WO2023203671A1 - Dispositif volant et système d'aide au travail - Google Patents

Dispositif volant et système d'aide au travail Download PDF

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Publication number
WO2023203671A1
WO2023203671A1 PCT/JP2022/018268 JP2022018268W WO2023203671A1 WO 2023203671 A1 WO2023203671 A1 WO 2023203671A1 JP 2022018268 W JP2022018268 W JP 2022018268W WO 2023203671 A1 WO2023203671 A1 WO 2023203671A1
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WIPO (PCT)
Prior art keywords
flight
work
support body
support
flight device
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Application number
PCT/JP2022/018268
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English (en)
Japanese (ja)
Inventor
坂野倫祥
丸山一人
後野剛志
別府俊之
本多充
新穂友志
冨田裕貴
山田浩平
Original Assignee
株式会社クボタ
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Publication date
Application filed by 株式会社クボタ filed Critical 株式会社クボタ
Priority to PCT/JP2022/018268 priority Critical patent/WO2023203671A1/fr
Publication of WO2023203671A1 publication Critical patent/WO2023203671A1/fr

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

Definitions

  • the present invention relates to a flight device including a flightable flying object and a work assist system including the flight device.
  • This flight device for example, the one described in Patent Document 1 is already known.
  • This flight device (referred to as a "multicopter” in Patent Document 1) has a flying object that includes a fuselage, a frame, and a rotor unit. This flying object can fly by driving the rotor in the rotor unit.
  • An object of the present invention is to provide a flight device that is easy to fly normally even when it is equipped with a working device that has a relatively large weight.
  • the present invention includes a flying object that has a flight section for flying and that can fly by driving the flight section, a working device that can perform a predetermined work, and a flying object that can fly the flying object or the working device.
  • the present invention includes a support body that applies a support force that is a force in a lifting direction to at least one of the flying object and the working device.
  • a force in the lifting direction acts on at least one of the flying object and the working device, so even if the weight of the working device is relatively large, the flying device can easily fly normally.
  • the support body is configured to apply the support force to at least one of the flying object and the working device by a buoyant force acting on the support body.
  • the support body can be configured by, for example, a balloon or the like. Therefore, a flight device including a support body can be realized with a relatively simple configuration.
  • the support is configured such that the magnitude of buoyancy acting on the support matches or substantially matches the magnitude of gravity acting on the entire flight device.
  • the flying part is movable by driving the flying part.
  • the gravitational force and the buoyancy force acting on the entire flight device compete with each other. Therefore, even if the output of the flight section is relatively low, the flight device is likely to fly normally. This makes it possible to reduce the amount of energy consumed by driving the flight section. Furthermore, since it is permissible to employ a flight section with a relatively low maximum output, it is possible to suppress an increase in the manufacturing cost of the flight device.
  • the support body is configured such that the magnitude of buoyancy acting on the support body is larger than the magnitude of gravity acting on the entire flight device, and by driving the flight unit Preferably, it is movable.
  • the flight device rises due to buoyancy while the drive of the flight section is stopped. Therefore, it is possible to reduce the amount of energy consumed in the flight section when raising the flight device.
  • the support body is configured such that the magnitude of buoyancy acting on the support body is smaller than the magnitude of gravity acting on the entire flight device, and by driving the flight unit Preferably, it is movable.
  • the flight device descends due to gravity while the drive of the flight section is stopped. Therefore, it is possible to reduce the amount of energy consumed in the flight section when lowering the flight device.
  • the support body has a balloon portion configured to receive buoyancy, and the balloon portion is provided so as to surround the working device.
  • the working device is protected by the balloon part. This makes it possible to realize a configuration in which the working device is protected without providing a dedicated member for protecting the working device. This makes it easy to reduce manufacturing costs.
  • the support body has one or more support flight bodies, and the support flight body has a support flight part for flying and drives the support flight part. It is preferable that the supporting body is configured to apply the supporting force to at least one of the flying body and the working device by driving the supporting flying section.
  • the magnitude of the supporting force can be easily adjusted by, for example, adjusting the output of the supporting flying section.
  • the support body has a control section that controls at least one of the flying object and the working device.
  • control section is configured to control the flying object, there is no need to provide the control section on the flying object. Therefore, the manufacturing cost of the aircraft can be reduced.
  • control section is configured to control the work device, there is no need to provide the control section in the work device. Therefore, the manufacturing cost of the working device can be reduced.
