WO2022137462A1 - 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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- WO2022137462A1 WO2022137462A1 PCT/JP2020/048565 JP2020048565W WO2022137462A1 WO 2022137462 A1 WO2022137462 A1 WO 2022137462A1 JP 2020048565 W JP2020048565 W JP 2020048565W WO 2022137462 A1 WO2022137462 A1 WO 2022137462A1
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- Prior art keywords
- unmanned
- storage device
- flying object
- main body
- unmanned flying
- Prior art date
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Classifications
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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
-
- 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
-
- 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
- B64U80/00—Transport or storage specially adapted for UAVs
- B64U80/70—Transport or storage specially adapted for UAVs in containers
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D29/00—Independent underground or underwater structures; Retaining walls
- E02D29/12—Manhole shafts; Other inspection or access chambers; Accessories therefor
- E02D29/14—Covers for manholes or the like; Frames for covers
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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
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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
- 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]
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02D—FOUNDATIONS; EXCAVATIONS; EMBANKMENTS; UNDERGROUND OR UNDERWATER STRUCTURES
- E02D2600/00—Miscellaneous
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, accumulated water due to water leakage or the like may occur and damage the unmanned aircraft.
- the object of the present disclosure made in view of such circumstances is a storage capable of safely carrying out the departure and return operations of an unmanned aircraft, both underground and above ground, as well as indoors and outdoors, without human intervention.
- unmanned vehicles and systems To provide equipment, unmanned vehicles and systems.
- the storage device is a storage device for storing an unmanned vehicle, and has a main body portion having a curved surface on which the unmanned vehicle can move by contacting wheels with the wheels, and the unmanned vehicle.
- a grip portion for gripping the flying object is provided.
- the unmanned air vehicle according to the present disclosure is provided at a main body portion, a flight propeller, a support portion extending upward from the main body portion, and an end portion of the support portion, and at least a part thereof is for flight. It is equipped with wheels that project above the top surface of the propeller.
- system according to the present disclosure includes a storage device according to the present disclosure and an unmanned air vehicle according to the present disclosure.
- containment devices, unmanned aircraft and systems capable of safely performing the departure and return operations of unmanned aircraft, both underground and above ground, as well as indoors and outdoors, without human intervention. Can be provided.
- FIG. It is a figure for demonstrating the system which concerns on modification 1.
- FIG. It is a figure for demonstrating the system which concerns on modification 1.
- FIG. It is a figure for demonstrating the system which concerns on modification 2.
- upper and lower mean the direction parallel to the Z axis of the coordinate axis display drawn in the drawing
- horizontal means the direction of the coordinate axis display drawn in the drawing. It shall mean a direction parallel to the XY plane.
- FIG. 1 is a diagram showing an outline of the system 1.
- the system 1 shown in FIG. 1 includes a storage device 20 and an unmanned flying object 30.
- the system 1 may be configured to further include the terminal device 10.
- FIG. 1 shows a case where the number of unmanned flying objects 30 is one, the number of unmanned flying objects 30 may be plural.
- FIG. 1 shows a state in which the storage device 20 is attached to the lower surface of the lid 50 of the manhole 100, that is, a state in which the storage device 20 is installed in the upper part of the upper hole of the manhole 100.
- the manhole 100 is, for example, a communication manhole.
- the manhole may be referred to as a maintenance hole.
- accumulated water 101 may be generated due to water leakage or the like.
- the system 1 is applied to the manhole 100, but is not limited to this, and may be applied to various storage tanks such as silos.
- the system 1 may be applied in any space in which the unmanned vehicle 30 can fly, and may be applied to indoor or outdoor facilities underground or above ground.
- the terminal device 10 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 device 10 and the unmanned aircraft 30.
- the operator U operates the terminal device 10 to control the operation of the unmanned flying object 30.
- the unmanned flying object 30 can fly without any instruction regarding flight control from the terminal device 10.
- 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 device 10 by the operator U. ..
- the unmanned aircraft 30 may transmit the captured video data to the terminal device 10.
- 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.).
- FIG. 2 is a front view showing an external example of the unmanned aircraft 30.
- the unmanned air vehicle 30 extends upward from the control box 311 having a built-in control board, at least one flight propeller 35, the main body portion 303a and the main body portion 303b, and the main body portion 303a. It includes a support portion 301, wheels 302 provided at the end of the support portion 301, a gripped portion 304 provided on the upper surface of the control box 311 and a camera 34.
