from the terminal 50 via the communication unit 33.
- the control unit 31 identifies the environment around the unmanned flying object 30 by acquiring and analyzing the image data captured by the camera 34.
- the control unit 31 controls the flight so as to avoid obstacles, for example, based on the environment around the unmanned flying object 30.
- the control unit 31 controls the flight of the unmanned vehicle 30 by controlling the rotary wing mechanism 35. In flight control, the position of the unmanned aircraft 30 including latitude, longitude, and altitude is changed.
- the program may be recorded on a recording medium that can be read by a computer (unmanned aircraft 30). Using such a recording medium, it is possible to install the program on the computer.
- the recording medium on which the program is recorded may be a non-transitory recording medium.
- the non-transient recording medium is not particularly limited, but may be, for example, a CD-ROM, a DVD-ROM, a USB (Universal Serial Bus) memory, or the like. Further, this program may be downloaded from an external device via a network.
- the storage device 10 includes a main body portion 20 and connection portions 11 and 12.
- the connecting portion 11 is a portion where the main body portion 20 is connected to the upper surface of the unmanned flying object 30, and is provided on the lower surface of the main body portion 20.
- the connecting portion 11 has a magnet or a magnetic body for exerting a magnetic force on the unmanned flying object 30 having a magnet provided on the upper surface thereof.
- the connecting portion 12 is a portion connecting to the connecting portion 11 of the main body portion 20, and is provided on the upper surface of the unmanned flying object 30.
- the connecting portion 12 is provided with a magnet.
- the main body 20 includes a control unit 25 including a magnetic force control unit 27 and a sensing unit 28.
- the sensing unit 28 detects the movement of the propeller 351 included in the unmanned flying object 30, the movement of the unmanned flying object 30, and the like.
- the sensing unit 28 can be realized by using, for example, an infrared sensor, a distance measuring sensor, or the like.
- the magnetic force control unit 27 controls the operation of the electromagnet, which will be described later, based on the operation of the propeller 351 detected by the sensing unit 28, the movement of the unmanned flying object 30, and the like.
- the magnetic force control unit 27 is a processor such as a CPU, MPU, GPU, DSP, or SoC, and may be configured by a plurality of processors of the same type or different types.
- the magnetic force control unit 27 may be configured by dedicated hardware such as an ASIC or an FPGA.
- the main body 20 is arranged on the ceiling or hardware of the cable tunnel, the back surface of the bridge, the manhole upper floor slab, the iron lid, etc., and is intended to store the unmanned flying object 30. Since the main body 20 is attached to the equipment, it is desirable that the main body 20 has a simple shape such as a plate shape.
- a windbreak hood 24 may be provided on one direction or the entire surface of the main body 20 so as not to be affected by the air flow before and after the launching and retracting operation of the unmanned flying object 30.
- FIG. 4B shows an example of a storage device 10 provided with a windbreak hood 24.
- the windbreak hood 24 may be provided integrally with the main body portion 20 or may be provided as a separate body.
- connection portion 11 provided on the main body portion 20 of the storage device 10 and the connection portion 12 provided on the upper surface of the unmanned flying object 30
- 5A and 5C are diagrams showing a configuration example of a connection portion 11 having a magnet provided in the main body portion 20 of the storage device 10.
- 5B and 5D are views showing a configuration example of a connecting portion 12 having a magnet provided on the upper surface portion of the unmanned flying object 30. Both the connecting portion 11 and the connecting portion 12 have magnets so that the north pole and the south pole are arranged vertically so as to exert a magnetic force in the vertical direction.
- 5A and 5C are perspective views of the lower magnet of the connecting portion 11 as viewed from above.
- 5B and 5D are perspective views of the upper magnet of the connecting portion 12 as viewed from above. These magnets may be realized by permanent magnets or electromagnets.
- FIGS. 5A and 5B show an example in which magnets are arranged in two poles.
- the connection portion 11a of FIG. 5A has a magnet 111 having an S pole on the upper side and an N pole on the lower side, and a magnet 112 having an S pole on the lower side and an N pole on the upper side.
- the connection portion 12a of FIG. 5B has a magnet 121 having an N pole above and an S pole below, and a magnet 122 having an N pole below and an S pole above.
