WO2024142319A1 - 作業装置 - Google Patents

作業装置 Download PDF

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Publication number
WO2024142319A1
WO2024142319A1 PCT/JP2022/048371 JP2022048371W WO2024142319A1 WO 2024142319 A1 WO2024142319 A1 WO 2024142319A1 JP 2022048371 W JP2022048371 W JP 2022048371W WO 2024142319 A1 WO2024142319 A1 WO 2024142319A1
Authority
WO
WIPO (PCT)
Prior art keywords
grass cutter
attitude
support
grass
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/JP2022/048371
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
柏木保
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 PCT/JP2022/048371 priority Critical patent/WO2024142319A1/ja
Priority to EP22970108.1A priority patent/EP4644242A1/en
Priority to JP2024567095A priority patent/JPWO2024142319A1/ja
Publication of WO2024142319A1 publication Critical patent/WO2024142319A1/ja
Priority to US19/229,063 priority patent/US20250296682A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • B64D1/00—Dropping, ejecting, releasing or receiving articles, liquids, or the like, in flight
    • 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
    • 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
    • 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

  • the present invention relates to a work device that can be connected to an aircraft, etc.
  • 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 characterized by comprising a support mechanism for suspending and supporting the object, a posture change mechanism for changing the posture of the object, and a control unit for controlling the operation of at least the posture change mechanism.
  • the support mechanism suspends and supports the object, and the attitude change mechanism changes the attitude of the object, making it possible to clearly divide roles, with the support mechanism preferentially bearing the load of the object, and the attitude change mechanism stabilizing the attitude of the object.
  • the support mechanism and the attitude change mechanism according to their respective roles, allowing stable work to be performed even with heavy objects.
  • the division of roles between the support mechanism and the attitude change mechanism allows for stable work, which easily resolves the inconvenience of not being able to transport the object to the destination and therefore not being able to start work. This results in a working device that allows stable work without detaching the object.
  • the concept of the object includes things like luggage and working machines such as lawnmowers.
  • the support mechanism preferably contains a communication line that is connected to the control unit.
  • an elastic member is preferably provided at the connection site between the position change mechanism and the object.
  • an elastic member is provided at the connection point between the posture change mechanism and the object, which reduces the inertial force transmitted to the posture change mechanism as the object oscillates.
  • the posture change mechanism is preferably attached to the object at multiple locations.
  • the posture change mechanism is attached to the object at multiple points as in this configuration, the shaking of the object can be efficiently suppressed.
  • the posture change mechanism is set with an upper limit value for the supporting force applied to the object.
  • the mechanism By setting an upper limit for the support force of the attitude-changing mechanism, as in this configuration, the mechanism is designed not to place excessive load on it, allowing it to be specialized for correcting the attitude of the target object.
  • the support mechanism is preferably provided at the center of the object, and multiple posture change mechanisms are provided around the support mechanism.
  • 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 attitude change mechanism 41 can be changed separately by the gear unit 42b2.
  • the moving mechanism 42b may be configured to move a pair of attitude change mechanisms 41 or all of the attitude change mechanisms 41 simultaneously.
  • the grass cutter control device 33 is implemented as a computer having an arithmetic processing device and a storage device.
  • the grass cutter control device 33 is configured to be able to receive input signals from various instruments provided on the grass cutter 3, and to be able to output signals for controlling each part of the grass cutter 3.
  • the support mechanism 40 is provided in the center of the grass cutter 3, and multiple posture change mechanisms 41 are provided around the support mechanism 40, so that it is possible to simultaneously strengthen the support function and the posture change function of the working device 4.
  • the working device 4 in this embodiment is configured so that the connection angle between the winch 41a and the wire 41b can be adjusted. Therefore, when the amount of swing of the grass cutter 3 detected by the swing detection unit 45 is equal to or greater than a predetermined value, the control unit 43 controls the moving mechanism 42b to widen the maximum separation distance of the multiple attitude change mechanisms 41. As shown by the two-dot chain line in FIG. 5, for example, when the grass cutter 3 rotates with the vertical direction as the swing axis, if the amount of swing is equal to or greater than a predetermined value, the maximum separation distance of the multiple attitude change mechanisms 41 is widened. For example, as shown by the solid line in FIG.
  • the present invention can be used for work devices that can be connected to aircraft, etc.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Harvester Elements (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
PCT/JP2022/048371 2022-12-27 2022-12-27 作業装置 Ceased WO2024142319A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
PCT/JP2022/048371 WO2024142319A1 (ja) 2022-12-27 2022-12-27 作業装置
EP22970108.1A EP4644242A1 (en) 2022-12-27 2022-12-27 Work device
JP2024567095A JPWO2024142319A1 (https=) 2022-12-27 2022-12-27
US19/229,063 US20250296682A1 (en) 2022-12-27 2025-06-05 Work device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2022/048371 WO2024142319A1 (ja) 2022-12-27 2022-12-27 作業装置

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US19/229,063 Continuation US20250296682A1 (en) 2022-12-27 2025-06-05 Work device

Publications (1)

Publication Number Publication Date
WO2024142319A1 true WO2024142319A1 (ja) 2024-07-04

Family

ID=91716879

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2022/048371 Ceased WO2024142319A1 (ja) 2022-12-27 2022-12-27 作業装置

Country Status (4)

Country Link
US (1) US20250296682A1 (https=)
EP (1) EP4644242A1 (https=)
JP (1) JPWO2024142319A1 (https=)
WO (1) WO2024142319A1 (https=)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118701323A (zh) * 2024-08-29 2024-09-27 西北工业大学深圳研究院 一种牵引无人机及其飞行姿态的调整方法

Families Citing this family (1)

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

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002006784A (ja) * 2000-06-20 2002-01-11 Mitsubishi Electric Corp 浮遊型ロボット
JP2010280251A (ja) * 2009-06-02 2010-12-16 Bin Mamdooh Bin Abdul Aziz Al Saud Naief ヘリコプターに取り付けられる消火救難ユニット
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
JP6912121B2 (ja) * 2020-01-07 2021-07-28 株式会社マゼックス 無人飛行体
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 (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002006784A (ja) * 2000-06-20 2002-01-11 Mitsubishi Electric Corp 浮遊型ロボット
JP2010280251A (ja) * 2009-06-02 2010-12-16 Bin Mamdooh Bin Abdul Aziz Al Saud Naief ヘリコプターに取り付けられる消火救難ユニット
US20180044019A1 (en) * 2015-02-27 2018-02-15 Geotech Ltd. Electromagnetic survey system having tow assembly with attitude adjustment
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
JP6912121B2 (ja) * 2020-01-07 2021-07-28 株式会社マゼックス 無人飛行体
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

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN118701323A (zh) * 2024-08-29 2024-09-27 西北工业大学深圳研究院 一种牵引无人机及其飞行姿态的调整方法

Also Published As

Publication number Publication date
US20250296682A1 (en) 2025-09-25
EP4644242A1 (en) 2025-11-05
JPWO2024142319A1 (https=) 2024-07-04

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