- the main body 303a is a bumper for cushioning that absorbs vibration and impact.
- the main body portion 303b is an arm that supports the flying propeller 35.
- the main body portion 303a and the main body portion 303b may be integrally configured.
- the unmanned aircraft 30 may include a plurality of cameras 34.
- the gripped portion 304 has a semicircular ring shape, and is hooked and gripped by the end portion of the gripped portion 23 of the storage device 20, as will be described later.
- the unmanned flying object 30 may be stored in the storage device 20 in a state of being suspended from the storage device 20 via the gripped portion 304 and the grip portion 23.
- the highest surface of the wheel 302 in the upward direction is located above the upper surface of the flight propeller 35.
- the support portion 301 is provided on the main body portion 303a, but may be provided on the main body portion 303b. Even when it is provided on the main body portion 303b, the highest surface of the wheel 302 in the upward direction is located above the upper surface of the flight propeller 35. As described above, at least a part of the wheel 302 protrudes above the upper surface of the flight propeller 35.
- the wheels 302 are pressed against the storage device 20 when the unmanned vehicle 30 comes into contact with the storage device 20, and rotate freely.
- the free rotation of the wheels 302 allows the unmanned vehicle 30 to move while in contact with the containment device 20.
- the wheels 302 may be driven by a motor (not shown).
- the support portion 301 is rotatable in the horizontal direction.
- the direction of rotation is not particularly limited, and may be rotatable in either clockwise or counterclockwise direction. By rotating the support portion 301, the wheels 302 connected to the support portion 301 can also rotate in the horizontal direction.
- the number of wheels 302 and the support portion 301 may be freely set, but as will be described later, a number that can keep the unmanned vehicle 30 horizontal when the wheels 302 come into contact with the storage device 20 is desirable. Therefore, for example, it is desirable that the number of the support portion 301 and the number of the wheels 302 are 3 or more, respectively.
- the material of the wheel 302 is rubber, but the material is not limited to this, and a spherical member such as plastic or resin may be used.
- the wheel 302 may be a ball caster made of resin.
- 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 flight propeller 35, a GNSS receiver 36, an inertial measurement unit (IMU) 37, and a magnetic force. It is equipped with a compass 38 and a barometric altitude meter 39.
- IMU inertial measurement unit
- the communication unit 33 performs wireless communication with the terminal device 10. 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 communication unit 33 may also be able to communicate with the storage device 20.
- a wireless LAN such as Wi-Fi (registered trademark)
- a specified low power wireless such as Wi-Fi (registered trademark)
- the communication unit 33 may also be able to communicate with the storage device 20.
- 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 flight propeller 35 rotates by driving a motor (not shown) to generate lift.
- a motor not shown
- the number of the flying propeller 35 and the number of motors are four each, but the number is not limited to this, and may be freely set.
- 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 measure whether or not the unmanned flying object 30 maintains a horizontal attitude.
- 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 and the like necessary for the control unit 31 to control the camera 34, the flight propeller 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), an MPU (Micro Processing Unit), a GPU (Graphics Processing Unit), a DSP (Digital Signal Processor), and a SoC (System on a Chip). , 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) and 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 device 10 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 flight propeller 35. In flight control, the position of the unmanned aircraft 30 including latitude, longitude, and altitude is changed.
- FIG. 4A and 4B are views that briefly show an example of the appearance of the storage device 20.
- FIG. 4B is a plan view of the storage device 20 attached to the lid 50 of the manhole 100.
- FIG. 4A is a cross-sectional view taken along the line AA'of the storage device 20 of FIG. 4B.
- the storage device 20 includes a main body portion 21 having a curved surface, a support portion 22 for connecting the main body portion 21 and the lid 50 of the manhole 100, and a grip portion 23.
- the main body portion 21 and the support portion 22 may be integrated.
- the support portion 22 is attached to the back surface of the lid 50 with screws, screws, or the like.
- the support portion 22 may be detachably attached, which facilitates attachment of the storage device 20 to the existing lid 50.
- the main body 21 is entirely composed of a circular plate-like body.