- the connecting portion 11a and the connecting portion 12a correspond to each other, and when they are brought close to each other in the directions shown in FIGS. 5A and 5B, they can exert attractive forces on each other and connect to each other.
- FIGS. 5C and 5D show an example in which magnets are arranged in four poles.
- the connection portion 11b of FIG. 5C has two magnets 111 having an S pole on the upper side and an N pole on the lower side, and two magnets 112 having an S pole on the lower side and an N pole on the upper side.
- the connection portion 12b in FIG. 5D has two magnets 121 having an N pole above and an S pole below, and two magnets 122 having an N pole below and an S pole above.
- the connecting portion 11b and the connecting portion 12b correspond to each other, and when they are brought close to each other in the directions shown in FIGS. 5C and 5D, they can exert attractive forces on each other and connect to each other.
- connection portion 12 of the unmanned flying object 30 a plurality of magnets are arranged in multiple poles so that the poles are two or more.
- a plurality of magnets are arranged in multiple poles with the polarity opposite to that of the connecting portion 12 of the unmanned flying object 30.
- Such a multi-pole arrangement may be realized by multi-pole magnetization, an arrangement of a plurality of magnets, or control of the current direction flowing through the electromagnet.
- FIG. 6A to 6C are views showing another configuration example of the connecting portion 12 having magnets 121 and 122 provided on the upper surface portion of the unmanned flying object 30.
- the magnets arranged in the multi-pole at the connection portion 12 may not be directly multi-pole magnetized, or a plurality of separate magnets may be arranged.
- FIG. 6A shows an example of a connecting portion 12c in which a plurality of separate magnets are arranged.
- 5A to 5D have described an example in which the shapes of the connecting portion 11 and the connecting portion 12 are quadrangular, but the shapes of the connecting portion 11 and the connecting portion 12 are not limited to the quadrangular shape.
- the shape of the connecting portion 11 and the connecting portion 12 may be any shape as long as a plurality of magnets such as a circle or a polygon are arranged in multiple poles.
- FIG. 6B shows an example of the connecting portion 12d when the shape of the connecting portion 12 is circular.
- the center points of each magnetic force can be set at arbitrary intervals, but it is desirable that the polarities are evenly spaced. Further, by arranging a plurality of magnets at equal intervals without distinguishing between the S pole and the N pole, the isotropic property of the unmanned flying object 30 with respect to the yaw rotation can be enhanced.
- FIG. 6C shows an example of a connecting portion 12 in which a plurality of magnets 121 and 122 are arranged at equal intervals without distinguishing between polarities.
- magnets are arranged in multiple poles so that the polarity is opposite to that of the connecting portion 12.
- the main body portion 20 may have the same number of magnets as the magnets provided on the upper surface of the unmanned flying object 30. Further, in the plurality of magnets included in the main body 20, the arrangement of the magnet 112 having the N pole above and the magnet 111 having the S pole above is at least while the unmanned vehicle 30 makes one rotation about the vertical axis. It may be arranged once or more so as to be the same as the arrangement of the magnet 121 having an N pole above and the magnet 122 having an S pole above provided on the upper surface of the unmanned flying object 30.
- the unmanned flying object 30 can be stably fixed to the main body portion 20 in a specific positional relationship.
- the plurality of magnets included in the main body 20 are provided on the upper surface of the unmanned vehicle 30 multiple times while the magnet 112 and the magnet 111 are arranged once while the unmanned vehicle 30 makes one rotation about the vertical axis. It may be arranged so as to be the same as the arrangement of the magnet 121 and the magnet 122.
- the unmanned flying object 30 can be stably fixed to the main body portion 20 in a plurality of predetermined positional relationships.
- the main body portion 20 may have the same number of magnets 112 having an N pole on the upper side and magnets 111 having an S pole on the upper side. As a result, it is possible to prevent the main body portion 20 and the unmanned flying object 30 from being connected halfway.
- connection unit 11 and the connection unit 12 electrode may be provided so as to supply electric power from the connection unit 11 to the connection unit 12. That is, the main body 20 is provided on the upper surface when the plurality of magnets included in the main body 20 exert an attractive force on the magnets provided on the upper surface of the unmanned flying object 30 and the main body 20 and the upper surface come into contact with each other. Further electrodes may be provided for supplying electric power to the provided electrodes.