  • control section is removable from the support.
  • the control unit can be shared among the flight devices. This makes it easy to reduce the cost of introducing a flight device when a plurality of flight devices are operated.
  • the support body has an energy source capable of supplying energy to at least one of the flying object and the working device.
  • the energy source is removable from the support.
  • the energy source can be shared among the flight devices. This makes it easy to reduce the cost of introducing a flight device when a plurality of flight devices are operated.
  • the support body has a recording section that records the work performed by the work device.
  • the recording section is removable from the support.
  • the recording unit can be shared among the flight devices. This makes it easy to reduce the cost of introducing a flight device when a plurality of flight devices are operated.
  • the support body is rotatable with respect to the working device around a rotation axis extending in the vertical direction, and the support body has a projected area in a predetermined first direction and a projected area in a predetermined first direction. It is preferable that the projected area in a second direction different from the one direction is configured to be different.
  • the support body when the support body is located in the airflow, the support body changes its posture by rotating around the rotation axis, and assumes a posture in which resistance from the airflow is relatively small. This makes it possible to realize a flight device that receives relatively little resistance from airflow.
  • the working device is configured to be movable with respect to the support body.
  • the work device is attached to the support so as to compensate for the deviation in the position of the work device with respect to the target position.
  • the accuracy of the position of the working device relative to the target position tends to be increased.
  • the support body is configured to be able to change the supporting force.
  • the support body is configured to be able to change its shape.
  • auxiliary flying object that is capable of flying and is connected to the working device.
  • Another feature of the present invention is a work assist system including the above-described flying device, wherein the flying device is configured to be able to perform work assist, which is assistance related to work performed by a work machine or a worker, a detection unit that detects that the work assistance is required; and a device control unit that controls the flight device based on a detection result by the detection unit, and the device control unit is configured to allow the detection unit to assist the work.
  • work assist which is assistance related to work performed by a work machine or a worker
  • a detection unit that detects that the work assistance is required
  • a device control unit that controls the flight device based on a detection result by the detection unit, and the device control unit is configured to allow the detection unit to assist the work.
  • the purpose of the present invention is to control the flight device so that the flight device performs the work assistance when it is detected that assistance is required.
  • the present invention it is possible to realize a work assist system in which the required work assistance is performed by a flying device. This makes it possible to reduce the work burden on the work machine or the worker.
  • the flight device is capable of applying a force in a direction to lift the working machine to the working machine as the work assist.
  • the flight device is capable of applying a force to the work machine in a direction to press the work machine downward as the work assist.
  • the flying device can assist the tilling by pushing the working machine downward.
  • a work assist system that can suitably perform assistance regarding work performed by a work machine.
  • the flight device is capable of applying a force to the object in a direction to lift the object held by the worker as the work assist.
  • the worker can hold the object with relatively small force. This makes it possible to realize a work assist system that can reduce the burden on the worker.
  • FIG. 2 is a front view of the flight device and an overall view of the work assist system.
  • FIG. 2 is a plan view of the flight device.
  • FIG. 2 is a partially cutaway front view of the flight device.
  • FIG. 2 is a block diagram showing the configuration of a main unit. It is a figure showing an example of work assist. It is a figure showing an example of work assist. It is a figure showing an example of work assist. It is a figure showing an example of work assist.
  • FIG. 3 is a partially cutaway front view of the flight device in a first alternative embodiment. It is a front view of the flight device in a second alternative embodiment.
  • FIG. 7 is a partially cutaway front view of the flight device in a third alternative embodiment. It is a figure which shows the structure of the support body in 3rd another embodiment. It is a front view of the flight device in other embodiment (4), and an overall view of the work assist system. It is a front view of the flight device in other embodiment (5), and an overall view of
  • the flight device 1 includes a flying object 2, a working device 3, a support 4, and two wires 5.
  • the flying object 2 is a multicopter that can fly alone. As shown in FIGS. 2 and 3, the flying object 2 has a circular shape in plan view. Further, the flying object 2 has a plurality of propellers 21 (corresponding to the "flight section" according to the present invention). Each propeller 21 is driven by the driving force of an electric flight motor 22 (see FIG. 4). The flying object 2 can fly by driving each propeller 21.
  • the flight device 1 includes a propeller 21 for flight, and a flying object 2 that can fly by driving the propeller 21.
  • the flying object 2 can move vertically, longitudinally, and horizontally while floating in the air. Further, the flying object 2 is capable of stopped flight by driving each propeller 21.
