Classifications

• • 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
  • B64D43/00—Arrangements or adaptations of instruments
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B64—AIRCRAFT; AVIATION; COSMONAUTICS
  • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
  • B64U10/00—Type of UAV
  • B64U10/10—Rotorcrafts
  • B64U10/13—Flying platforms
  • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B64—AIRCRAFT; AVIATION; COSMONAUTICS
  • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
  • B64U2101/00—UAVs specially adapted for particular uses or applications
  • B64U2101/40—UAVs specially adapted for particular uses or applications for agriculture or forestry operations

Definitions

• FIG. 1 is a block diagram showing an example of a basic configuration of a parallel hybrid drive type multicopter.
• FIG. 1 is a block diagram showing an example of the configuration of a sensing system.
• FIG. 2 is a diagram illustrating a schematic view of a multicopter landing on the ground.
• FIG. 1 is a schematic diagram showing a multicopter hovering above the ground.
• FIG. 13 is a schematic diagram showing another example of the multicopter hovering above the ground.
• FIG. 1 is a schematic diagram showing a multicopter hovering above a tree.
• FIG. 1 is a schematic diagram showing a multicopter with a payload suspended from it hovering above a tree.
• FIG. 1 is a schematic diagram showing an example in which a multicopter, an agricultural machine, a server, and a terminal device are connected via a communication network.
• the fourth rotary drive device 3D shown in FIG. 1A has multiple motors 14, a power buffer 9 that stores the power to be supplied to each motor 14, a power generation device 8 such as an alternator that generates power, an internal combustion engine 7a that provides the driving force for generating power to the power generation device 8, and a power transmission system 23 that transmits the driving force generated by the internal combustion engine 7a to the rotor 2 to rotate the rotor 2. At least one of the multiple rotors 2 is rotated by the internal combustion engine 7a, and the other rotors 2 are rotated by the motor 14.
• FIG. 1B is a plan view that shows a schematic example of one basic configuration of a multicopter 10.
• the configuration example of FIG. 1B includes a first rotation drive device 3A shown in FIG. 1A as the rotation drive device 3. That is, the rotation drive device 3 (3A) in this example includes a motor 14 and a battery 52.
• FIG. 1C is a side view that shows a schematic example of a multicopter.
• the diameter of one or more rotors 2 rotated by the internal combustion engine 7a may be made larger than the diameter of the other rotors 2 rotated by the motor 14.
• the internal combustion engine 7a may be used to rotate the main rotor, and the motor 14 may be used to rotate the sub-rotor.
• the main rotor is primarily used to generate thrust, and the sub-rotor is used to generate thrust and control attitude.
• the main rotor may be called the "booster rotor" and the sub-rotor may be called the "attitude control rotor.”
• the multicopter 10 is equipped with a power supply device 76.
• the power supply device 76 is a device that supplies power to the work machine 200 from a driving energy source such as the battery 52 or the power generation device 8 equipped in the multicopter 10. Various functions of the work machine 200 can be performed by this power.
• the work machine 200 is equipped with actuators such as motors that operate with power obtained from the power supply device 76 of the multicopter 10. It is preferable that the work machine 200 is equipped with a battery that stores power.
• the control device 4a can receive control commands wirelessly, for example, from a ground station 6 on the ground, via the communication device 4c.
• the number of ground stations 6 is not limited to one, and they may be distributed in multiple locations.
• the communication device 4c can also receive control commands wirelessly from a control device of a pilot on the ground.
• the control device 4a can have the function of automatically or autonomously executing each of the operations of takeoff, flight, obstacle avoidance, and landing based on the sensor data obtained from the sensor group 4b.
• the series hybrid drive type multicopter 10 like the battery drive type multicopter 10, includes multiple rotors 12, multiple motors 14, multiple ESCs 16, a control device 4a, a sensor group 4b, and a communication device 4c.
• the illustrated series hybrid drive type multicopter 10 further includes an internal combustion engine 7a, a fuel tank 7b for storing fuel for the internal combustion engine 7a, a power generation device 8 that is driven by the internal combustion engine 7a to generate electric power, a power buffer 9 for temporarily storing the electric power generated by the power generation device 8, and a power supply device 76 electrically connected to the power buffer 9.
• the power buffer 9 is, for example, a battery such as a secondary battery.
• the electric power generated by the power generation device 8 is supplied to the motor 14 via the power buffer 9 and the ESC 16.
• the electric power generated by the power generation device 8 can also be supplied to the work machine 200 via the power supply device 76.
• FIG. 2C is a block diagram showing an example of the basic configuration of a parallel hybrid drive type multicopter 10.
• the parallel hybrid drive type multicopter 10 like the series hybrid drive type multicopter 10, includes multiple rotors 12, multiple motors 14, multiple ESCs 16, a control device 4a, a sensor group 4b, a communication device 4c, an internal combustion engine 7a, a fuel tank 7b, a power generation device 8, a power buffer 9, and a power supply device 76.
• the parallel hybrid drive type multicopter 10 further includes a drive train 27 that transmits the driving force of the internal combustion engine 7a, and a rotor 22 that receives the driving force of the internal combustion engine 7a from the drive train 27 and rotates.
• the rotor 22 is an example of a rotor 2.
• the rotor 22 that is connected to the drive train 27 and rotates may be one or more.
• FIG. 6 is a schematic diagram showing another state in which the multicopter 10 is hovering above the ground 90a.
• the ground 90a which is included in the slope of a mountain in a mountainous region, and a line 90b corresponding to the geoid or mean sea level are shown.
• the processing device 84 can determine whether the payload 93 will not come into contact with the ground 90a or the tree 92 based on the distance C. For example, information about the payload 93, including the distance F between the multicopter 10 and the payload 93, is pre-stored in the storage device. The processing device 84 reads out information about the distance F (or the length of the work rope 94) from the storage device and compares the distance C with the distance F to determine whether the payload 93 will not come into contact with the ground 90a or the tree 92.
• the unmanned aerial vehicle disclosed herein can be widely used not only for aerial photography, surveying, logistics, and pesticide spraying, but also for ground work related to agricultural work, transporting harvested products and agricultural materials, etc.

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• Engineering & Computer Science (AREA)
• Aviation & Aerospace Engineering (AREA)
• Mechanical Engineering (AREA)
• Remote Sensing (AREA)
• Radar Systems Or Details Thereof (AREA)

Priority Applications (2)

Applications Claiming Priority (1)

Publications (1)

Family

ID=91716757

Family Applications (1)

Country Status (2)

Citations (4)

• 2022
  • 2022-12-27 JP JP2024567033A patent/JPWO2024142250A1/ja active Pending
  • 2022-12-27 WO PCT/JP2022/048193 patent/WO2024142250A1/ja not_active Ceased

Patent Citations (4)

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