- FIGS. 7A, 7C, 7E, 7G, and 7I are diagrams showing a configuration example of a connection portion 11 having magnets 111, 112 and electrodes 115, 116 provided in the main body portion 20 of the storage device 10.
- .. 7B, 7D, 7F, 7H, and 7J are views showing a configuration example of a connecting portion 12 having magnets 121 and 122 and electrodes 125 and 126 provided on the upper surface of the unmanned flying object 30. ..
- the electrode 115 of the connection portion 11 is a positive electrode
- the electrode 116 of the connection portion 11 is a negative electrode
- the electrodes of the connection portion 12 of FIGS. 7B, 7D, 7F, 7H, and 7J. Connect with 126. These electrodes are used to supply electric power from the main body 20 for flying, lighting, sensing, taking an image, driving an electromagnet, and the like of the unmanned flying object 30.
- FIG. 7A and 7B show an example in which the connecting portions 11f and 12f corresponding to each other have an electrode arrangement in a two-pole arrangement.
- the electrodes used for charging the battery of the unmanned vehicle 30 are arranged on both the unmanned vehicle 30 and the main body 20 by utilizing the fact that the yaw rotation can be uniquely determined by the multi-pole arrangement.
- FIGS. 7C and 7D show an example in which the connecting portions 11g and 12g corresponding to each other arrange the electrodes 115, 116, 125, 126 at non-point target positions.
- the electrodes 115, 116, 125, 126 can be arranged at arbitrary positions such as up and down and diagonally that do not interfere with the magnetic force. Therefore, by installing the electrodes 115, 116, 125, 126 at positions that are not point-symmetrical with respect to the centers of the connecting portions 11, 12, even if the 180-degree unmanned vehicle 30 rotates due to an error in the polarity of NS, a short circuit occurs. You can prevent it from happening.
- FIGS. 7E and 7F show an example in which the connecting portions 11h and 12h corresponding to each other arrange the electrodes 115, 116, 125, 126 at close positions in substantially the same direction as viewed from the center of the connecting portions 11 and 12. There is. If the electrodes 115, 116, 126, 126 are not high voltage, the electrodes of the positive and negative electrodes can be arranged in close positions in substantially the same direction.
- FIGS. 7G and 7H show an example in which the connecting portions 11i and 12i corresponding to each other have a plurality of electrodes 115, 116, 125, 126 arranged in a two-pole arrangement.
- the unmanned vehicle 30 returns to the main body 20 in a state of being rotated 180 degrees. It will be possible to do.
- a plurality of electrode pairs on at least one of the main body 20 and the unmanned flying object 30 are arranged so that charging is possible even in a state of being rotated 180 degrees.
- FIGS. 7I and 7J show an example in which the connecting portions 11j and 12j corresponding to each other arrange the AC electrodes 117 and 127 at non-point target positions.
- the polarity of the electrodes is variable, or when charging by alternating current, by arranging the electrodes at point-symmetrical positions, it is not necessary to provide a plurality of electrode pairs.
- FIG. 8 is a diagram showing an example of a vertical cross-sectional view of the main body 20 of the storage device 10 and the unmanned flying object 30.
- the connecting portion 11 of the main body portion 20 and the connecting portion 12 of the unmanned flying object 30 face each other.
- 9A-9C are views showing an example of a vertical cross-sectional view of the main body 20 of the storage device 10 and the unmanned flying object 30.
- 9A-9C show an enlarged space 40.
- both the connecting portions 11 and 12 have a convex structure with respect to the electrodes 131 and 141, and the electrodes 131 and 141 protrude from the surface of the magnets 111, 112, 121 and 122.
- the cross-sectional shape of the electrodes 131 and 141 may be rectangular as shown in FIG. 9A, but can be made resistant to wear by cutting the edges and processing them into a spherical shape. Further, by forming one of the electrodes facing each other into a needle shape, it is possible to reduce the contact resistance caused by the magnetic force.
- FIG. 9B shows an example in which one of the electrode 132 of the main body 20 and the electrode 142 of the unmanned flying object 30 has a convex structure and the other has a concave structure, so that both are fitted at the time of contact.
- the electrodes 132 and 142 can be reliably brought into contact with each other. Further, the contact can be ensured by allowing at least one of the convex portion and the concave portion of the electrodes 132 and 142 to have a tapered shape such as a conical shape or a wedge shape.