  • the flying object 2 can fly even when it is incorporated into the flight device 1 or when it is removed from the flight device 1.
  • the working device 3 is a chemical sprayer A1.
  • the chemical spraying machine A1 is capable of performing chemical spraying work on crops (corresponding to the "predetermined work" according to the present invention).
  • the present invention is not limited thereto, and the work device 3 may be any type of device as long as it can perform the work. Further, the working device 3 can be replaced with various types of working devices 3 depending on the required work.
  • the flight device 1 is equipped with a working device 3 that can perform predetermined tasks.
  • the working device 3 is suspended from the aircraft 2 via two wires 5. Further, each wire 5 extends downward from an electric winch 51.
  • the winch 51 is capable of winding up and letting out the wire 5. Note that the winch 51 is attached to the lower end of the flying object 2.
  • the working device 3 can be raised and lowered relative to the flying object 2.
  • the flight device 1 By driving each propeller 21, the flight device 1 is movable. Thereby, the flight device 1 can perform a predetermined work using the work device 3 while moving.
  • the flight device 1 is movable by driving the propeller 21.
  • the support body 4 is attached to the side surface of the aircraft 2. Below, the structure of the support body 4 will be explained in detail.
  • the support body 4 has a balloon portion 41. As shown in FIGS. As shown in FIG. 3, the balloon portion 41 is configured to have a hollow interior.
  • the balloon portion 41 has an annular shape in plan view. Further, the flying object 2 and the balloon section 41 are configured such that the flying object 2 fits into the hole at the center of the balloon section 41 in a plan view. Thereby, the side part of the flying object 2 is covered with the balloon part 41 over the entire circumference.
  • the balloon portion 41 has a floating ring shape.
  • a gas having a lower specific gravity than air (for example, helium gas, etc.) is sealed inside the balloon part 41.
  • the balloon portion 41 receives buoyancy in the air.
  • the support body 4 has a balloon portion 41 configured to receive buoyancy.
  • the support body 4 is configured such that the buoyant force acting on the support body 4 is larger than the gravity that the support body 4 receives on the earth. That is, the support body 4 alone has a buoyancy force greater than gravity, and generates an upward force in the air.
  • the support body 4 applies a supporting force to the flying object 2.
  • the supporting force is a force in a direction that lifts the flying object 2 or the working device 3.
  • the present invention is not limited to this, and the support body 4 may be configured to apply supporting force to the working device 3.
  • the support body 4 when the support body 4 is attached to the working device 3, the supporting body 4 applies a supporting force to the working device 3.
  • the support body 4 may be configured to apply support force to both the flying object 2 and the working device 3.
  • the flight device 1 includes the support body 4 that applies a supporting force, which is a force in the direction of lifting the flight object 2 or the work device 3, to at least one of the flight object 2 and the work device 3. Further, the support body 4 is configured to apply a supporting force to at least one of the flying object 2 and the working device 3 by the buoyancy force acting on the support body 4 .
  • a supporting force which is a force in the direction of lifting the flight object 2 or the work device 3
  • the support body 4 is configured to apply a supporting force to at least one of the flying object 2 and the working device 3 by the buoyancy force acting on the support body 4 .
  • the support body 4 is configured such that the magnitude of the buoyant force acting on the support body 4 matches the magnitude of the gravity force acting on the entire flight device 1.
  • the support body 4 may be configured such that the magnitude of the buoyant force acting on the support body 4 substantially matches the magnitude of the gravity force acting on the entire flight device 1. good. That is, the magnitude of the buoyant force acting on the support body 4 does not have to exactly match the magnitude of the gravitational force acting on the entire flight device 1.
  • the support body 4 is configured such that the magnitude of the buoyancy force acting on the support body 4 matches or substantially matches the magnitude of the gravity force acting on the entire flight device 1.
  • the support body 4 has a main unit 42 and a cable 43.
  • the main unit 42 and the cable 43 are both located in the internal space of the balloon section 41.
  • the main unit 42 is fixed to the balloon part 41. Further, the main unit 42 is connected to the aircraft 2 via a cable 43.
  • the main unit 42 has a device control section 44 (corresponding to the "control section” and “device control section” according to the present invention).
  • the device control unit 44 is configured to control the flight motor 22, the winch 51, and the work device 3.