- the main body portion 21 of the present embodiment includes a curved surface in which the center point indicated by the symbol C protrudes most upward and curves downward toward the peripheral edge portion. Due to the curved surface, the storage device 20 takes the shape of an umbrella or a dome that opens downward. More specifically, the closer to the outer circumference of the circle of the main body 21, the larger the curvature k. That is, k (x) is the curvature at the position of the radius x of the circle of the main body 21, and when x1 ⁇ x2, it can be said that k (x1) ⁇ k (x2). With this structure, the unmanned flying object 30 can maintain a horizontal posture in a state where the wheels 302 are in contact with each other in the vicinity of the center point of the main body portion 21.
- the shape of the main body 21 is not limited to this, and may be a part of a quadric surface such as a spherical surface, a spheroidal surface, a rotating paraboloid, or a hyperboloid.
- the main body 21 may have a conical shape.
- the main body portion 21 may take the shape of a polygonal pyramid such as a triangular pyramid or a quadrangular pyramid having a flat surface instead of a curved surface.
- the main body portion 21 may be made of any member, but it is desirable that the main body portion 21 has resistance to be damaged even if the unmanned flying object 30 collides with force.
- the main body 21 may be made of a resin such as polyethylene terephthalate or polycarbonate.
- the grip portion 23 is provided near the center point of the storage device 20.
- the grip portion 23 has a hook shape and can grip the unmanned flying body 30 by being caught by the gripped portion 304 of the unmanned flying body 30.
- the grip portion 23 has enough strength to grip the unmanned flying object 30 in a suspended state even when the unmanned flying object 30 completely stops the operation of the flight propeller 35.
- the grip portion 23 is not limited to the hook shape, and any one capable of gripping the unmanned flying object 30 may be adopted.
- the grip portion 23 may be an adhesive body.
- the gripped portion 304 of the unmanned flying object 30 also has an adhesive body, and the unmanned flying object 30 is gripped by the storage device 20 when both adhesive bodies come into contact with each other.
- the grip portion 23 may have a male screw structure.
- the gripped portion 304 of the unmanned vehicle 30 has a female screw structure, and the unmanned vehicle 30 is gripped by the storage device 20 by fitting both screws.
- the gripped portion 23 may have a female screw structure, and the gripped portion 304 may have a male screw structure.
- FIGS. 5A, 5B and 5C show how the unmanned aircraft 30 is stored in the storage device 20.
- the white arrows in FIGS. 5A to 5C indicate the direction in which the unmanned aircraft 30 moves.
- 5A and 5B are side views of the unmanned aircraft 30 being stored in the storage device 20.
- FIG. 5C is a view of the unmanned aircraft 30 seen through the storage device 20 from above. The unmanned vehicle 30 completes the inspection in the manhole 100 automatically or by the operation of the user U, and flies back to the vicinity of the storage device 20.
- the unmanned air vehicle 30 rises due to the lift of the flight propeller 35.
- the unmanned vehicle 30 comes into contact with any suitable position of the main body 21 of the retractor 20 via the wheels 302.
- the unmanned vehicle 30 continues to ascend, so that the wheels 302 are pressed upward.
- the support portion 301 rotates freely, and therefore the wheels 302 also rotate, so that the curved surface of the main body portion 21 can be rolled.
- the wheels 302 roll toward the vicinity of the center point protruding above the curved surface of the main body 21.
- each of the wheels 302 is freely rotatable. As a result, the wheel 302 can move quickly on the curved surface.
- the wheels 302 rotate, and the unmanned vehicle 30 moves to the vicinity of the center point of the storage device 20 while contacting the storage device 20.
- the control unit 31 of the unmanned vehicle 30 detects that the unmanned vehicle 30 is aligned with the storage device 20.
- the aligned state means a state in which the unmanned aircraft 30 is stored in the storage device 20 and is at a position or angle at which the operation of the flight propeller 35 can be stopped until the next flight. Any method may be adopted for the detection of the alignment. For example, when the inertial measurement unit 37 of the unmanned aircraft 30 detects that the unmanned aircraft 30 is in a horizontal posture, the alignment is performed. May be detected. Alternatively, when the camera 34 of the unmanned flying object 30 can image the upper part, it may be detected that the camera 34 is aligned by reading the marker attached to the curved surface of the main body 21.
- the control unit 31 of the unmanned aircraft 30 detects that the gripped portion 304 is gripped by the gripped portion 23 of the storage device 20. Specifically, the control unit 31 controls the flight propeller 35 to slightly move the unmanned vehicle 30 back and forth and left and right.