- the rod-shaped electrode 133 has a spring 135, and when the electrodes 133 and 143 are in contact with each other, the spring 135 of the electrode 133 is compressed so that the electrodes 133 and 143 are brought into close contact with each other. This makes it possible to ensure contact between the electrodes 133 and 143 and reduce contact resistance.
- the power transmission from the main body 20 to the unmanned vehicle 30 may be performed by a non-contact power feeding method instead of the electrodes.
- 10A and 10B are views showing an example of a vertical cross-sectional view of the main body 20 and the unmanned flying object 30 of the storage device 10 that performs non-contact power feeding.
- the connection portion 11 of the main body portion 20 includes a non-contact power feeding device 15 and a wire 17.
- the connection portion 12 of the unmanned aircraft 30 includes a non-contact power feeding device 16 and a wire 18.
- the arrangement of the power feeding device 16 and the wire 18 is a design matter and can be arbitrarily performed.
- the magnets when magnetic force is used for non-contact power supply, the magnets may be prevented from coming into contact with each other by installing them apart from each other so as not to affect the magnets 111, 112, 121, 122 of the main body 20 and the unmanned flying object 30. Can be prevented. Further, if the magnets 111, 112, 121, 122 are arranged in the periphery and the non-contact power feeding devices 15 and 16 are arranged in the center of the unmanned flying object 30, the alignment becomes easy.
- any method such as an electromagnetic induction type, a magnetic field resonance type, an electric field coupling type, an evanescent wave type, a microwave type, or a laser type can be used. The type does not matter.
- the magnet on the main body 20 side is composed of a permanent magnet and an electromagnet.
- the electromagnet is energized to exert a repulsive force between the main body 20 and the unmanned flying object 30, and at the time of return, the current is cut off or the attractive force is applied by the reverse current. You may work. As a result, the unmanned flight object 30 can be smoothly departed and returned.
- FIG. 11A is a diagram showing an example of a vertical cross-sectional view of a connection portion 11 included in the main body portion 20 of the storage device 10 for performing such processing.
- the connecting portion 11 includes a magnet 113 having an N pole on the upper side and a magnet 114 having an N pole on the lower side.
- the electromagnets 21 and 22 are embedded below the magnets 113 and 114.
- FIG. 11B is an enlarged view of the magnet 114 and the electromagnet 22.
- the combination of the magnet 114, which is a permanent magnet, and the electromagnet 22 is selected so that the current flowing through the coil of the electromagnet 22 is zero and has an N pole and the electromagnet 22 has an S pole at the time of maximum energization. ..
- FIGS. 12A to 12C are views showing an example of a vertical cross-sectional view of the main body 20 of the accommodating device 10 and the unmanned flying object 30.
- the connecting portion 11 and the connecting portion 12 are in contact with each other and are stationary.
- the current of the electromagnets 21 and 22 on the main body 20 side is zero, and the unmanned flying object 30 is fixed by the magnetic force of only the magnets 113 and 114 which are permanent magnets. Therefore, the unmanned flying object 30 is fixed even when the main body 20 loses power.
- FIG. 12A if the attractive force for lifting the unmanned vehicle 30 upward by the magnetic force of only the permanent magnet is F m and the gravity of the unmanned vehicle 30 is F g , then F m > F g .
- FIG. 12B shows a state in which the unmanned aircraft 30 is started.
- a current is passed through the electromagnets 21 and 22, and a repulsive force F1 is exerted between the magnet of the connecting portion 11 and the magnet of the connecting portion 12.
- F1 repulsive force exerted between the magnet of the connecting portion 11 and the magnet of the connecting portion 12.
- the unmanned aircraft 30 will crash to the ground from the start of the fall until the propeller 351 is driven to obtain buoyancy. Therefore, it is desirable to launch the unmanned flying object 30 in a state where the unmanned flying object 30 has obtained buoyancy in advance and the electromagnets 21 and 22 are also energized.
- the buoyancy of the unmanned flying object 30 is F p
- the gravity of the unmanned flying object 30 is F g
- the resultant force of the repulsive force due to the magnetic force is F1
- FIG. 12C shows a state in which the unmanned aircraft 30 returns to the main body 20.