  • control signal sent from the device control unit 44 to the flight motor 22 is sent via the cable 43. Further, a control signal sent from the device control unit 44 to the winch 51 is sent via a wireless connection. Further, the control signal sent from the device control unit 44 to the working device 3 is sent via a wireless connection.
  • the device control unit 44 can control the flight of the flying object 2 by controlling the flight motor 22. Thereby, the device control unit 44 can control the movement of the flight device 1.
  • the present invention is not limited to this, and the device control section 44 may be configured so that it cannot control the flight motor 22. Further, the device control unit 44 may be configured so as not to be able to control the work device 3.
  • the support body 4 has a device control section 44 that controls at least one of the flying object 2 and the working device 3.
  • the main unit 42 also includes a satellite positioning device 45.
  • the satellite positioning device 45 receives GPS signals from artificial satellites used in GPS (Global Positioning System). Then, the satellite positioning device 45 calculates the position coordinates of the flight device 1 over time based on the received GPS signal.
  • GPS Global Positioning System
  • the satellite positioning device 45 does not need to use GPS.
  • the satellite positioning device 45 may use GNSS (GLONASS, Galileo, Michibiki, BeiDou, etc.) other than GPS.
  • GNSS GLONASS, Galileo, Michibiki, BeiDou, etc.
  • the calculated positional coordinates of the flight device 1 over time are sent to the device control unit 44.
  • the device control unit 44 can control the movement of the flight device 1 based on the temporal position coordinates of the flight device 1 received from the satellite positioning device 45. Thereby, for example, the device control unit 44 can control the movement of the flight device 1 so that the flight device 1 moves along a predetermined target movement route.
  • the main unit 42 has a recording section 46.
  • the work device 3 is configured to send information indicating the driving state of the work device 3 to the recording unit 46.
  • the recording unit 46 also acquires the position coordinates of the flight device 1 over time from the satellite positioning device 45.
  • the recording unit 46 records the work performed by the work device 3. More specifically, the recording unit 46 records the work history of the working device 3 by associating information indicating the time, information indicating the driving state of the working device 3, and position coordinates of the flying device 1. .
  • the recording unit 46 records each point or area where chemical spraying has been completed in association with the time when the chemical was sprayed at those points or areas. do.
  • the support body 4 has the recording section 46 that records the work performed by the work device 3.
  • the main unit 42 has a battery 47 (corresponding to the "energy source” according to the present invention).
  • the battery 47 can store electric power (corresponding to "energy” according to the present invention). Further, the battery 47 can supply power to the flying object 2, the winch 51, and the working device 3.
  • power is supplied from the battery 47 to the flying object 2 via the cable 43. Further, power is supplied from the battery 47 to the winch 51 via a winch power cable (not shown). Further, power is supplied from the battery 47 to the working device 3 via a working device power cable (not shown).
  • the flight motor 22, winch 51, and working device 3 can be driven by power supplied from the battery 47.
  • the present invention is not limited to this, and the battery 47 may be configured so that it cannot supply power to the flying object 2. Further, the battery 47 may be configured such that it cannot supply power to the working device 3.
  • the support body 4 has a battery 47 that can supply power to at least one of the flying object 2 and the working device 3.
  • the main unit 42 is configured to be detachable from the balloon part 41 and the cable 43.
  • the main unit 42 can then be taken out of the balloon section 41 through a maintenance hole (not shown) provided in the balloon section 41.
  • the main unit 42 can be attached to the support body 4 by the reverse procedure. That is, the main unit 42 can be attached to and detached from the support body 4.
  • the device control section 44 can be attached to and detached from the support body 4. Furthermore, the recording section 46 is removable from the support 4. Further, the battery 47 is removable from the support 4.
  • each element included in the main unit 42 such as the device control section 44, may be a physical device such as a microcomputer, or may be a functional section in software.
  • the flight device 1 is configured to be able to perform work assistance, which is assistance related to work performed by a work machine or a worker.
  • work assistance which is assistance related to work performed by a work machine or a worker.
  • the work assist system SY which is a system including the flight device 1, will be described below.
  • the flying object 2 has a detection section 23.
  • the detection unit 23 detects that work assistance is required.
  • the work assist system SY includes a detection unit 23 that detects that work assistance is required.
  • the detection unit 23 includes the work device 3 and a camera that images the surroundings of the work device 3. Then, the detection unit 23 detects that work assistance is required by performing image recognition using a machine-learned neural network on the captured image acquired by the camera.
