WO2023203672A1 - 飛行体システム - Google Patents

飛行体システム Download PDF

Info

Publication number
WO2023203672A1
WO2023203672A1 PCT/JP2022/018269 JP2022018269W WO2023203672A1 WO 2023203672 A1 WO2023203672 A1 WO 2023203672A1 JP 2022018269 W JP2022018269 W JP 2022018269W WO 2023203672 A1 WO2023203672 A1 WO 2023203672A1
Authority
WO
WIPO (PCT)
Prior art keywords
energy
aircraft
flying
flying object
energy source
Prior art date
Application number
PCT/JP2022/018269
Other languages
English (en)
French (fr)
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
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社クボタ filed Critical 株式会社クボタ
Priority to PCT/JP2022/018269 priority Critical patent/WO2023203672A1/ja
Priority to JP2024515805A priority patent/JPWO2023203672A1/ja
Publication of WO2023203672A1 publication Critical patent/WO2023203672A1/ja

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64B—LIGHTER-THAN AIR AIRCRAFT
    • B64B1/00—Lighter-than-air aircraft
    • B64B1/66—Mooring attachments
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C19/00—Aircraft control not otherwise provided for
    • B64C19/02—Conjoint controls
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D3/00—Aircraft adaptations to facilitate towing or being towed
    • 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
    • B64F3/00—Ground installations specially adapted for captive aircraft
    • B64F3/02—Ground installations specially adapted for captive aircraft with means for supplying electricity to aircraft during flight