- the magnetic force of the electromagnets 21 and 22 on the main body 20 side is set to zero (or the polarity opposite to that at the time of departure), and the attractive force F2 is applied to the unmanned flying object 30.
- the relationship of F p + F 2 > Fg is controlled between the gravity F g , the buoyancy F p , and the attractive force F 2.
- the magnet of the main body 20 exerts an attractive force on the magnet on the upper surface of the unmanned flying object 30, and the main body 20 and the upper surface of the unmanned flying object 30 are in contact with each other.
- An electromagnet for generating a magnetic force that exerts a repulsive force on the upper surface of the unmanned flying object 30 may be provided.
- FIG. 13 is a flowchart showing an operation procedure in which the unmanned aircraft 30 departs from the storage device 10. The operation of each step in FIG. 13 is executed based on the control of the control unit 31 of the unmanned aircraft 30 or the magnetic force control unit 27 of the main body 20.
- step S1 the control unit 31 of the unmanned vehicle 30 turns on the propeller 351 of the unmanned vehicle 30 and starts driving the motor 352.
- step S2 the magnetic force control unit 27 of the main body 20 acquires the rotation speed of the propeller 351 detected by the sensing unit 28.
- the magnetic force control unit 27 may acquire the rotation speed of the propeller 351 by receiving information indicating the rotation speed from the unmanned flying object 30.
- step S3 the magnetic force control unit 27 determines whether or not the rotation speed of the propeller 351 is stable. Specifically, the magnetic force control unit 27 determines whether or not the unmanned flying object 30 has obtained buoyancy and has reached a rotation speed at which hovering is possible. If it has been reached (YES in step S3), the process proceeds to step S4, and if it has not been reached (NO in step S3), the process returns to step S2.
- step S4 the magnetic force control unit 27 energizes the electromagnets 21 and 22 provided in the connection unit 11 of the main body unit 20. At this time, the magnetic force control unit 27 controls so as to satisfy the relationship of F p ⁇ F g + F1.
- step S5 the magnetic force control unit 27 determines whether or not a certain time has elapsed since the energization was started in step S4. This fixed time is sufficient for the unmanned vehicle 30 to separate from the main body 20, and during this time, the unmanned vehicle 30 departs.
- the magnetic force control unit 27 proceeds to step S6 if a certain time has elapsed (YES in step S5), and returns to step S4 if not (NO in step S5).
- step S6 the magnetic force control unit 27 turns off the energization of the electromagnets 21 and 22 provided in the connection unit 11 of the main body unit 20. Then, the magnetic force control unit 27 ends the process.
- a mechanism for allowing the unmanned aircraft 30 to depart is provided by giving momentum with a cylinder or a spring so that the conditional expression at the time of departure does not have to be satisfied. You may do it.
- FIG. 14A is a diagram illustrating how the unmanned flying object 30 returns to the storage device 10.
- the position A is a position where the gravitational force Fg acting on the unmanned flying object 30 is sufficiently larger than the attractive force Fm due to the magnetic force from the magnets 113 and 114 when the electromagnets 21 and 22 are not energized. That is, the position A corresponds to a position where the influence of the attractive force due to the magnetic force from the main body 20 is hardly generated.
- Position B is a position where Fm and Fg are the same.
- FIG. 14B is a flowchart showing an operation procedure in which the unmanned aircraft 30 returns to the storage device 10. The operation of each step in FIG. 14B is executed based on the control of the control unit 31 of the unmanned aircraft 30.
- step S11 the control unit 31 of the unmanned vehicle 30 controls the unmanned vehicle 30 so as to hover at the position A.
- Position sensing can be performed, for example, based on the signal of the GNSS receiver 36 or the inertial measurement unit 37.
- step S12 the control unit 31 controls the unmanned flying object 30 so as to rise at a speed v and approach the main body unit 20.
- the velocity v is a calculated velocity that reaches from position A to position B without buoyancy.
- step S13 the control unit 31 determines whether or not the unmanned aircraft 30 has reached the position B.
- the control unit 31 proceeds to step S14, and when not (NO in step S13), the control unit 31 returns to step S11.
- step S14 the control unit 31 controls the unmanned flying object 30 so as to perform propeller idling.
- the propeller idling is an operation of making the propeller 351 stand by (idling) in a state of zero buoyancy. After that, until the unmanned flying object 30 returns to the main body portion 20, the unmanned flying object 30 advances toward the main body portion 20 due to the attractive force due to the magnetic force.