- the control unit 31 recognizes that the end portion of the grip portion 23 penetrates the inside of the semicircular gripped portion 304 and the gripped portion 304 is hooked on the grip portion 23, the control unit 31 determines that the grip portion 31 has been gripped. It may be detected. The detection of being gripped may be performed by an arbitrary method, but for example, it may be detected that the gripped portion 304 is gripped via an arbitrary sensor included in the gripped portion 304. Alternatively, gripping may be detected by analyzing the image captured by the camera 34 capable of capturing the gripped portion 23 and the gripped portion 304 by an arbitrary image analysis method.
- the control unit 31 controls the flight propeller 35 to stop the operation. In this way, the unmanned flying object 30 ends the flight and is stored in the storage device 20.
- the control unit 31 When the unmanned aircraft 30 starts from the storage device 20, the control unit 31 first controls and operates the flight propeller 35 to generate lift. The control unit 31 slightly moves the unmanned flying object 30 back and forth and left and right, and detects that the end portion of the grip portion 23 has come out from the inside of the gripped portion 304 having a semicircular ring shape. In this way, the grip by the grip portion 23 is released, and the unmanned vehicle 30 can move downward from the storage device 20 and fly in the manhole 100 again.
- the storage device 20 is a storage device for storing the unmanned vehicle 30 and has a main body 21 having a curved surface on which the unmanned vehicle 30 can move by contacting the wheels 302.
- a grip portion 23 for gripping the unmanned flying object 30 is provided.
- the wheels 302 move on the main body 21 of the storage device 20 to cause the unmanned vehicle 30 to move. Can be stored in the appropriate position. Further, since the main body 21 of the storage device 20 has a curved surface, it is possible to prevent a situation in which the unmanned flying object 30 collides or reverses when returning to the storage device 20 and loses its balance and falls. .. Therefore, it is possible to provide a storage device 20 capable of safely performing the departure and return operations of the unmanned aircraft 30 without human intervention.
- the unmanned air vehicle 30 includes a main body portion 303a and a main body portion 303b, a flight propeller 35, a support portion 301 extending upward from the main body portion 303a, and an end portion of the support portion 301. It is provided with a wheel 302 which is provided in the above and at least a part of which protrudes upward from the upper surface of the flight propeller 35.
- the unmanned flying object 30 when the unmanned flying object 30 returns to the vicinity of the storage device 20, it can move on the main body 21 of the storage device 20 and be stored in an appropriate position only by continuing to climb. It is not necessary to return the unmanned vehicle 30 to the storage device 20 by delicate control, and the convenience of operation of the unmanned vehicle 30 is improved. Therefore, it is possible to provide the unmanned aircraft 30 capable of safely performing the departure and return operations of the unmanned aircraft 30 without human intervention.
- a part or the whole of the support portion 301 of the unmanned flying object 30 may be configured by the elastic body 3011.
- the elastic body 3011 may be composed of, for example, a spring, a rubber, or a member composed of a combination of the spring and the rubber. Since the support portion 301 is composed of the elastic body 3011, the wheels 302 can be expanded and contracted in the vertical direction.
- FIG. 6B shows an example in which the support portion 301 is not composed of the elastic body 3011.
- the flight propeller 35 sucks air from the upper surface, so that the unmanned flying object 30 is forcibly sucked to the main body 21.
- the wheel 302 comes into contact with the main body 21, the entire unmanned flying object 30 tilts. In this way, the unmanned flying object 30 may lose its balance and reverse, lose its buoyancy, and fall.
- a plurality of support portions 301 included in the unmanned flying object 30 are configured by the elastic body 3011.
- the support portion 301 in contact with the peripheral portion side of the main body portion 21 of the storage device 20 contracts in the direction of the black arrow due to the elastic body 3011.
- the unmanned flying object 30 can move on the curved surface of the main body 21 while maintaining the horizontal posture, and can perform positioning.
- the support portion 301 includes an elastic body 3011.
- the unmanned vehicle 30 even when the unmanned vehicle 30 flies to the side of the peripheral portion of the main body 21 of the storage device 20 having a relatively high curvature, the unmanned vehicle 30 remains in a horizontal posture. It can move in contact with the main body 21. Therefore, by sucking air from the upper surface of the flight propeller 35, the unmanned flying object 30 is forcibly sucked into the main body 21 of the storage device 20 to prevent the unmanned flying object 30 from being inverted and falling. be able to. As described above, according to the present modification, it is possible to provide the unmanned aircraft 30 capable of safely performing the departure and return operations of the unmanned aircraft 30 without human intervention.