Definitions

  • the present invention relates to an aircraft system.
  • Patent Document 1 discloses an aircraft support device equipped with a spraying device for spraying pesticides and the like as an example of agricultural work.
  • the aircraft support device described in Patent Document 1 includes a position information acquisition unit that acquires the position of the aircraft, a dispersion information acquisition unit that acquires information regarding dispersion, and a display unit that displays the area and surroundings of the field. We are prepared. This display section displays the movement trajectory of the aircraft and also displays the spraying range over which the spraying device has sprayed. This facilitates work management.
  • Patent Document 1 Although the support device for the aircraft described in Patent Document 1 facilitates work management, there is a concern that the capacity of the battery mounted on the aircraft may be insufficient in the case of a vast field. It would be possible to use a large flying vehicle equipped with a large-capacity battery, but large flying vehicles would create areas where work cannot be done, reducing work efficiency.
  • One aspect of the flying object system according to the present invention is that it includes a flying object that can perform a predetermined task and an energy supply body that can supply energy to the flying object.
  • the flying object system includes a flying object that performs a predetermined task, such as spraying pesticides, and an energy supply body that supplies energy to the flying object.
  • a flying object that performs a predetermined task, such as spraying pesticides
  • an energy supply body that supplies energy to the flying object.
  • the flying object is used exclusively for work, and the energy supply body functions as an energy supplier to the flying object.
  • the energy supply body may be an energy source flying vehicle equipped with an energy source capable of supplying energy to the flying vehicle.
  • the energy source flying object may be any one of the plurality of flying objects.
  • the energy source flying vehicle may be a support flying vehicle that can fly by assisting the flying vehicle.
  • the flying vehicle can be made smaller, and the energy source flying vehicle (support flying vehicle) can be made larger.
  • the flying vehicle can be converted into This allows the aircraft to work in narrow spaces where it would be difficult to work with a normal aircraft.
  • the number of flying objects can be changed depending on the work location.
  • the energy control unit may further include an energy control unit that controls the operation of the energy source aircraft, and the energy control unit may replace the energy source aircraft when the storage amount of the energy source becomes less than or equal to a predetermined value.
  • the energy source aircraft may be capable of performing the predetermined work or a work different from the predetermined work.
  • the energy supply body may be a movable energy supply vehicle.
  • the energy supply body may be a movable working device.
  • the energy supply body is constituted by a working device such as a material carrier, for example.
  • a connecting aircraft may be provided that connects the energy supply body and the aircraft by wire.
  • the connecting aircraft may be supplied with energy from the energy supply body.
  • connection control unit that controls the flight position of the connection aircraft based on the relative position of the flight main body and the energy supply body and the position of the artificial object.
  • connection control unit By providing the connection control unit in this way, it is possible to set a flight route that detours around interfering objects.
  • the connecting mechanism may be provided to connect a plurality of the flying objects, and the energy supply body may be the connecting mechanism equipped with an energy source that supplies energy to the flying objects.
  • the flying object has a flight main body that obtains energy and flies, a working part that performs the predetermined work, and a connection mechanism that connects the flying main body and the working part, and the
  • the energy supply body may be the working part or the connection mechanism equipped with an energy source that supplies energy to the flight main body.
  • connection mechanism may include a buoyant part that can lift the working part.
  • the buoyancy part in the connection mechanism the buoyancy of the flight main body can be assisted, so it is possible to lift the working part of a heavy object while saving the amount of energy supplied to the flight main body.
  • connection mechanism may include a working energy source that can supply energy to the working part.
  • the energy supply body is the working section of at least one of the flying objects, and may supply energy to the working sections of other flying objects.
  • the energy supply body may supply energy to the flying object through non-contact power supply.
  • One aspect of the flying object system according to the present invention includes an energy supplying body that supplies energy, and a buoyant flying vehicle that flies using buoyancy due to thermal energy generated by the energy supplying body.
  • the energy supply body may be an energy source mounted on the buoyant flying vehicle.
  • the energy supply body may supply energy to the working device.
  • the invention also includes a working device that can perform a predetermined work, and a connection mechanism that connects the working device and the buoyant flying object, and the energy supply body is an energy source mounted on the connection mechanism. Also good.
  • the energy may be fuel supplied to the internal combustion engine or electric power generated by the internal combustion engine.
  • FIG. 1 is a block diagram of an aircraft system according to a first embodiment.
  • FIG. 1 is a perspective view showing an outline of an aircraft system according to a first embodiment.
  • FIG. 1 is a conceptual diagram of an aircraft system according to a first embodiment. It is a conceptual diagram which shows the modification of a flying object.
  • FIG. 2 is a block diagram of an aircraft system according to a second embodiment.
  • FIG. 7 is a perspective view of the flying object according to the second embodiment during work.
  • FIG. 7 is a perspective view of the flying object according to the second embodiment while it is on standby.
  • FIG. 2 is a conceptual diagram of an aircraft system according to a second embodiment.
  • It is a conceptual diagram which shows the modification 1 of the flying object system based on a 1st embodiment and a 2nd embodiment.
  • It is a conceptual diagram which shows the modification 2 of the flying object system based on 2nd embodiment.
  • FIG. 3 is a block diagram of an aircraft system according to a third embodiment. It is a
  • the flying object system 100 includes a flying object 1 that can perform predetermined work such as agricultural work, and an energy supply body 2 that can supply energy to the flying object 1.
  • the flying object 1 in this embodiment is composed of a small drone.
  • a drone is an unmanned aerial vehicle with rotary wings, and may be an electric-powered type that rotates the rotor blades using electricity supplied from a battery, etc., or an engine-driven type or internal combustion engine that rotates the rotor blades by operating an internal combustion engine using fuel. Examples include a power-driven type in which the rotor blades are rotated by electric power supplied from a generator operated by a generator, and a hybrid type in which these types are combined.
  • the energy supply body 2 includes an energy source including a power source supplied from a battery or a generator operated by an internal combustion engine, a fuel source for operating the internal combustion engine, and the like.
  • the flying object 1 performs predetermined operations such as spraying pesticides, fertilizers, water, etc., photographing, monitoring, harvesting, collecting, pollination, supplying materials and energy, transporting, mowing, and tilling. , planting work, sowing work, snow removal work, intimidation work, measurement work, etc., and in this embodiment, the predetermined work will be described as an example of spraying work, which is one of the agricultural works.
  • the energy supply body 2 can perform the same predetermined work as the flight vehicle 1 or a different work, and in this embodiment, the energy supply body 2 is capable of performing the same predetermined work as the flight vehicle 1 or a different work. The work will be explained as an example.
  • the flight object system 100 includes a flight object 1 (corresponding to a flight main body) that is powered by electric power using a battery, and an energy-powered aircraft equipped with a cassette-type battery that supplies power to the flight object 1. It is equipped with a source aircraft 2A (corresponding to the energy supply body 2, equivalent to the flight main body).
  • the energy source aircraft 2A is constructed of the same model as the aircraft 1, and is capable of accommodating energy to a plurality of aircraft 1.
  • the flying object 1 and the energy source flying object 2A have a plurality of (three in this embodiment) rotary blades B, and by rotating these rotary blades B by the driving force of a motor (not shown) or the like, Generates lift and propulsion (see also Figures 2 and 3).
  • the flying object 1 and the energy source flying object 2A are connected by a connecting mechanism 3 (corresponding to the energy supplying object 2).
  • the coupling mechanism 3 connects the plurality of flying objects 1 to each other.
  • the aircraft system 100 also includes a suspension work device 5 (corresponding to a work section) that performs a predetermined work, a flight object 1, an energy source flight object 2A (coupling mechanism 3), and a suspension work device 5 (energy supply A connection mechanism 4 (corresponding to the energy supply body 2) is provided.
  • a suspension work device 5 corresponding to a work section
  • the flying object 1 includes a first power receiving section 11, a first communication section 12, a first working section 13, a first satellite positioning device 14, a first control section 15, and a first storage section 16.
  • the first control section 15 includes a first energy control section 15a, a first state acquisition section 15b, a first group flight control section 15c, a first individual flight control section 15d, and a first work control section 15e. are doing.
  • the energy source aircraft 2A includes an energy source 21, a second communication section 22, a second working section 23, a second satellite positioning device 24, a second control section 25, and a second storage section 26.