  • the work assist system SY may include an operating tool that can be manually operated, and the detection unit 23 may be configured to detect that work assistance is required based on the operation of this operating tool.
  • the detection unit 23 When the detection unit 23 detects that work assistance is required, it sends a predetermined signal to the device control unit 44.
  • the device control unit 44 controls the flight motor 22, winch 51, and working device 3 in response to this signal. That is, the device control unit 44 controls the flight device 1 based on the detection result by the detection unit 23.
  • the work assist system SY includes the device control section 44 that controls the flight device 1 based on the detection result by the detection section 23.
  • the device control unit 44 controls the flight device 1 so that the flight device 1 performs work assistance.
  • the working device 3 is a self-propelled rice transplanter A2 (corresponding to the "working device” according to the present invention).
  • the device control unit 44 operates each winch 51 (see FIGS. 3 and 4) in a direction to wind up the wire 5.
  • the flight device 1 can apply a force in the direction of lifting the rice transplanter A2 to the rice transplanter A2 as a work assist.
  • the flight device 1 when the detection unit 23 detects that the rice transplanter A2 has sunk into soft ground, the flight device 1 applies a force in the direction of lifting the rice transplanter A2 to the rice transplanter as a work assist. Act on A2. Further, when the detection unit 23 detects that the rice transplanter A2 is turning, the flight device 1 applies a force in the direction of lifting the rice transplanter A2 to the rice transplanter A2 as a work assist.
  • the magnitude of the force in the direction of lifting the rice transplanter A2 may be large enough to reduce the load acting on the ground from the rice transplanter A2, or may be large enough to separate the rice transplanter A2 from the ground.
  • the working device 3 is a rod-shaped member A3 that can press a self-propelled tractor W1 (corresponding to the "working machine” according to the present invention).
  • the tractor W1 is equipped with a tillage device T.
  • the flying object 2 has a connecting portion 24.
  • the connecting portion 24 projects downward.
  • the connecting portion 24 is configured to be connectable to the working device 3.
  • the connecting portion 24 may have any configuration as long as it can stably connect the flying object 2 and the working device 3.
  • the rod-shaped member A3 is connected to the connecting portion 24. Then, the flight device 1 lowers the tractor W1 with the rod member A3 by driving the flight motor 22 in the direction in which the flying object 2 descends with the lower end of the rod member A3 in contact with the tractor W1. It can be pushed to the side.
  • the flight device 1 can apply a force to the tractor W1 in the direction of pressing the tractor W1 downward as a work assist.
  • the flight device 1 may apply a force in the direction of pressing the tractor W1 downward to any part of the tractor W1 as a work assist.
  • the flight device 1 may apply a force in the direction of pressing the tractor W1 downward to the front end of the tractor W1 as a work assist.
  • the tractor W1 does not need to include a counterweight at the front end of the body.
  • the flight device 1 when the detection unit 23 detects that the tractor W1 has started plowing, the flight device 1 applies a force to the tractor W1 in the direction of pushing the tractor W1 downward as a work assist. to act on.
  • the working device 3 is a hook A4.
  • the worker is holding and carrying the object W2. Then, the worker suspends the object W2 from the hook A4.
  • the device control unit 44 causes each winch 51 (see FIGS. 3 and 4) to wind the wire 5. operate in the direction.
  • the flight device 1 can apply a force to the object W2 in the direction of lifting the object W2 held by the operator as a work assist.
  • the flight device 1 can move in the same direction as the worker's movement and at the same speed as the worker's moving speed as a work assist while applying a force in the direction of lifting the object W2 to the object W2. It may be.
  • a force in the lifting direction acts on at least one of the flying object 2 and the working device 3, so even if the weight of the working device 3 is relatively large, the flying device 1 can operate normally. Easy to fly.
  • the balloon part 41 is directly attached to the side of the flying object 2.
  • the present invention is not limited to this.
  • a first alternative embodiment of the present invention will be described, focusing on the points that are different from the above embodiments.
  • the configuration other than the portions described below is the same as the above embodiment. Further, the same components as in the above embodiment are given the same reference numerals.
  • the support body 4 has a frame portion 48.
  • the frame portion 48 may have the same shape as the outer shape of the flying object 2, although it is not particularly limited.
  • the balloon section 41 is attached to the side of the frame section 48.
  • the flying object 2 is located above the support 4. Further, a frame portion 48 is connected to the lower end of each wire 5. Thereby, the support body 4 is connected to the flying object 2 via the wire 5.