- the storage device 20 may include an electrode as a feeding unit 25 and may be able to charge the battery of the unmanned vehicle 30.
- the storage device 20 also has a function as a power supply device.
- the storage device 20 includes an anode and a cathode as the feeding unit 25, and the unmanned flying object 30 also includes an anode and a cathode.
- the storage device 20 includes a feeding unit 25 on the curved surface of the main body 21, and the unmanned aircraft 30 includes electrodes on the upper surface of the control box 311 or the upper surface of the main body 303a.
- FIGS. 7A and 7B An example of the arrangement of the electrodes between the storage device 20 and the unmanned flying object 30 is shown in FIGS. 7A and 7B.
- 7A and 7B are views of the unmanned aircraft 30 seen through the storage device 20 from above.
- the unmanned aircraft 30 moves in the direction of the white arrow, and alignment is performed.
- each electrode may have a linear shape.
- the unmanned flying object 30 can rotate in the horizontal direction to adjust the angle so that the positions of the electrodes are aligned when the alignment is performed near the center point of the storage device 20. Further, as shown in FIG.
- the electrodes as the feeding unit 25 included in the storage device 20 are arranged in a curved band shape in which the distance from the center point is constant, and the electrodes included in the unmanned flying object 30 are arranged in a dot shape. May be good. As a result, when the unmanned vehicle 30 is positioned with respect to the storage device 20, the electrodes can be connected without rotating in the horizontal direction and adjusting the angle.
- the electrodes may be brought into contact with each other by rotating the grip portion 23 of the accommodating device 20 in the horizontal direction when the unmanned flying body 30 is gripped, instead of the unmanned flying body 30. Further, the present invention is not limited to the example of the arrangement of the electrodes shown in FIGS. 7A and 7B. good.
- the main body 21 includes a power feeding unit 25 that supplies power to the unmanned flying object 30.
- the unmanned vehicle 30 can be charged while the unmanned vehicle 30 is stored in the storage device 20. Therefore, the unmanned flying object 30 can continuously fly, and the convenience is improved. In addition, it is possible to prevent the unmanned flying object 30 from falling due to the battery running out. Therefore, it is possible to provide a storage device 20 capable of safely performing the departure and return operations of the unmanned aircraft 30 without human intervention.
- the grip portion 23 of the storage device 20 may be a recess having a substantially circular cross section.
- the recess as the grip portion 23 is configured as a groove arranged in a circle equidistant from the center point of the main body portion 21 of the storage device 20.
- the circular groove shape makes it easy to grip the unmanned vehicle 30 regardless of the direction in which the storage device 20 flies.
- the configuration of the recess is not limited to this.
- FIG. 8B is a cross-sectional view of the recess shown by the line AA'in FIG. 8A.
- the cross section of the recess as the grip portion 23 is not limited to a substantially circular shape as shown in FIG. 8B, and may be a substantially elliptical shape, a substantially square shape, or the like.
- the diameter of the cross section of the recess is equivalent to that of the wheel 302.
- the unmanned flying object 30 moves with the wheels 302 in contact with each other. Then, as shown in FIG. 9B, the unmanned flying object 30 rises when it is aligned with the vicinity of the center point of the main body 21 of the storage device 20.
- the wheel 302 is pressed from below into the recess as the grip portion 23 and is fitted into the recess as shown in FIG. 9B. In this way, the wheels 302 are housed in the recesses, resulting in the entire unmanned vehicle 30 being gripped.
- the wheel 302 may be an elastic member such as rubber. As a result, when the wheel 302 is pressed against the recess, the shape of the wheel 302 is flattened and fitted into the recess.
- the distance L from the peripheral edge of the main body 21 of the storage device 20 shown in FIG. 8A to the recess as the grip 23 is designed to be shorter than the distance K between the central axes of the adjacent wheels 302 shown in FIG. 8C. good.
- the distance L is designed to be longer than the distance K. While the unmanned flying object 30 is moving on the main body 21, the wheel 302 on the right side is not fitted in the recess on the right side, but is fitted in the recess on the left side.
- the flight propeller 35 sucks air from the upper surface while the unmanned flying object 30 is moving on the main body 21, and the unmanned flying object 30 is forced to the main body 21.
- the wheel 302 will be fitted in the wrong position due to being sucked. This can be prevented by designing the distance L to be shorter than the distance K.