  • the second control unit 25 includes a second energy control unit 25a (corresponding to an energy control unit), a second state acquisition unit 25b, a second group flight control unit 25c, a second individual flight control unit 25d, and a second state acquisition unit 25b. It has a work control section 25e.
  • the connecting mechanism 3 is formed of a frame body 30 that connects the plurality of flying objects 1 (see also FIGS. 2 and 3).
  • This coupling mechanism 3 includes an energy source 31 (corresponding to the energy supply body 2), a communication device 32, and a control device 33. Note that at least one of the energy source 31, the communication device 32, and the control device 33 may be omitted.
  • connection mechanism 4 the connection mechanism 3 and a plurality of (four in this embodiment) wires 44 are connected to the lower part of the frame body 40 (see also FIGS. 2 and 3).
  • the connection mechanism 4 includes an energy source 41 (corresponding to a working energy source), a communication device 42, and a control device 43. Note that at least one of the energy source 41, the communication device 42, and the control device 43 may be omitted.
  • the hanging work device 5 has a spray device 50 that includes a camera, a tank for storing the spray material, a pump and a nozzle for spraying the spray material, etc. (see also FIGS. 2 and 3).
  • This hanging work device 5 includes an energy source 51, a communication device 52, and a control device 53. Note that at least one of the energy source 51, the communication device 52, and the control device 53 may be omitted. Further, the hanging work device 5 may include a spray material storage tank or the like made of a heavy object for supplying the spray material to the first working section 13 and the second working section 23 .
  • Each functional unit of the first control unit 15, second control unit 25, and control devices 33, 43, and 53 described above is configured by hardware or software with a CPU at its core, or by cooperation between hardware and software. There is.
  • the control functions below have the same configuration.
  • the first power receiving unit 11 of the aircraft 1 is composed of a battery that stores a predetermined capacity, and the amount of stored power is acquired by the first state acquisition unit 15b, and the first power receiving unit 11 of the aircraft 1 is The amount of electricity is controlled.
  • the amount of electricity stored (remaining capacity) in the first power receiving unit 11 is stored in the first storage unit 16 and configured to be transmittable to the second communication unit 22 of the energy source aircraft 2A via the first communication unit 12. .
  • the first power receiving unit 11 in this embodiment exchanges power with the first power receiving unit 11 of another aircraft 1 and the energy source 21 of the energy source aircraft 2A via wires (for example, a cable built into the coupling mechanism 3).
  • non-contact power supply such as an electromagnetic induction method or a magnetic resonance method may also be used.
  • the first communication unit 12 of the flying object 1 is configured with a communication interface capable of wired or wireless communication with the first communicating unit 12 of another flying object 1 and the second communication unit 22 of the energy source flying object 2A.
  • the first working section 13 of the aircraft 1 is composed of a camera and the like. The operation of this first working section 13 is controlled by a first working control section 15e. Note that the first working section 13 may be equipped with an energy source, a communication device, and a control device.
  • the first satellite positioning device 14 of the flight object 1 receives a GNSS (Global Navigation Satellite System) signal from an artificial satellite, and determines its own position information (positioning information including latitude and longitude) based on the received signal. It generates positioning data shown and sends it to the first state acquisition unit 15b. That is, the first satellite positioning device 14 can detect its own position information using GNSS, which includes GPS, QZSS, Gallileo, and the like.
  • the position information of the flying object 1 detected by the first satellite positioning device 14 is stored in the first storage unit 16 in association with the time of detection, and is also transmitted to the coupling mechanism 3 via the first communication unit 12. It is configured such that it can be transmitted to the communication device 32 of the energy source aircraft 2A and the second communication unit 22 of the energy source aircraft 2A.
  • GNSS Global Navigation Satellite System
  • the first energy control unit 15a of the aircraft 1 controls the amount of energy of its own first power receiving unit 11. For example, the first energy control unit 15a determines that the amount of electricity stored in the first power receiving unit 11 acquired by the first state acquisition unit 15b is equal to or less than a set value (a value obtained by multiplying the power value at which the first power receiving unit 11 can fly by a safety factor). When this occurs, the energy source aircraft 2A is requested to supply energy, or the other aircraft 1 is requested to accommodate energy. In addition, the first energy control unit 15a may be configured to select the own aircraft from one group of aircraft when the amount of electricity stored in the first power receiving unit 11 acquired by the first state acquisition unit 15b becomes equal to or less than a set value. 1 and issues an instruction to the first solo flight control unit 15d to depart from the aircraft and fly to a predetermined charging location or landing location.
  • a set value a value obtained by multiplying the power value at which the first power receiving unit 11 can fly by a safety factor
  • the first status acquisition unit 15b of the aircraft 1 acquires the energy status (charge amount, remaining capacity, etc.) of the first power receiving unit 11, its own flight status, and surrounding environment information.
  • the first status acquisition unit 15b also includes altitude information of the flying object 1 if the flying object 1 is equipped with a barometric pressure sensor, and flight attitude and speed sensor of the flying object 1 if the flying object 1 is equipped with a gyro sensor.
  • Various conditions that affect the flight of the aircraft 1 are acquired, such as the flight speed of the aircraft 1 if it is equipped with a wind speed sensor or a wind direction sensor, and the surrounding wind conditions if it is equipped with a wind speed sensor or a wind direction sensor.
  • the first collective flight control section 15c of the flying object 1 causes the plurality of flying objects 1 and the energy source flying object 2A to fly cooperatively based on the flight plan stored in the first storage section 16.
  • the cooperative flight instruction generated by the first collective flight control unit 15c is a flight instruction for causing the flying object 1 and the energy source flying object 2A belonging to the flying object system 100 to fly cooperatively.
  • This flight instruction set is generated based on the positional relationship between the plurality of flying objects 1 and the energy source flying object 2A belonging to the flying object system 100.
  • the first gathering flight control unit 15c may generate a cooperative flight instruction based on at least one of the gathering reference position and the gathering reference direction.
  • the assembly reference position and assembly reference direction are positions and directions that serve as a reference when the flying object 1 and the energy source flying object 2A belonging to the flying object system 100 perform cooperative flight.
  • the flight plan stored in the first storage unit 16 may include a work plan for the first work unit 13. This work plan determines the location where the first work unit 13 performs the work (for example, the position of the field to be worked on, the position where the work is performed in the field, etc.), and/or the work content (for example, the operating strength of the work equipment, the operation time, operation interval, etc.).
  • the first solo flight control unit 15d of the flying object 1 controls the solo flight of the flying object 1 when the flying object 1 leaves the group of the plurality of flying objects 1 and the energy source flying object 2A.
  • the first solo flight control unit 15d uses its own current position information detected by the first satellite positioning device 14 and standby position information such as a predetermined charging place or landing place stored in the first storage unit 16. Based on this, the robot calculates a solo flight path and flies itself solo.
  • the first work control unit 15e of the aircraft 1 controls the operation of the suspension work device 5 and the first work unit 13 that execute predetermined work.
  • the first work control unit 15e in this embodiment controls the operation of a pump and nozzle for dispersing substances and the operation of a camera. In performing this control, the first work control unit 15e performs the hanging work so as to obtain an optimal spraying position, taking into consideration, for example, surrounding environment information, field shape information, relative positional relationship with other flying objects 1, etc. Activate the device 5.
  • the first storage unit 16 of the aircraft 1 is composed of a non-transitory storage medium mounted on the aircraft 1, and stores the program of the first control unit 15, its own status information, flight plan and work. Remembers plans etc.
  • the energy source 21 of the aircraft 2A is composed of a replaceable cassette battery or the like.
  • This energy source 21 is a flight energy source supplied for the flight of a plurality of flying objects 1, a working energy source for operating the first working section 13 of the flying object 1 and the suspended working device 5, and a working energy source for making itself fly. It can be utilized as a driving energy source and a working energy source for operating the second working section 23 and the hanging working device 5. If the energy source 21 is a replaceable cassette battery, it can be replaced at a predetermined replacement location when the energy source aircraft 2A runs out of power.
  • the second communication unit 22 of the energy source aircraft 2A is capable of wired or wireless communication with the communication device 32 of the first communication unit 12 of the aircraft 1, and can communicate with a computer, tablet, mobile terminal, etc. installed on the ground. It is composed of a management device (not shown) consisting of a management device (not shown) and a communication interface capable of wireless communication.