  • the frame portion 48 has a frame connection portion 49.
  • the frame connection portion 49 projects downward.
  • the chemical sprayer A1 which is the working device 3, is connected to the frame connecting portion 49 from below.
  • the frame connecting portion 49 may have any configuration as long as it can stably connect the support body 4 and the working device 3.
  • the balloon portion 41 is provided to surround the working device 3.
  • the main unit 42 is placed on the upper surface of the frame portion 48. Further, the support body 4 has a working device side cable 60. The main unit 42 is connected to the working device 3 via a working device side cable 60.
  • a control signal sent from the device control unit 44 to the working device 3 is sent via the working device side cable 60. Further, power is supplied from the battery 47 to the working device 3 via the working device side cable 60.
  • the support body 4 is configured to be able to change its shape.
  • the balloon part 41 can be folded by releasing the gas inside.
  • the balloon part 41 in a folded state is shown in phantom lines. By folding the balloon portion 41, the shape of the support body 4 changes to a compact shape.
  • the support body 4 has a balloon portion 41 .
  • the present invention is not limited to this.
  • a second alternative embodiment of the present invention will be described, focusing on the points that are different from the above embodiment.
  • the configuration other than the portions described below is the same as the above embodiment. Further, the same components as in the above embodiment are given the same reference numerals.
  • the support body 4 has a support flying body 61 instead of the balloon part 41.
  • the number of support aircraft 61 may be one or more.
  • the support body 4 has two support flying bodies 61.
  • the support body 4 has one or more support flying bodies 61.
  • the support flight object 61 has a plurality of support flight sections 62.
  • the support flying section 62 has a similar structure to the propeller 21.
  • the support flight section 62 is driven by the driving force of an electric support flight vehicle motor (not shown).
  • the support flight object 61 can fly by driving each support flight section 62.
  • the support flight object 61 has a support flight section 62 for flying, and can fly by driving the support flight section 62.
  • the support flying object 61 can move in any of the vertical, longitudinal, and horizontal directions while floating in the air. Further, the support flying object 61 can be stopped in flight by driving each support flight section 62.
  • the support flying object 61 can fly even when it is incorporated into the support body 4 or when it is removed from the support body 4.
  • the support body 4 has an upper frame part 64 and a lower frame part 66.
  • the upper frame part 64 is fixed to the upper surface of the lower frame part 66.
  • the flying object 2 is connected to the upper end of the upper frame section 64 from above via a joint mechanism 68.
  • the support aircraft 61 is connected to the lower frame portion 66 from below via a joint mechanism 68.
  • each joint mechanism 68 may be any type of known mechanism as long as it can stably connect the upper and lower members.
  • the main unit 42 is provided inside the upper frame portion 64.
  • the winch 51 is also provided inside the upper frame portion 64.
  • Each wire 5 extends downward from the upper frame portion 64.
  • the support flying object 61 By driving the support flight section 62, the support flying object 61 can apply a force to the lower frame section 66 in the direction of lifting the lower frame section 66. This force is transmitted from the lower frame part 66 to the flying object 2 via the upper frame part 64. That is, in this configuration, the support body 4 applies a supporting force to the flying object 2 by driving each support flying section 62. Further, the support body 4 applies a supporting force to the working device 3 via each wire 5 by driving each support flying section 62 .
  • the present invention is not limited to this, and the support body 4 may be configured to apply supporting force to only one of the flying body 2 and the working device 3 by driving the support flying section 62. good.
  • the support body 4 is configured to apply a supporting force to at least one of the flying body 2 and the working device 3 by driving the support flying section 62.
  • the support body 4 can change the magnitude of the supporting force by changing the rotational speed of the support flying section 62.
  • the balloon portion 41 has a circular shape (perfect circular shape) in plan view.
  • the present invention is not limited to this.
  • a third alternative embodiment of the present invention will be described, focusing on the points that differ from the above embodiment.
  • the configuration other than the portions described below is the same as the above embodiment. Further, the same components as in the above embodiment are given the same reference numerals.
  • a rod-shaped connecting body 70 extending in the vertical direction is connected to the connecting portion 24.
  • a chemical sprayer A1 is connected to the lower end of the rod-shaped connector 70.
  • the rod-shaped connecting body 70 is provided so as to pass through the two upper and lower ring portions 71.