- an electrode may be further provided inside the recess as the grip portion 23, and the electrode may also be provided on the wheel 302 of the unmanned flying object 30.
- the grip portion 23 grips the wheels 302 of the unmanned flying object 30.
- the unmanned flying object 30 can be reliably gripped by the storage device 20, and the unmanned flying object 30 can be prevented from falling. Therefore, it is possible to provide a storage device 20 capable of safely performing the departure and return operations of the unmanned aircraft 30 without human intervention.
- the grip portion 23 is a recess provided on the curved surface and capable of storing the wheels 302.
- the unmanned flying object 30 when the unmanned flying object 30 flies toward the storage device 20, it can be gripped by the storage device 20 only by continuing to ascend. Delicate control for gripping by the gripping portion 23 becomes unnecessary, and the unmanned flying object 30 can be easily and reliably gripped. Therefore, it is possible to provide a storage device 20 capable of safely performing the departure and return operations of the unmanned aircraft 30 without human intervention.
- the storage device 20 may include an extrusion mechanism 24.
- the extrusion mechanism 24 is driven by a motor.
- the storage device 20 includes a control unit 26 and a communication unit 27, and the operation of the extrusion mechanism 24 is controlled by the control unit 26.
- the storage device 20 can communicate with the control unit 31 of the unmanned aircraft 30 via the communication unit 27.
- the extrusion mechanism 24 is provided at the center position of the curved surface of the main body portion 21.
- the extrusion mechanism 24 includes a cylinder portion provided in the main body portion 21 and a piston portion arranged inside the cylinder portion and moving in the vertical direction.
- the grip portion 23 disengages the grip of the wheel 302, and the entire unmanned vehicle 30 is pushed out from the storage device 20. In this way, the unmanned flight object 30 can be started.
- step S1 of FIG. 11A the control unit 31 of the unmanned aircraft 30 drives the flight propeller 35.
- step S1 as shown in FIG. 10A, the wheels 302 of the unmanned flying object 30 are in a state of being gripped by the grip portion 23.
- step S2 the control unit 31 determines whether or not the output value of the flight propeller 35 has reached a predetermined output value.
- the predetermined output value is an output value that allows the unmanned aircraft 30 to stand still at the same position in the air by the lift of the flight propeller 35.
- the control unit 31 repeats the operation of step S2 until it is determined that the predetermined output value has been reached.
- the operation of the control unit 31 proceeds to step S3.
- step S3 the control unit 31 sends an instruction to the storage device 20 to push out the unmanned flying object 30 by the pushing mechanism 24. Specifically, the control unit 31 transmits an instruction to the storage device 20 via the communication unit 33.
- step S4 the storage device 20 receives an instruction from the unmanned aircraft 30 via the communication unit 27.
- step S5 the control unit 26 of the storage device 20 pushes the unmanned flying object 30 downward by the pushing mechanism 24. Specifically, the control unit 26 controls to drive the motor of the extrusion mechanism 24, and moves the piston portion of the extrusion mechanism 24 downward as shown in FIG. 10B.
- the grip portion 23 disengages the grip of the wheel 302. The entire unmanned vehicle 30 is pushed out of the containment device 20 from the state shown in FIG. 10A to the state shown in FIG. 10B. In this way, the extrusion mechanism 24 launches the unmanned flying object 30.
- step S6 the unmanned flying object 30 starts flying and departs. In this way, the unmanned aircraft 30 can start the inspection inside the manhole 100.
- step S7 of FIG. 11B the unmanned flying object 30 flies to the vicinity of the storage device 20.
- the control unit 31 can automatically fly to the vicinity of the storage device 20.
- step S8 the unmanned flying object 30 rises from below the storage device 20 toward the main body portion 21 of the storage device 20.
- the unmanned flying object 30 is brought into contact with the wheels 302 and moved to the vicinity of the center point of the main body portion 21, and the alignment is performed.
- step S9 the control unit 26 of the storage device 20 determines whether or not the grip unit 23 has gripped the unmanned flying object 30. Any method may be used to detect the gripping, but for example, the control unit 26 of the storage device 20 detects that the electrode provided on the gripping unit 23 and the electrode provided on the unmanned flying object 30 are in contact with each other. It may be done by detecting. The control unit 26 of the storage device 20 repeats the operation of step S9 until it is determined that the grip unit 23 has gripped the unmanned flying object 30. When it is determined that the gripping unit 23 has gripped the unmanned flying object 30, the operation of the control unit 26 proceeds to step S10.