- step S15 the control unit 31 determines whether or not the unmanned flying object 30 has returned to the storage position (home) of the main body unit 20. If the control unit 31 returns (YES in step S15), the control unit 31 proceeds to step S16, and if not (NO in step S15), the control unit 31 returns to step S11.
- step S16 the control unit 31 turns off the propeller 351 of the unmanned aircraft 30. Then, the control unit 31 ends the process.
- FIGS. 15A to 15C are views showing a configuration example of the upper surface portion of the unmanned flying object 30.
- FIG. 15A the configuration in which the magnets 121 and 122 are provided only on the connecting portion 12 of the unmanned flying object 30 has been described.
- FIG. 15B it is desirable to provide magnets 151 and 152 as close to the outer periphery of the unmanned vehicle 30 as possible as shown in FIG. 15B.
- the bumper 318a is provided so as to be located at the same height as the connecting portion 12. Further, as shown in FIG.
- the magnets 151 and 152 may be provided on the bumper 318a as well. With such an arrangement, it is possible to increase the degree of freedom in design regarding the arrangement of the magnets used for the angle adjustment and the fixing of the unmanned flying object 30.
- the unmanned flying object 30 approaches and sticks to a hardware or the like during flight, the upper part of the magnets 121 and 122 on the unmanned flying object 30 side after the unmanned flying object 30 is separated from the main body 20 so that the unmanned flying object 30 can be detached by its own weight.
- a movable spacer may be arranged in the space.
- the magnets 121 and 122 on the unmanned vehicle 30 side are realized by an electromagnet, the power consumption of the unmanned vehicle 30 can be saved by cutting off the current of the electromagnet while the unmanned vehicle 30 is in flight. can.
- the present disclosure is not limited to the above-described embodiment.
- the plurality of blocks shown in the block diagram may be integrated, or one block may be divided.
- the plurality of steps described in the flowchart may be executed in parallel or in a different order depending on the processing power of the device that executes each step, or as necessary, instead of executing the steps in chronological order according to the description. ..
- Other changes are possible without departing from the spirit of this disclosure.
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Abstract
Description
まず、本開示に係る格納装置を用いた点検システムについて説明する。図1は、点検システム1の概要を示す図である。図1に示す点検システム1は、格納装置10と、無人飛行体30と、を備える。点検システム1は、端末50を更に含む構成であってもよい。なお、図1では、無人飛行体30の数が1機である場合を示しているが、無人飛行体30の数は複数であってもよい。
