WO2024142318A1 - 作業装置及び作業用飛行体 - Google Patents

作業装置及び作業用飛行体 Download PDF

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Publication number
WO2024142318A1
WO2024142318A1 PCT/JP2022/048370 JP2022048370W WO2024142318A1 WO 2024142318 A1 WO2024142318 A1 WO 2024142318A1 JP 2022048370 W JP2022048370 W JP 2022048370W WO 2024142318 A1 WO2024142318 A1 WO 2024142318A1
Authority
WO
WIPO (PCT)
Prior art keywords
support member
control unit
work
grass cutter
aircraft
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/JP2022/048370
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
鳥本賢
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Kubota Corp
Ishikawa Energy Research Co Ltd
Original Assignee
Kubota Corp
Ishikawa Energy Research Co Ltd
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 Kubota Corp, Ishikawa Energy Research Co Ltd filed Critical Kubota Corp
Priority to EP22970107.3A priority Critical patent/EP4644241A1/en
Priority to JP2024567094A priority patent/JPWO2024142318A1/ja
Priority to PCT/JP2022/048370 priority patent/WO2024142318A1/ja
Publication of WO2024142318A1 publication Critical patent/WO2024142318A1/ja
Priority to US19/229,056 priority patent/US20250296683A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • B64U10/16—Flying platforms with five or more distinct rotor axes, e.g. octocopters
    • 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
    • B64D1/00—Dropping, ejecting, releasing or receiving articles, liquids, or the like, in flight
    • B64D1/22—Taking-up articles from earth's surface
    • 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
    • B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
    • 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
    • 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
    • B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
    • 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
    • B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
    • B64U2101/67—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons the UAVs comprising tethers for lowering the goods

Definitions

  • Patent Document 1 discloses a drone equipped with a winch mechanism that can wind up a wire rope that suspends cargo.
  • the work device described in Patent Document 1 is equipped with a flight control unit that controls the attitude and speed of the aircraft, and a fastening release unit that releases the fastening of the load based on the flight state of the aircraft. If the drone's flight is unstable, the fastening release unit cuts the wire rope with a cutting blade to release the fastening of the load. This reduces the drone's weight and maintains safe flight.
  • Patent Document 1 detaches the target object to stabilize the drone's flight, which causes the problem that the target object cannot be transported to the destination and work cannot be started. Moreover, it takes time and effort to retrieve the detached target object.
  • the working device is a working device for suspending an object, and is equipped with a number of support members for suspending and supporting the object, an adjustment mechanism for adjusting the attitude of the number of support members, and a control unit for controlling the operation of at least the adjustment mechanism, and is characterized in that the control unit controls the adjustment mechanism to change the attitude of the support members so as to counteract the swaying of the object.
  • the adjustment mechanism changes the attitude of the support member to counteract the swaying of the object, so stable work can be carried out, even if, for example, a work device is attached to the aircraft.
  • stable work is possible simply by changing the attitude of the support member, it is possible to easily resolve inconveniences such as the object not being able to be transported to the destination and not being able to start work.
  • the concept of the object includes luggage, work machines such as lawnmowers, etc.
  • control unit preferably controls the adjustment mechanism so that the support member generates tension on the object.
  • the adjustment mechanism causes the support member to generate tension on the object, so the support member can adjust the posture of the object to the correct position.
  • the bent support member can be contracted to generate tension, making it possible to even out the load on the support member.
  • the working device preferably further includes a motion detection unit that detects the motion of the object.
  • control unit preferably extends or contracts the support member located on the side of the direction of change in the swing acceleration of the object detected by the swing detection unit.
  • the moving mechanism 42b is formed of a rectangular frame-shaped member fixed to the bottom of the flying object 2.
  • the moving mechanism 42b has a rail 42b1 that guides the horizontal movement of the winch 41a, a gear unit 42b2 that moves the winch 41a along the rail 42b1, and a motor 42b3 that changes the position of the rail 42b1 of the gear unit 42b2.
  • the gear unit 42b2 on the rail 42b1 may be a rack and pinion that converts the rotational force of the motor 42b3 into a linear force.
  • the moving mechanism 42b in this embodiment is configured so that the position of each support member 41 can be changed individually by the gear unit 42b2.
  • the moving mechanism 42b may be configured to move a pair of support members 41 or all of the support members 41 simultaneously.
  • control unit 43 controls the moving mechanism 42b to individually adjust the horizontal positions of the multiple support members 41, and controls the adjustment mechanism 42a so that the support center of the multiple support members 41 is the center of gravity of the grass cutter 3.
  • the present invention can be used for work equipment that can be connected to aircraft and work aircraft.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Harvester Elements (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
PCT/JP2022/048370 2022-12-27 2022-12-27 作業装置及び作業用飛行体 Ceased WO2024142318A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP22970107.3A EP4644241A1 (en) 2022-12-27 2022-12-27 Work device and work flight vehicle
JP2024567094A JPWO2024142318A1 (https=) 2022-12-27 2022-12-27
PCT/JP2022/048370 WO2024142318A1 (ja) 2022-12-27 2022-12-27 作業装置及び作業用飛行体
US19/229,056 US20250296683A1 (en) 2022-12-27 2025-06-05 Work device and work flight vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/048370 WO2024142318A1 (ja) 2022-12-27 2022-12-27 作業装置及び作業用飛行体