- step S10 the control unit 26 of the storage device 20 transmits an instruction to the unmanned aircraft 30 to stop driving the flight propeller 35. Specifically, the control unit 26 of the storage device 20 transmits an instruction to the unmanned aircraft 30 via the communication unit 27 of the storage device 20.
- step S11 the unmanned aircraft 30 receives an instruction from the storage device 20 via the communication unit 33.
- step S12 the control unit 31 of the unmanned aircraft 30 stops driving the flight propeller 35. In this way, the unmanned aircraft 30 returns to the state of being gripped and retracted by the accommodating device 20, as shown in FIG. 10A.
- the main body 21 includes an extrusion mechanism 24 for extruding and starting the unmanned aircraft 30.
- the unmanned flying object 30 when the unmanned flying object 30 starts from the storage device 20, it can be more quickly and surely disengaged from the grip by the grip portion 23. Since the unmanned flight object 30 can be started quickly, the convenience of the unmanned flight object 30 is improved. Therefore, it is possible to provide a storage device 20 capable of safely performing the departure and return operations of the unmanned aircraft 30 without human intervention.
- the system 1 according to the present embodiment or the modified example includes the storage device 20 according to the present embodiment or the modified example, and the unmanned vehicle 30 according to the present embodiment or the modified example.
- the system 1 can appropriately store the unmanned vehicle 30 in the storage device 20 without requiring delicate control. Therefore, it is possible to provide the unmanned aircraft 30 capable of safely performing the departure and return operations of the unmanned aircraft 30 without human intervention.
- the program that performs all or part of the function or processing of the storage device 20 or the unmanned aircraft 30 may be recorded on a computer-readable recording medium. 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.
- this program may be downloaded from an external device via a network.
- the present disclosure can also be realized as a program that can be executed by a processor.
- the main body 21 of the storage device 20 may have a structure in which the area thereof can be expanded in the horizontal direction. According to this modification, the same storage device 20 can be attached to lids 50 having various diameters.
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Abstract
Description
まず、本開示に係るシステム1について説明する。図1は、システム1の概要を示す図である。図1に示すシステム1は、格納装置20と、無人飛行体30と、を備える。システム1は、端末装置10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、少なくとも1つの飛翔用プロペラ35と、本体部303a及び本体部303bと、本体部303aから上方に延出した支持部301と、支持部301の端部に設けられた車輪302と、制御ボックス311の上面に設けられた被把持部304と、カメラ34と、を備える。本体部303aは、振動及び衝撃を吸収する緩衝用のバンパーである。本体部303bは、飛翔用プロペラ35を支持するアームである。本体部303aと本体部303bとは一体的に構成されていてもよい。無人飛行体30は、カメラ34を複数備えていてもよい。被把持部304は、半円環状であり、後述するように、格納装置20の把持部23の端部に引っ掛けられて把持される。被把持部304と把持部23とを介して、無人飛行体30は、格納装置20から吊り下がった状態で格納装置20に格納され得る。