図2は、無人飛行体30の外観例を示す正面図である。図2に示すように、無人飛行体30は、制御基板を内蔵する制御ボックス311と、モータ352に軸支された複数枚のプロペラ(回転翼)351と、振動及び衝撃を吸収する緩衝用のバンパー318と、カメラ34と、接続部12とを備える。無人飛行体30は、カメラ34を複数備えていてもよい。接続部12は、無人飛行体30の上面に設けられる。
図4A及び図4Bは、本開示の一実施形態に係る格納装置10の構成例を示す図である。図4Aにおいて、格納装置10は、本体部20、及び接続部11,12を備える。接続部11は本体部20が無人飛行体30の上面と接続する部分であり、本体部20の下面に設けられている。接続部11は、上面に磁石が設けられた無人飛行体30に対して磁力を及ぼすための磁石又は磁性体を有する。接続部12は、本体部20の接続部11と接続する部分であり、無人飛行体30の上面に設けられる。接続部12には、磁石が設けられている。本体部20は、磁力制御部27及びセンシング部28を備えた制御部25を備える。センシング部28は、無人飛行体30が備えるプロペラ351の動作、あるいは無人飛行体30の動き等を検知する。センシング部28は、例えば、赤外線センサあるいは測距センサ等を用いて実現することができる。磁力制御部27は、センシング部28が検知したプロペラ351の動作あるいは無人飛行体30の動き等に基づき後述する電磁石の動作を制御する。磁力制御部27は、本実施形態では、CPU、MPU、GPU、DSP、又はSoCなどのプロセッサであり、同種又は異種の複数のプロセッサにより構成されてもよい。磁力制御部27は、ASIC、又はFPGAなどの専用のハードウェアによって構成されてもよい。
次に、格納装置10の本体部20に設けられた接続部11、及び無人飛行体30の上面に設けられた接続部12の構成について説明する。図5A及び図5Cは、格納装置10の本体部20に設けられた磁石を有する接続部11の構成例を示す図である。図5B及び図5Dは、無人飛行体30の上面部に設けられた磁石を有する接続部12の構成例を示す図である。接続部11及び接続部12はいずれも鉛直方向に磁力を及ぼすように、N極及びS極が鉛直に配置されるように磁石を有する。図5A及び図5Cは、接続部11の下部磁石の透視図を上方から見た図である。図5B及び図5Dは、接続部12の上部磁石の透視図を上方から見た図である。なお、これらの磁石は永久磁石により実現してもよいし、あるいは電磁石により実現してもよい。
本体部20側の電磁石21,22の磁力をゼロ(若しくは出発時と逆極性)にして、無人飛行体30に引力F2を働かせる。無人飛行体30が本体部20に接触するまで、重力Fg、浮力Fp、及び、引力の合力F2の間で、Fp+F2>Fgの関係を充足するように制御される。
図13は、無人飛行体30が格納装置10から出発する動作手順を示すフローチャートである。図13の各ステップの動作は、無人飛行体30の制御部31又は本体部20の磁力制御部27の制御に基づき実行される。
10 格納装置
11,12 接続部
15,16 給電装置
17,18 ワイヤ
20 本体部
21,22 電磁石
24 風よけフード
25 制御部
27 把持機構制御部
28 センシング部
30 無人飛行体
31 制御部
32 メモリ
33 通信部
34 カメラ
35 回転翼機構
36 GNSS受信機
37 慣性計測装置
38 磁気コンパス
39 気圧高度計
40 空間
50 端末
100 マンホール
101 溜り水
111~114,121~124 磁石
115~117,125~127 電極
131~133,141~143 電極
135 ばね
151,152 磁石
311 制御ボックス
318 バンパー
351 プロペラ
352 モータ
Claims (8)
- 無人飛行体を格納する格納装置であって、上面に磁石が設けられた前記無人飛行体に対して磁力を及ぼすための磁石又は磁性体を有する本体部を備える、格納装置。
- 前記本体部は、上方にN極を有する磁石及び上方にS極を有する磁石を含む、複数の磁石を有する、請求項1に記載の格納装置。
- 前記本体部は、前記無人飛行体の上面に設けられた前記磁石と同じ数の前記磁石を有し、
前記本体部が備える前記複数の磁石は、上方にN極を有する磁石及び上方にS極を有する磁石の配置が、前記無人飛行体が鉛直軸を中心に1回転する間に、少なくとも1回以上、当該無人飛行体の上面に設けられた上方にN極を有する磁石及び上方にS極を有する磁石の配置と同一となるように、配置される、
請求項2に記載の格納装置。 - 前記本体部は、上方にN極を有する磁石及び上方にS極を有する磁石を同数ずつ有する、請求項2又は3に記載の格納装置。
- 前記本体部は、前記本体部が備える前記複数の磁石が、前記無人飛行体の上面に設けられた前記磁石と引力を及ぼしあって、前記本体部と前記上面とが接触した場合に、前記上面に設けられた電極へ電力を供給するための電極を更に備える、請求項2から4のいずれか一項に記載の格納装置。
- 前記本体部は、前記本体部が備える前記複数の磁石が、前記無人飛行体の上面に設けられた前記磁石と引力を及ぼしあって、前記本体部と前記上面とが接触している場合において、前記無人飛行体の上面に対して斥力を及ぼす磁力を発生させるための電磁石を更に備える、請求項2から5のいずれか一項に記載の格納装置。
- プロペラと、
複数の磁石を上面に有する本体部と、
を備える、無人飛行体。 - 請求項1から6のいずれか一項に記載の格納装置と、
請求項7に記載の無人飛行体と
を備える、システム。
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US20160144982A1 (en) * | 2014-05-07 | 2016-05-26 | Deere & Company | Uav docking system and method |
JP2020519525A (ja) * | 2017-12-15 | 2020-07-02 | 大韓民国 行政安全部 国立災難安全研究院Republic Of Korea (National Disaster Management Research Institute) | 滞空可能な浮遊式空気状態検出装置 |
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