  • the second working section 23 of the energy source aircraft 2A is composed of a camera, a tank for storing a spray material, a pump and a nozzle for spraying the spray material, and the like. The operation of this second working section 23 is controlled by a second working control section 25e.
  • the second satellite positioning device 24 of the energy source flight vehicle 2A has the same configuration as the first satellite positioning device 14 of the flight vehicle 1, so a description thereof will be omitted.
  • the second storage unit 26 of the energy source aircraft 2A is composed of a non-temporary storage medium mounted on itself, and stores the program of the second control unit 25, its own state information, and energy plan. , flight plans, work plans, etc.
  • the energy plan is information such as the amount of electricity stored in the first power receiving unit 11, a setting value for starting charging, the amount of energy stored in the energy source 21, and a predetermined value that is a threshold value at which other aircraft 1 can be charged.
  • the second energy control unit 25a of the energy source aircraft 2A receives the energy status (charge amount, remaining capacity, etc.) of the first power receiving unit 11 of each aircraft 1 via the second communication unit 22, Controls own energy source 21.
  • the second energy control unit 25a supplies energy to the aircraft 1, for example, where the amount of electricity stored in the first power receiving unit 11 acquired by the second state acquisition unit 25b has become equal to or less than a set value.
  • This energy supply may be a wired power supply via a cable or a non-contact power supply.
  • the second energy control unit 25a controls the energy source aircraft 2A to It may be replaced with another flying object 1 having the largest amount or a new energy source flying object 2A. That is, the energy source flying object 2A is any one of the plurality of flying objects 1. Further, the second energy control unit 25a disconnects all the flying objects 1, for example, when the storage amount of the energy source 21 becomes less than a predetermined value (a value obtained by multiplying the power value at which the self can fly by a safety factor). You can also fly each one independently to the charging point.
  • a predetermined value a value obtained by multiplying the power value at which the self can fly by a safety factor
  • the second status acquisition unit 25b of the energy source aircraft 2A acquires the energy status (charge amount, remaining capacity, etc.) of the first power receiving unit 11 in each aircraft 1 via the second communication unit 22, and also Acquires the energy status (charge amount, remaining capacity, etc.) of the aircraft, its own flight status, and surrounding environment information.
  • the second status acquisition unit 25b also provides altitude information of the energy source aircraft 2A if the energy source aircraft 2A is equipped with a barometric pressure sensor, and information about the flight of the energy source aircraft 2A if the energy source aircraft 2A is equipped with a gyro sensor.
  • the second collective flight control section 25c, the second individual flight control section 25d, and the second work control section 25e of the energy source aircraft 2A are the first collective flight control section 15c and the first Since the configuration is similar to that of the solo flight control section 15d and the first work control section 15e, a description thereof will be omitted.
  • a master-slave relationship may be established between the first group flight control section 15c and the second group flight control section 25c, or a plurality of flight objects
  • a master-slave relationship may be established between the first set flight control units 15c.
  • the coupling mechanism 3 includes a frame body 30, an energy source 31, a communication device 32, and a control device 33.
  • the aircraft system 100 also includes a coupling guide member F that guides coupling of the coupling mechanism 3, the aircraft 1, and the energy source aircraft 2A.
  • the frame body 40 of the connection mechanism 4 is connected to the upper part of the frame body 30, and the flying object 1 and the energy source flying object 2A are connected to the lower part of the frame body 30.
  • four flying objects 1 and one energy source flying object 2A are connected near five vertices of a frame body 30 that is pentagonal in plan view.
  • the connection mechanism 4 includes a frame body 40, an energy source 41, a communication device 42, a control device 43, and a wire 44.
  • a wire 44 and a connecting mechanism 3 are connected to the lower part of the frame body 40.
  • a hanging work device 5 is connected to the lower end of the wire 44. In other words, the hanging work device 5 is suspended by the wire 44 of the connection mechanism 4.
  • the connection mechanism 4 includes a mechanism (for example, a winch) that changes the length of the wire 44, a mechanism that disconnects the wire 44 from the hanging device 5, and a mechanism that disconnects the frame body 40 and the wire 44. may be provided.
  • the connecting mechanism 3 and the connecting mechanism 4 may be configured as an integrated structure.
  • the coupling guide member F is provided across the coupling mechanism 3, the flying object 1, and the energy source flying object 2A.
  • the coupling guide member F may be a member that guides the coupling mechanism 3, the aircraft 1, and the energy source aircraft 2A so that they are coupled in a predetermined positional relationship and orientation.
  • a groove may be formed on one coupling guide member F, and a rib that can engage with the groove may be formed on the other coupling guide member F.
  • the coupling guide member F may include connectors for communication lines, power lines, fuel pipes, and the like.
  • One coupling guide member F may be provided with a hollow cone that widens toward the tip, and the other coupling guide member F may be provided with a rod-shaped portion that can enter into the interior of the hollow cone. In this case, when the rod-shaped portion enters the inside of the hollow cone, the rod-shaped portion is guided to the center of the hollow cone by the inner wall of the hollow cone, making it easier to connect the coupling guide members F to each other.
  • connection mechanism 4 is configured with a hot air balloon or a balloon filled with a gas such as helium that has a specific gravity smaller than air, and has a buoyant part 45 that can lift the hanging work device 5. You may have one.
  • the buoyancy portion 45 may generate buoyancy by expanding due to thermal energy generated by the energy source 41.
  • the thermal energy generated by the energy source 41 refers to thermal energy generated by exhaust heat when the energy source 41 is a battery or a generator, or from exhaust gas when the energy source 41 is an internal combustion engine.
  • the buoyant force that the buoyant part 45 receives in the air is greater than the gravitational force that the buoyant part 45 receives on the earth. That is, the buoyancy part 45 alone has a buoyancy force greater than gravity, and generates an upward force in the air. As a result, an upward force can be applied to the entire aircraft 1 or the energy source aircraft 2A, and the load on the entire aircraft 1 or the energy source aircraft 2A, which needs to be supported by lift, can be alleviated.
  • the flying object 1 or the energy source flying object 2A when the flying object 1 or the energy source flying object 2A is operated to generate a pressing force that can cause the flying object 1 or the energy source flying object 2A to descend downward, the flying object 1 or the energy source flying object 2A In this case, the downward pressing force and the upward lifting force by the buoyant portion 45 can be made to compete with each other. This makes it easier to accurately control the rising or descending speed at a low speed when the flying object 1 or the energy source flying object 2A takes off or lands.
  • the flying object system 100 includes a connecting flying object 6 that connects the energy supplying object 2 and the flying object 1 with a cable Ca (an example of a wired wire) made of a wire or the like. It's okay.
  • the connection aircraft 6 includes a third power receiving section 61, a third communication section 62, a third satellite positioning device 63, and a connection control section 64.
  • the third power receiving unit 61 of the connecting aircraft 6 is composed of a battery that stores a predetermined capacity, and can be supplied with power from the energy supply unit 2 via the cable Ca. A non-contact power supply such as a magnetic field resonance method may also be used.
  • the third communication unit 62 of the connecting aircraft 6 is configured with a communication interface capable of wired or wireless communication with the first communication unit 12 of the aircraft 1 and the energy supply body 2.
  • the third satellite positioning device 63 of the connecting flight object 6 has the same configuration as the first satellite positioning device 14 of the flight object 1, so a description thereof will be omitted.
  • connection control unit 64 of the connection flying object 6 controls its own flight position based on the relative position of the flying object 1 and the energy supplying object 2 and the position of the artificial object.
  • the connection control unit 64 guides the cable Ca to avoid fixed objects such as telephone poles and trees and moving objects such as work vehicles, and assists the flying object 1 in the working position. Thereby, the flying object 1 can set a flight route that bypasses the interfering object, and work efficiency can be improved.
  • the third communication units 62 of the connecting aircraft 6 are configured to be able to communicate with each other by wired or wireless communication.
  • the energy source 21 of the energy source aircraft 2A is configured to be capable of supplying energy to the coupling mechanism 3, the connection mechanism 4, and the suspension work device 5 in addition to supplying energy to the aircraft 1 and the connecting aircraft 6.
  • the energy source 31 of the coupling mechanism 3 has its energy amount managed by the control device 33, and is configured to be able to supply energy to the flying object 1, the connecting flying object 6, the connecting mechanism 4, and the hanging work device 5.
  • the energy source 41 of the connection mechanism 4 has its energy amount managed by the control device 43, and is configured to be able to supply energy to the flying object 1, the connecting flying object 6, the connecting mechanism 3, and the hanging work device 5.