図4A及び図4Bは、格納装置20の外観例を簡略的に示す図である。図4Bは、マンホール100の蓋50に取り付けられた状態での格納装置20の平面図である。図4Aは図4Bの格納装置20のA―A’線における断面図である。図4Aに示すように、格納装置20は、湾曲面を有する本体部21と、本体部21とマンホール100の蓋50とを接続する支持部22と、把持部23とを備える。本体部21と支持部22とは一体型であってもよい。支持部22はネジ又はビス等により蓋50の裏面に取り付けられる。支持部22は着脱可能に取り付けられてもよく、これにより既存の蓋50への格納装置20の取り付けが容易となる。
続いて、図5A、図5B及び図5Cを参照してシステム1の動作を説明する。図5Aから図5Cは、格納装置20に無人飛行体30が格納される様子を示す。図5Aから図5Cの白抜き矢印は無人飛行体30の移動する方向を示す。図5A及び図5Bは格納装置20に無人飛行体30が格納される様子を横から見た図である。図5Cは、上方から、格納装置20を透過して無人飛行体30を見た図である。無人飛行体30は、自動又はユーザUの操作によってマンホール100内での点検を完了し、格納装置20の付近にまで飛行して戻ってくる。
本開示の変形例として、図6Aに示すように、無人飛行体30の支持部301の一部又は全体が、弾性体3011によって構成されてもよい。弾性体3011は例えば、バネ、ゴム、又は、バネとゴムとの組み合わせから成る部材から構成され得る。支持部301が弾性体3011によって構成されることにより、車輪302の上下方向の伸縮が可能となる。
本開示の変形例として、図7A及び図7Bに示すように、格納装置20が給電部25としての電極を備え、無人飛行体30のバッテリーを充電できてもよい。本変形例では、格納装置20が電力供給装置としての機能も有する。
本開示の変形例として、格納装置20の把持部23は、断面が略円形の凹部であってもよい。
本開示の変形例として、図10A及び図10Bに示すように、格納装置20が押し出し機構24を備えてもよい。押し出し機構24はモータによって駆動される。本変形例において、格納装置20は制御部26及び通信部27を備え、当該制御部26によって押し出し機構24の動作が制御される。格納装置20は、当該通信部27を介して無人飛行体30の制御部31と通信可能である。
上記の実施形態及び各変形例において、格納装置20又は無人飛行体30の機能又は処理の全部又は一部を実行するプログラムは、コンピュータが読み取り可能な記録媒体に記録されていてもよい。このような記録媒体を用いれば、プログラムをコンピュータにインストールすることが可能である。ここで、プログラムが記録された記録媒体は、非一過性(non-transitory)の記録媒体であってもよい。非一過性の記録媒体は、特に限定されるものではないが、例えば、CD-ROM、DVD-ROM、USB(Universal Serial Bus)メモリなどであってもよい。また、このプログラムは、ネットワークを介して外部装置からダウンロードされる形態としてもよい。本開示は、プロセッサが実行可能なプログラムとしても実現可能である。
10 端末装置
20 格納装置
21 本体部
22 支持部
23 把持部
24 押し出し機構
25 給電部
26 制御部
27 通信部
30 無人飛行体
31 制御部
32 メモリ
33 通信部
34 カメラ
35 飛翔用プロペラ
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
301 支持部
302 車輪
303a、303b 本体部
304 被把持部
311 制御ボックス
3011 弾性体
50 蓋
100 マンホール
101 溜り水
Claims (8)
- 無人飛行体を格納する格納装置であって、
無人飛行体が車輪を接触させて移動可能な湾曲面を有する本体部と、
前記無人飛行体を把持するための把持部と、
を備える、格納装置。 - 前記把持部は、前記無人飛行体の車輪を把持する、請求項1に記載の格納装置。
- 前記把持部は、前記湾曲面上に設けられた、前記車輪を格納可能な凹部である、請求項2に記載の格納装置。
- 前記本体部は、前記無人飛行体へ給電する給電部を備える、請求項1から3のいずれか一項に記載の格納装置。
- 前記本体部は、前記無人飛行体を押し出して発進させる押し出し機構を備える、請求項1から4のいずれか一項に記載の格納装置。
- 本体部と、
飛翔用プロペラと、
前記本体部から上方に延出した支持部と、
前記支持部の端部に設けられ、少なくとも一部が前記飛翔用プロペラの上面より上方に突出している車輪と、
を備える無人飛行体。 - 前記支持部は弾性体を含む、請求項6に記載の無人飛行体。
- 請求項1から5のいずれか一項に記載の格納装置と、
請求項6又は7に記載の無人飛行体と、
を備えるシステム。
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JP2022570910A JP7492168B2 (ja) | 2020-12-24 | 2020-12-24 | 格納装置及びシステム |
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JP2015223995A (ja) * | 2014-05-29 | 2015-12-14 | 株式会社熊谷組 | 撮影用無人飛行体 |
US20160144982A1 (en) * | 2014-05-07 | 2016-05-26 | Deere & Company | Uav docking system and method |
JP2019507075A (ja) * | 2015-12-18 | 2019-03-14 | アマゾン テクノロジーズ インコーポレイテッド | 無人航空機用複階層配送センター |
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US20160144982A1 (en) * | 2014-05-07 | 2016-05-26 | Deere & Company | Uav docking system and method |
JP2015223995A (ja) * | 2014-05-29 | 2015-12-14 | 株式会社熊谷組 | 撮影用無人飛行体 |
JP2019507075A (ja) * | 2015-12-18 | 2019-03-14 | アマゾン テクノロジーズ インコーポレイテッド | 無人航空機用複階層配送センター |
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