  • the two ring parts 71 are fixed to the rod-shaped connecting body 70 with a predetermined interval spaced from each other in the vertical direction.
  • the support body 4 has a disk-shaped disk frame portion 73.
  • the balloon section 41 is attached to the side of the disc frame section 73.
  • a through hole 73a is provided in the center of the disc frame portion 73.
  • the rod-shaped connector 70 passes through the through hole 73a. Further, the disc frame portion 73 is sandwiched between the two ring portions 71.
  • the support body 4 is rotatable with respect to the rod-shaped connecting body 70 around the rotation axis P extending in the vertical direction. That is, the support body 4 is rotatable with respect to the working device 3 around the rotation axis P extending in the vertical direction.
  • the support body 4 applies a supporting force due to buoyancy to the flying object 2 and the working device 3 via the upper ring portion 71 and the rod-shaped connecting body 70.
  • the direction of arrow N is “north”
  • the direction of arrow S is “south”
  • the direction of arrow E is “east”
  • the direction of arrow W is “west.”
  • FIG. 11 is a projected view of the support 4 in the north-south direction (corresponding to the "first direction” according to the present invention) in a state where the longitudinal direction of the support 4 in plan view is along the north-south direction.
  • a first projection view Q1 is shown
  • a second projection view Q2 is a projection view of the support body 4 in the east-west direction (corresponding to the "second direction” according to the present invention).
  • the area of the first projection Q1 is smaller than the area of the second projection Q2.
  • the support body 4 is configured so that the projected area in the predetermined first direction is different from the projected area in the second direction, which is different from the first direction.
  • the support body 4 may be configured such that the magnitude of buoyancy acting on the support body 4 is greater than the magnitude of gravity acting on the entire flight device 1.
  • the support body 4 may be configured such that the magnitude of buoyancy acting on the support body 4 is smaller than the magnitude of gravity acting on the entire flight device 1.
  • the support body 4 may be configured to be able to change its supporting force.
  • the balloon part 41 in the support body 4 may be configured to be able to adjust the amount of gas inside the balloon part 41.
  • the magnitude of the buoyant force acting on the support body 4 is changed.
  • the magnitude of the supporting force by the support body 4 changes.
  • the auxiliary flying object 75 may include an auxiliary flying object 75 that is capable of flying and is connected to the working device 3.
  • the auxiliary flying object 75 is connected to the working device 3 via a wire 5 that is different from the wire 5 extending from the flying object 2 .
  • the auxiliary flying object 75 is configured to be able to fly using the same mechanism as the flying object 2.
  • auxiliary flying objects 75 are provided.
  • the present invention is not limited thereto, and the number of auxiliary flying objects 75 provided may be one, or three or more.
  • each auxiliary flying object 75 may be controlled by the device control unit 44, for example.
  • the flying object 2 may be located above the supporting body 4, and the flying object 2 may be connected to the supporting body 4 via a rod-shaped connecting member 77.
  • the number of connecting members 77 is not particularly limited, but may be three, as shown in FIG. 13, for example.
  • the support body 4 has a frame 78 with a balloon.
  • the balloon-equipped frame 78 includes a balloon that receives buoyancy similarly to the balloon portion 41 in the above embodiment, and a frame structure.
  • the main unit 42 is placed on the upper surface of the frame 78 with a balloon. Further, the working device 3 is connected to the lower end of the frame 78 with a balloon.
  • the working device 3 is configured to be movable in the horizontal direction with respect to the balloon-equipped frame 78. Note that the working device 3 may be configured to be movable relative to the balloon-equipped frame 78 by, for example, an actuator such as an electric motor.
  • the working device 3 is configured to be movable with respect to the support body 4.
  • the detection unit 23 is attached to the lower surface of the balloon-equipped frame 78.
  • the device control unit 44 may be configured to control the flight motor 22, winch 51, and work device 3 based on various information.
  • the information may be, for example, information obtained by a mobile sensor or a fixed sensor located at the work site or around the work site.
  • the mobile sensor may be, for example, a sensor provided in a self-propelled work machine.
  • the fixed sensor may be, for example, a multi-functional scarecrow, a GPS base station, a surveillance camera, a sensor provided in a wildlife damage prevention fence, or the like.
  • the information may be, for example, information obtained from smart machines linked to the supply chain.
  • the device control unit 44 acquires operation information of a grain dryer that is equipped with a harvesting device as the work device 3 and is configured as a smart machine linked to the supply chain, and based on the operation information, The device control unit 44 may control the flight motor 22, winch 51, and working device 3 so that the timing of harvesting is optimal.