  • the energy source 51 of the hanging work device 5 has its energy amount managed by the control device 53, and the energy source 51 of the hanging work device 5 is managed by the control device 53. It is configured so that it can supply energy to
  • the flying object system 100 includes a flying object 1 (corresponding to a flight main body) configured with an electric power drive type using a battery, and a flying object 1 capable of flying with assistance of the flying object 1.
  • the aircraft is equipped with a supporting flight body 2C (corresponding to the energy supply body 2, equivalent to the flight main body).
  • the flying object 1 in this embodiment is a small drone, and the support flying object 2C is a large drone, a balloon (buoyant flying object), or the like.
  • the flying object 1 includes a first power receiving section 11, a first communication section 12, a first working section 13, a first satellite positioning device 14, a first control section 15, and a first storage section 16. There is.
  • the first control section 15 includes a first energy control section 15a, a first state acquisition section 15b, a first solo flight control section 15d, and a first work control section 15e. These configurations are the same as those of the flying object 1 according to the first embodiment described above, so a description thereof will be omitted.
  • the support flying object 2C includes a connecting mechanism 27 that connects itself and the flying object 1, and a working device 29.
  • the coupling mechanism 27 includes a second control section 28, an energy source 27a composed of a large-capacity battery, a communication device 27b, a coupling guide member 27c, a second satellite positioning device 27d, and a second storage section 27e. have.
  • the second control unit 28 includes a second energy control unit 28a (corresponding to an energy control unit), a second state acquisition unit 28b, a flight combination control unit 28c, a cooperative flight control unit 28d, and a second independent flight control unit. 28e, and a second work control section 28f.
  • the flying object 1 includes a first main body portion 1A, a first leg portion 1B that can be engaged with the coupling guide member 27c and protrudes downward from the first main body portion 1A, and a first leg portion 1B that can be opened and closed. It has a plurality of (three in FIG. 8) first arm portions 1C that protrude laterally from the first main body portion 1A.
  • a first rotor blade 1Ca is connected to each of these first arm portions 1C, and lift and propulsive force are generated by rotating these first rotor blades 1Ca by the driving force of a motor (not shown) or the like.
  • a first working section 13 is connected across the first main body section 1A and the first arm section 1C.
  • a first power receiving section 11, a first communication section 12, a first satellite positioning device 14, a first control section 15, and a first storage section 16 are housed in the first main body section 1A.
  • connection mechanism 27 of the support flight object 2C is a mechanism that connects itself and the plurality of flight objects 1, and includes a second main body portion 27A that supports the plurality of flight objects 1; It has a plurality of (two in FIG. 6) second leg parts 27B that are formed in a U-shape and protrude from the second main body part 27A as supporting legs that land on the ground. Further, a working device 29 is connected to the coupling mechanism 27 on the inside of the second leg portion 27B and on the lower side of the second main body portion 27A. A plurality of (six in FIG. 6) second rotary blades 27Aa are connected to the second main body portion 27A, and by rotating these second rotary blades 27Aa by the driving force of a motor (not shown) or the like, Generates lift and propulsion.
  • the second main body portion 27A accommodates a second control portion 28, an energy source 27a, a communication device 27b, a second satellite positioning device 27d, and a second storage portion 27e. Further, the second main body portion 27A is provided with a coupling guide member 27c that guides the coupling between the plurality of flying objects 1 and the support flying object 2C.
  • the coupling guide member 27c in this embodiment includes a mechanism for gripping the first leg portion 1B of the flying object 1, and has a hollow conical shape with a tapered groove and a larger accommodation groove than the first leg portion 1B. It is formed.
  • the coupling guide member 27c may include a connector for a communication line, a power line, a fuel pipe, or the like, or may be a groove or the like that couples to a rib formed on the aircraft 1.
  • the energy source 27a of the support aircraft 2C is composed of a replaceable cassette battery or the like.
  • This energy source 27a is a flight energy source supplied for the flight of the flying object 1, a working energy source for operating the first working section 13 of the flying object 1, a driving energy source for making itself fly, and a working device 29. It can be used as a work energy source for operation. If the energy source 27a is a replaceable cassette battery, it can be replaced at a predetermined replacement location when the amount of power is insufficient.
  • the communication device 27b of the support flight object 2C is capable of wired or wireless communication with the first communication unit 12 of the flight object 1, and is a management device (comprising a computer, tablet, mobile terminal, etc.) installed on the ground. (not shown) and a communication interface capable of wireless communication.
  • the working device 29 of the support aircraft 2C is composed of agricultural working devices such as a camera capable of photographing the state of the field and a spray material storage tank made up of heavy objects. This working device 29 may be directly fixed to the second main body portion 27A, or may be suspended by a wire or the like like the hanging working device 5 shown in FIG.
  • the operation of the work device 29 in this embodiment is controlled by the second work control section 28f, but the work device 29 may have a built-in communication device, a control device, an energy source, and the like.
  • the second satellite positioning device 27d of the support flight object 2C receives a GNSS (Global Navigation Satellite System) signal from an artificial satellite, and obtains its own position information (positioning information including latitude and longitude) based on the received signal. positioning data indicating this is generated and transmitted to the second state acquisition unit 28b.
  • the second satellite positioning device 27d can detect its own position information (positioning information including latitude and longitude) using GNSS including GPS, QZSS, Gallileo, and the like.
  • the position information of the support aircraft 2C detected by the second satellite positioning device 27d is stored in the second storage unit 27e in association with the time of detection, and is also transmitted to the management device via the communication device 27b. configured to be possible.
  • the second storage unit 27e of the support aircraft 2C is composed of a non-temporary storage medium mounted on the support aircraft 2C, and stores the program of the second control unit 28, its own status information, flight plan, etc. It stores the cooperative flight plan, energy plan, work plan, etc. of the flying object 1.
  • the energy plan is information such as the amount of electricity stored in the first power receiving unit 11, a setting value for starting charging, the amount of storage in the energy source 27a, and a predetermined value that is a threshold value at which the aircraft 1 can be charged.
  • the second energy control unit 28a of the support aircraft 2C controls its own energy according to the energy state (charge amount, remaining capacity, etc.) of the first power receiving unit 11 in each aircraft 1 received via the communication device 27b. source 27a.
  • the second energy control unit 28a supplies energy to the aircraft 1, for example, where the amount of electricity stored in the first power receiving unit 11, which is acquired by the second state acquisition unit 28b, is equal to or less than a set value.
  • This energy supply may be a wired power supply via the cable Cb or a non-contact power supply.
  • the second energy control unit 28a may, for example, change the support aircraft 2C when the storage amount of the energy source 27a becomes less than a predetermined value (a value obtained by multiplying the power value at which the aircraft itself can fly by a safety factor).
  • a predetermined value a value obtained by multiplying the power value at which the aircraft itself can fly by a safety factor.
  • all the flying objects 1 may be separated and each flying object 1 may be flown independently.
  • the second state acquisition unit 28b of the support flight object 2C obtains the energy state (charge amount, remaining capacity, etc.) of the first power receiving unit 11 of each flight object 1 and the first satellite positioning device 14 via the communication device 27b.
  • the position information of each detected flying object 1 is acquired.
  • the second status acquisition unit 28b acquires the energy status (charging amount, remaining capacity, etc.) of the energy source 27a and its own position information detected by the second satellite positioning device 27d.
  • the second status acquisition unit 28b provides altitude information of the support aircraft 2C if the support aircraft 2C is equipped with a barometric pressure sensor, and flight attitude and speed of the support aircraft 2C if it is equipped with a gyro sensor.
  • Various conditions that affect the flight of the support aircraft 2C are acquired, such as the flight speed of the support aircraft 2C if it is equipped with a sensor, and the surrounding wind conditions if it is equipped with a wind speed sensor or a wind direction sensor.
  • the flight connection control unit 28c of the support flight object 2C controls the flight of the flight object 1 so that the plurality of flight objects 1 and the coupling mechanism 27 can be connected with the same position and orientation.
  • the flight connection control unit 28c uses the current position information of the flying object 1 detected by the first satellite positioning device 14 and the current position information of the support flying object 2C detected by the second satellite positioning device 21d. Calculates the relative position of the flying object 1 and the support flying object 2C, and controls the combination of the plurality of flying objects 1 and the supporting flying object 2C based on the flight plan of the flying object 1 stored in the second storage unit 27e. do.