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US19/229,056 Continuation US20250296683A1 (en) 2022-12-27 2025-06-05 Work device and work flight vehicle

Publications (1)

Publication Number Publication Date
WO2024142318A1 true WO2024142318A1 (ja) 2024-07-04

Family

ID=91716859

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2022/048370 Ceased WO2024142318A1 (ja) 2022-12-27 2022-12-27 作業装置及び作業用飛行体

Country Status (4)

Country Link
US (1) US20250296683A1 (https=)
EP (1) EP4644241A1 (https=)
JP (1) JPWO2024142318A1 (https=)
WO (1) WO2024142318A1 (https=)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPWO2024142207A1 (https=) * 2022-12-27 2024-07-04
JPWO2024142237A1 (https=) * 2022-12-27 2024-07-04

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101650525B1 (ko) * 2016-02-18 2016-08-24 아이씨티웨이주식회사 지아이에스 기반 신규데이터에 따른 영상 업데이트 도화시스템
US20160332851A1 (en) * 2014-05-19 2016-11-17 Google Inc. Method of Actively Controlling Winch Swing via Modulated Uptake and Release
CN107054653A (zh) * 2017-05-05 2017-08-18 西安工业大学 基于绳牵引的飞行载物机器人及方法
US20180044019A1 (en) * 2015-02-27 2018-02-15 Geotech Ltd. Electromagnetic survey system having tow assembly with attitude adjustment
JP2022125929A (ja) 2021-02-17 2022-08-29 株式会社SkyDrive 荷物搬送用の飛行体、プログラム及び荷物の締結解除方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160332851A1 (en) * 2014-05-19 2016-11-17 Google Inc. Method of Actively Controlling Winch Swing via Modulated Uptake and Release
US20180044019A1 (en) * 2015-02-27 2018-02-15 Geotech Ltd. Electromagnetic survey system having tow assembly with attitude adjustment
KR101650525B1 (ko) * 2016-02-18 2016-08-24 아이씨티웨이주식회사 지아이에스 기반 신규데이터에 따른 영상 업데이트 도화시스템
CN107054653A (zh) * 2017-05-05 2017-08-18 西安工业大学 基于绳牵引的飞行载物机器人及方法
JP2022125929A (ja) 2021-02-17 2022-08-29 株式会社SkyDrive 荷物搬送用の飛行体、プログラム及び荷物の締結解除方法

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP4644241A1

Also Published As

Publication number Publication date
EP4644241A1 (en) 2025-11-05
US20250296683A1 (en) 2025-09-25
JPWO2024142318A1 (https=) 2024-07-04

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