  • a tilling rotor is provided as the working device 3, and the device control unit 44 drives the flight motor 22 in the direction in which the flying object 2 descends, so that the flying device 1 presses the tilling rotor downward. It may also be configured to fly. Thereby, it is possible to realize the flight device 1 that can perform plowing work equivalent to plowing work using a conventional work vehicle.
  • Some or all of the detection unit 23, device control unit 44, and recording unit 46 may be provided outside the flight device 1. For example, It may be provided in the management computer.
  • the flight device 1 may be configured to cancel the operating sound of the propeller 21.
  • the operations of the plurality of propellers 21 may be controlled so that their operating sounds cancel each other out.
  • the flight device 1 may be provided with a silencer that generates a sound (noise canceling sound) that cancels the operating sound of the propeller 21.
  • the silencer may be configured to generate a noise canceling sound based on the control amount sent to the flight motor 22.
  • Each element constituting the flight device 1 may be designed so that it can be used between various types of flight devices 1.
  • the connection mechanism between the wire 5 and the working device 3 is designed as a common standard for various types of working devices 3, and is configured so that various types of working devices 3 can be connected to the wire 5. You can leave it there.
  • the connection mechanism between the flying object 2 and the supporting body 4 is designed as a common standard for various types of flying objects 2 and supporting bodies 4. It may be configured such that any type of support body 4 can be connected in any combination.
  • the propeller 21 may be configured to be rotatable about the axis of rotation of the propeller 21 that extends in the left-right direction of the aircraft. That is, the propeller 21 may be of a so-called tilt type. With this configuration, the flight device 1 is capable of vertical takeoff and landing, hovering flight, and high-speed horizontal flight.
  • the present invention can be used in a flight device equipped with a flightable flying object and a work assist system equipped with a flight device.
  • Flight device 2 Flying object 3
  • Working device 4 Support body 21 Propeller (flight part) 23
  • Balloon section 44 Device control section (control section) 46
  • Recording section 47 Battery (energy source) 61
  • Support flight vehicle 62 Support flight section 75
  • Auxiliary flight vehicle A2 Rice transplanter (work machine)
  • P Rotation axis SY Work assist system W1 Tractor (work equipment) W2 Object

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
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Abstract

Dispositif volant (1) comprenant : un corps volant (2) qui comporte une partie de vol destinée au vol et qui permet de voler lors d'un entraînement de la partie de vol ; un dispositif d'exécution de travail (3) permettant d'effectuer un travail prédéfini ; et un corps de support (4) qui utilise une force de support, qui est une force dans une direction servant à l'élévation du corps volant (2) ou du dispositif d'exécution de travail (3), sur le corps volant (2) et/ou le dispositif d'exécution de travail (3).
PCT/JP2022/018268 2022-04-20 2022-04-20 Dispositif volant et système d'aide au travail WO2023203671A1 (fr)

Priority Applications (1)

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PCT/JP2022/018268 WO2023203671A1 (fr) 2022-04-20 2022-04-20 Dispositif volant et système d'aide au travail

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/018268 WO2023203671A1 (fr) 2022-04-20 2022-04-20 Dispositif volant et système d'aide au travail

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WO2023203671A1 true WO2023203671A1 (fr) 2023-10-26

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005271831A (ja) * 2004-03-26 2005-10-06 Chugoku Electric Power Co Inc:The 浮揚ガスを用いた無人飛行体
WO2017154472A1 (fr) * 2016-03-10 2017-09-14 パナソニックＩｐマネジメント株式会社 Objet volant
JP2019193766A (ja) * 2018-04-25 2019-11-07 株式会社荏原製作所 ドローンを用いた消火システム
JP2021046161A (ja) * 2019-09-20 2021-03-25 株式会社フジタ 水底形状測定装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005271831A (ja) * 2004-03-26 2005-10-06 Chugoku Electric Power Co Inc:The 浮揚ガスを用いた無人飛行体
WO2017154472A1 (fr) * 2016-03-10 2017-09-14 パナソニックＩｐマネジメント株式会社 Objet volant
JP2019193766A (ja) * 2018-04-25 2019-11-07 株式会社荏原製作所 ドローンを用いた消火システム
JP2021046161A (ja) * 2019-09-20 2021-03-25 株式会社フジタ 水底形状測定装置

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