  • a mark may be provided on the coupling guide member 27c, and the flight coupling control section 28c may control the coupling while recognizing this mark with a camera mounted on the aircraft 1. Further, the flight combination control unit 28c may change the allocation of the joining positions of the plurality of flying objects 1, or may change the joining attitude of the plurality of flying objects 1, such as changing from side-by-side to vertical arrangement. .
  • the cooperative flight control unit 28d of the support flying object 2C controls the plurality of flying objects 1 to fly cooperatively.
  • This cooperative flight control unit 28d is based on, for example, the current position information of each flying object 1 detected by the first satellite positioning device 14 and the cooperative flight plan of the flying object 1 stored in the second storage unit 27e. to control the flight organization of the plurality of flying objects 1.
  • a plurality of aircraft 1 can be sprayed all at once while flying in a horizontal row (such as a single line or a V-shaped formation), or the flow of the sprayed spray can be confirmed with the camera of the work device 29, and the aircraft 1 can be You can change the organization of.
  • the cooperative flight control unit 28d may generate a cooperative flight instruction based on at least one of the cooperative reference position and the cooperative reference direction.
  • the coordination reference position and coordination reference direction are positions and directions that serve as references when the plurality of flying objects 1 fly in coordination.
  • the flight plan stored in the second storage unit 26 may include a work plan for the first work unit 13 and the work device 29. This work plan determines the location where the first work unit 13 performs the work (for example, the position of the field to be worked on, the position where the work is performed in the field, etc.), and/or the work content (for example, the operating strength of the work equipment, the operation time, operation interval, etc.).
  • the second independent flight control unit 28e of the support aircraft 2C executes control to cause some of the aircraft 1 to leave a group of multiple aircraft 1.
  • the second solo flight control unit 28e based on the current position information of the aircraft 1 detected by the first satellite positioning device 14 and the flight plan of the aircraft 1 stored in the second storage unit 27e, A solo flight path is calculated and the flying object 1 is made to fly solo.
  • the second solo flight control unit 28e may generate the solo flight instruction based on at least one of the single reference position and the single reference direction.
  • the individual reference position and the individual reference direction are positions and directions that serve as references when the plurality of flying objects 1 fly alone.
  • the second work control unit 28f of the support aircraft 2C is a working device 29 that includes a camera capable of photographing the state of the field, a spray device including a tank for storing a spray material, a pump and a nozzle for dispersing the spray material, and the like. control the operation of The second work control unit 28f controls the work device 29, for example, to photograph the state of the field and the state of spraying.
  • the second work control section 28f may control the operation of the work device 29, which is a heavy object. For example, when the work device 29 is provided with a large-capacity spray material storage tank, the operation of a pump or the like that supplies the spray material to the first working section 13 of the aircraft 1 is controlled.
  • FIG. 6 shows a perspective view of the flying object 1 of the flying object system 100 in operation
  • FIG. 7 shows the flying object 1 of the flying object system 100.
  • a standby perspective view is shown.
  • the plurality of flying objects 1 are wired to the support flying object 2C using a cable Cb.
  • This cable Cb includes a communication line connecting the communication device 27b of the support flight object 2C and the first communication section 12 of the flight object 1, and a communication line connecting the energy source 27a of the support flight object 2C and the first power receiving section 11 of the flight object 1. It can accommodate power lines connecting the building or pipelines for distributing fuel or spray materials.
  • the flight connection control unit 28c of the support flight object 2C controls the flight of the flight object 1 so that the plurality of flight objects 1 and the coupling mechanism 27 are connected, and The first arm portion 1C is changed to a closed position. Thereby, a plurality of aircraft 1 can be moved to a predetermined work place at once using the energy source 27a of the support aircraft 2C.
  • the connecting mechanism 3 and the connecting mechanism 27 may connect a plurality of flying objects 1 while being separated from each other in the vertical direction.
  • the connection modes shown in FIGS. 2 and 7 are suitable when the space in the horizontal direction is large and the space in the vertical direction is small.
  • a connection mode in which a plurality of flying objects 1 are connected while being spaced apart from each other in the vertical direction is suitable when the space in the left-right direction is small and the space in the vertical direction is large.
  • the horizontal connection shown in FIGS. 2 and 7 and the three-dimensional connection in which the plurality of flying objects 1 are spaced apart from each other in the vertical direction may be configured to be mutually changeable.
  • the flying object system 100 in this embodiment may include the connecting mechanism 4, the suspension work device 5, and the connecting flying object 6 in the first embodiment.
  • the buoyancy part 45 shown in FIG. 4 may also be provided in the support aircraft 2C in this embodiment.
  • the flying object system 100 includes a movable energy supply vehicle 2B (corresponding to the energy supplying object 2) and a flying object 1 (also a support flying object 2C), which are constructed of wires or the like.
  • a connecting flying object 6 connected by a cable Ca (an example of a wired wire) may be provided.
  • the energy supply vehicle 2B is a ground vehicle including a power supply vehicle, a fuel vehicle, etc., but may also be a flying vehicle.
  • the flying object system 100 connects a movable working vehicle 2D (corresponding to the energy supply body 2, equivalent to the working device) and the flying object 1 (the supporting flying object 2C is also possible) using wires, etc. They may be connected by a cable Cc (an example of a wired wire).
  • the work vehicle 2D may be a material transport vehicle that transports materials (seedlings, fuel, fertilizer, medicine, etc.) to the agricultural work machine 7, a tractor, a rice transplanter, a farm work machine 7 such as a combine harvester or a rice paddy machine, a GPS base station, etc. good.
  • the work vehicle 2D is a ground vehicle, but may also be a flying vehicle.
  • the flying object 1 receives power from the working vehicle 2D via the cable Cc, and moves back and forth between the working vehicle 2D and the agricultural machine 7.
  • the agricultural machine 7 is a rice transplanter
  • one set of seedlings for one replenishment of seedlings from the agricultural machine 7 is placed on the loading platform of the working vehicle 2D, and if the seedlings are transported from the working vehicle 2D to the agricultural machine 7 at once, it is difficult to use the human resources. Labor saving and time efficiency can be achieved at the same time.
  • attachment and detachment of materials may be performed by a person, and the work vehicle 2D to the agricultural machine 7 may fly by itself, or may be operated by a person using a remote controller or the like.
  • the flying object 1 flies and replenishes the seedlings even when the agricultural machine 7 is running, rice planting work can be continued without stopping.
  • the flying object system 100 includes an energy supply body 2 that supplies energy, and a buoyant flight body 8 that flies using the thermal energy generated by the energy supply body 2. It is equipped with The energy supply body 2 in this embodiment is comprised of an engine-driven generator, and the buoyant flying object 8 is comprised of a large balloon or the like.
  • the aircraft system 100 includes a work device 9 that can perform predetermined work, and an energy management device 10 that manages thermal energy generated by the energy supply body 2.
  • the energy supply body 2 is comprised of a generator that operates an internal combustion engine using fuel to generate electricity. That is, the energy supply body 2 has an energy source 20a that includes a power source supplied from a battery or a generator operated by an internal combustion engine, a fuel source for operating the internal combustion engine, and the like. Moreover, the energy supply body 2 has a heat supply part 20b that directly supplies the thermal energy generated by the energy source 20a to the buoyant aircraft 8. Thermal energy generated by the energy source 20a is thermal energy generated by exhaust heat generated by the energy source 20a and exhaust gas from the internal combustion engine.
  • the heat supply section 20b may be a heat exchange type mechanism that heats helium gas or the like via a medium such as cooling water, or a heat generation type mechanism using generated electric power.
  • the energy supply body 2 has a communication unit 20c capable of wired or wireless communication with the buoyant flying body 8 and the working device 9.
  • the buoyant aircraft 8 has a buoyancy section 81, an energy control section 82, and a connection mechanism 83.
  • the connection mechanism 83 accommodates an energy source 83a, a communication device 83b, and a satellite positioning device 83c. Further, in this embodiment, the energy supply body 2 is housed in the connection mechanism 83.
  • the work device 9 includes an energy source 91, a satellite positioning device 92, a control device 93, and a communication device 94.
  • the buoyancy part 81 generates buoyancy by expanding upon receiving thermal energy generated by the energy source 20a of the energy supply body 2. Furthermore, the buoyancy unit 81 can generate buoyancy using thermal energy generated by the energy source 83a of the buoyant flying object 8 or the lifting force of a propeller or the like. Thereby, the buoyant flying object 8 functions as a stagnant flying object, and can perform work (for example, harvesting work and pollination work) suitable for staying in the air and flying at low speed.
  • the energy control unit 82 selects the energy source 83a of the buoyant aircraft 8 or the energy source 20a of the energy supply body 2 according to the energy state (remaining capacity, etc.) of the energy source 91 in the working device 9 received via the communication device 83b. control. For example, the energy control unit 82 controls the energy source 91 of the working device 9 whose remaining energy level is below a set value from the energy source 83a of the buoyant aircraft 8 or the energy source 20a of the energy supply body 2. Provides energy.
  • This energy supply may be a wired supply via the cable Cd, or may be a non-contact supply (for example, a non-contact power supply).
  • the energy control unit 82 also controls the energy control unit 82 to control the energy source 20a of the energy supply unit 2 received via the energy source 83a of the buoyant aircraft 8 or the communication device 83b to a predetermined value (a power value at which the unit itself can fly). (value multiplied by the safety factor), the buoyant aircraft 8 and energy supply unit 2 may be replaced, energy may be replenished at a predetermined energy replenishment location, or all work equipment may be replaced. 9 may be separated and each may be operated independently. Further, the energy management device 10 may collectively manage the energy of the energy supply body 2, the buoyant flying vehicle 8, and the working device 9.
  • connection mechanism 83 in this embodiment is comprised of a casing that is integrated with the buoyant aircraft 8 so as to connect the working device 9 and the buoyant aircraft 8.
  • the energy supply body 2 is housed in this housing. Further, the housing accommodates an energy source 83a, a communication device 83b, and a satellite positioning device 83c.
  • the connection mechanism 83 may be configured with a casing suspended by a wire or the like, or may be connected to the energy supply body 2 installed on the ground using a cable or the like. Further, when the working device 9 is a flying object, the connecting mechanism 83 may be a mechanism that can take off and land inside the housing.
  • the energy source 83a of the buoyant aircraft 8 includes a combustion device such as a burner, a heat exchange device that heats helium gas or the like through a medium such as cooling water, a heat generating device that uses generated electricity, a power generation device that rotationally drives a propeller, etc. It consists of an internal combustion engine or a power generation device that generates electricity using the driving force of the internal combustion engine. In this embodiment, this energy source 83a can be utilized as the energy supply body 2.
  • the communication device 83b of the buoyant aircraft 8 is capable of wired or wireless communication with the communication unit 20c of the energy supply body 2 and the communication device 94 of the work device 9, and can communicate with a computer, tablet, mobile terminal, etc. installed on the ground.
  • the energy management device 10 is configured with a communication interface capable of wireless communication. Note that the buoyant flying object 8 itself may be provided with a working section that performs a predetermined work.
  • the satellite positioning device 83c of the buoyant aircraft 8 receives a GNSS (Global Navigation Satellite System) signal from an artificial satellite, and indicates its own position information (positioning information including latitude and longitude) based on the received signal. Generate positioning data.
  • the satellite positioning device 83c can detect its own position information (positioning information including latitude and longitude) using GNSS including GPS, QZSS, Gallileo, and the like.
  • the position information of the buoyant flying object 8 detected by the satellite positioning device 83c is configured to be associated with the time of detection and can be transmitted to the energy management device 10 via the communication device 83b.
  • the work device 9 includes a flying vehicle such as a drone that can carry out a predetermined work while detecting its own position information using a satellite positioning device 92, a tractor, a rice transplanter, an agricultural machine such as a combine harvester or a rice paddy machine, a material carrier, etc. It consists of ground transportation vehicles such as power supply vehicles and fuel vehicles, and GPS base stations.
  • the energy source 91 of the work device 9 has its energy amount managed by the control device 93, and is configured to be able to supply energy to the buoyant flying object 8, the energy supply body 2, and other work devices 9. Note that the work device 9 connected to the buoyant aircraft 8 by the cable Cd may perform anchor work to support the buoyant aircraft 8.
  • the flying object system 100 in this embodiment is a parent-child type in which the buoyant flying object 8 is a large balloon-type mother ship, and a small drone forming the working device 9 is connected by wire via a cable Cd. Therefore, the buoyant aircraft 8 flying at a slow speed is suitable for towing heavy objects such as batteries and medicines in an energy-saving manner, and the work device 9 can take advantage of its light weight to move quickly around the buoyant aircraft 8 to perform work. can. Furthermore, even if the buoyant flying object 8 is blown away by a disturbance such as wind, the cable Cd acts as a buffer against the disturbance, and the effect on the working device 9 can be suppressed. Note that the buoyant flying object 8 as a stagnant flying object is not limited to a balloon, and a plurality of working devices 9 may be connected by a connecting mechanism 83 using a roof-like stagnant object or the like.
  • the flying object system 100 may be configured to be usable for purposes such as driving away birds and animals, security, and crime prevention.
  • the first working part 13, the second working part 23, the hanging work device 5, or the working device 29 may be a monitoring device that can recognize birds, animals, or suspicious persons from captured images, or a monitoring device that can recognize birds, animals, or suspicious persons by emitting sound or light. It may also include an intimidation device that intimidates, a notification device that notifies the presence of birds, animals, or suspicious persons, and the like.
  • the aircraft system 100 may be configured to be able to cope with weather conditions that adversely affect flight, such as strong winds, lightning strikes, and rainfall.
  • the aircraft system 100 may include a sensor that observes the weather, an acquisition unit that acquires information indicating the weather or a weather forecast via communication, and the like.
  • the aircraft system 100 may be configured to change the flight plan, take an evacuation flight to a safe area, make an emergency landing, etc., depending on the weather or weather forecast.
  • the flying object 1, the energy source flying object 2A, or the support flying object 2C may be configured so that their relative positions can be changed while they are connected.
  • the coupling guide members F, 27c provided in the coupling mechanisms 3, 27 may be configured to be movable. Thereby, while the flying object system 100 is flying, it becomes possible to change the relative positions of the plurality of flying objects 1 and the energy source flying object 2A or the support flying object 2C.
  • the aircraft system 100 may be configured to cancel the operating noise of the rotor blades B, 1Ca, and 27Aa of the aircraft 1, the energy source aircraft 2A, or the support aircraft 2C.
  • the operations of the plurality of rotary blades B, 1Ca, and 27Aa may be controlled so as to cancel out their operating sounds.
  • the aircraft system 100 may be provided with a muffling device that generates a sound (noise canceling sound) that cancels the operating sound of the rotary blades B, 1Ca, and 27Aa.
  • the muffling device may be configured to generate noise canceling sound based on the control amount sent to the rotary blades B, 1Ca, and 27Aa.
  • the devices constituting the flight system 100 may be designed so that they can be used between various types of flight system 100.
  • the coupling mechanisms 3 and 27 may have common specifications so that they can be coupled to various types of aircraft systems 100.
  • the flying object 1, the energy source flying object 2A, or the support flying object 2C may be provided with a buoyant body (balloon, balloon, etc.) that provides buoyancy to itself. This makes it easy to hover (stagnate) the aircraft system 100 at a predetermined work position.
  • a buoyant body balloon, balloon, etc.
  • Flight control of the flying object 1, the energy source flying object 2A, the support flying object 2C, or the buoyancy flying object 8 may be performed using sensor information at the work target area.
  • This sensor information is acquired by a mobile sensor mounted on a smart agricultural machine or a fixed sensor such as a GPS base station.
  • Flight control of the aircraft 1, the energy source aircraft 2A, the support aircraft 2C, or the buoyant aircraft 8 may be coordinated with smart agricultural machines on the supply chain. For example, operation information of a grain dryer may be obtained and flight control may be performed to achieve appropriate harvest timing.
  • the support aircraft 2C controlled the flight of the aircraft 1, but various modifications are possible as long as the support aircraft 2C assists the aircraft 1.
  • the flight of the flying object 1 and the support flying object 2C may be automatically controlled by a management device provided on the ground, or may be manually controlled using a remote controller.
  • a battery is used as an example of the first power receiving unit 11 and the energy sources 21 and 27a, but an internal combustion engine may be used instead.
  • the energy supplied from the energy sources 21, 27a serves as fuel for operating the internal combustion engine.
  • the energy sources 21 and 27a are internal combustion engines, the flight driving force of the flying object 1, the energy source flying object 2A, and the support flying object 2C can be increased.
  • the present invention can be used in an aircraft system equipped with an energy supply body capable of supplying energy.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Charge And Discharge Circuits For Batteries Or The Like (AREA)
PCT/JP2022/018269 2022-04-20 2022-04-20 飛行体システム WO2023203672A1 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/JP2022/018269 WO2023203672A1 (ja) 2022-04-20 2022-04-20 飛行体システム
JP2024515805A JPWO2023203672A1 (enrdf_load_stackoverflow) 2022-04-20 2022-04-20

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/018269 WO2023203672A1 (ja) 2022-04-20 2022-04-20 飛行体システム

Publications (1)

Publication Number Publication Date
WO2023203672A1 true WO2023203672A1 (ja) 2023-10-26

Family

ID=88419588

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2022/018269 WO2023203672A1 (ja) 2022-04-20 2022-04-20 飛行体システム

Country Status (2)

Country Link
JP (1) JPWO2023203672A1 (enrdf_load_stackoverflow)
WO (1) WO2023203672A1 (enrdf_load_stackoverflow)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2025142633A1 (ja) * 2023-12-26 2025-07-03 株式会社クボタ 農業用飛行装置
WO2025142631A1 (ja) * 2023-12-26 2025-07-03 株式会社クボタ 農業用飛行装置
WO2025142632A1 (ja) * 2023-12-26 2025-07-03 株式会社クボタ 農業用飛行装置

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012244837A (ja) * 2011-05-23 2012-12-10 Mitsubishi Electric Corp 発電装置、発電システム及び発電方法
US20150041598A1 (en) * 2011-06-09 2015-02-12 Thomas J. Nugent Aerial platform system, and related methods
JP2017039370A (ja) * 2015-08-19 2017-02-23 日本電気株式会社 空中浮遊装置
JP2019111871A (ja) * 2017-12-21 2019-07-11 株式会社クボタ 農業用マルチコプター
WO2020016941A1 (ja) * 2018-07-17 2020-01-23 株式会社エアロネクスト 連結可能な複数の飛行体を備える飛行体システム
JP2021070413A (ja) * 2019-10-31 2021-05-06 井関農機株式会社 無人飛行体を利用した作業車両の自律走行システム

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012244837A (ja) * 2011-05-23 2012-12-10 Mitsubishi Electric Corp 発電装置、発電システム及び発電方法
US20150041598A1 (en) * 2011-06-09 2015-02-12 Thomas J. Nugent Aerial platform system, and related methods
JP2017039370A (ja) * 2015-08-19 2017-02-23 日本電気株式会社 空中浮遊装置
JP2019111871A (ja) * 2017-12-21 2019-07-11 株式会社クボタ 農業用マルチコプター
WO2020016941A1 (ja) * 2018-07-17 2020-01-23 株式会社エアロネクスト 連結可能な複数の飛行体を備える飛行体システム
JP2021070413A (ja) * 2019-10-31 2021-05-06 井関農機株式会社 無人飛行体を利用した作業車両の自律走行システム

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2025142633A1 (ja) * 2023-12-26 2025-07-03 株式会社クボタ 農業用飛行装置
WO2025142631A1 (ja) * 2023-12-26 2025-07-03 株式会社クボタ 農業用飛行装置
WO2025142632A1 (ja) * 2023-12-26 2025-07-03 株式会社クボタ 農業用飛行装置

Also Published As

Publication number Publication date
JPWO2023203672A1 (enrdf_load_stackoverflow) 2023-10-26

Similar Documents

Publication Publication Date Title
WO2023203672A1 (ja) 飛行体システム
CN206351780U (zh) 一种基于地面站和氦气球的无人机航母
JP2019194086A (ja) 飛行体及び飛行体の制御方法
JP6830187B2 (ja) 複数機連繋方式の電動回転翼式無人飛行機
JP6891102B2 (ja) 農業用マルチコプター
CA3035970A1 (en) Apparatus and method for unmanned flight
CN108146634A (zh) 一种基于地面站和氦气球的无人机航母
KR20210029868A (ko) 기구 비행체를 이용한 농작물 관리 시스템
CN113371200A (zh) 针对规模化种植农作物的无人机精准喷药系统
JP7156703B2 (ja) 連結可能な複数の飛行体を備える飛行体システム
CN107161345A (zh) 一种潜伏鸟巢式全自动无人机系统
WO2023203674A1 (ja) 飛行体ユニット
WO2023203673A1 (ja) 飛行体制御システムおよび飛行体システム
CN108490971A (zh) 无人机作业平台
CN110834725B (zh) 一种高载重全方位纵轴两旋翼无人直升机的装置及方法
CN117227977B (zh) 植物保护系统及植物保护方法
WO2023203675A1 (ja) 集合飛行体システムおよび飛行体
WO2023203676A1 (ja) 作業飛行体
WO2024142226A1 (ja) 無人航空機
WO2024142236A1 (ja) 無人航空機
CN114229004A (zh) 一种牵引式大负载喷药无人机及喷药方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22938475

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2024515805

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 22938475

Country of ref document: EP

Kind code of ref document: A1