JP2018095051A - Unmanned aircraft - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an unmanned aerial vehicle which is easy to search when a crash landing occurs at sea or the like. An unmanned aerial vehicle 1 according to an embodiment of the present invention includes a floating body device 60 for floating near a water surface. The float device 60 is provided in a bag-shaped float main body 601, a gas cartridge (gas supply unit) 602 capable of supplying gas to the inside of the float main body 601 and water landing on the gas cartridge 602. It has a water landing sensor (water landing detection unit) 603 and a water landing sensor (water landing detection unit) 603. [Selection diagram] Fig. 3

Description

  The present invention relates to an unmanned aerial vehicle that flies without a person on board.

  Conventionally, an unmanned aerial vehicle (sometimes referred to as a drone) that flies by remote control, autopilot, or autonomous control is known. Such unmanned aerial vehicles are used in various fields including industrial use. For example, such unmanned aerial vehicles are expected to be used in fields such as logistics, disaster response, infrastructure maintenance, surveying, agriculture, forestry and fisheries.

  The following Patent Document 1 discloses the operation of such an unmanned aerial vehicle during an abnormality. Specifically, this document discloses a multicopter that is configured to use an air bag and a parachute to arrive temporarily when continuous flight is not possible in the event of an abnormality in a battery, a motor, or the like.

JP 2006-088111 A

  However, the above-mentioned multicopter uses an air bag and a parachute when an abnormality occurs on the sea, but the impact at the time of landing on the sea surface can be mitigated. It will sink. As a result, it becomes extremely difficult to search for an aircraft that has arrived untimely.

  An object of an embodiment of the present invention is to provide an unmanned aerial vehicle that can be easily searched when landing at sea or the like. Other objects of the embodiments of the present invention will become apparent by referring to the entire specification.

  An unmanned aerial vehicle according to an embodiment of the present invention is an unmanned aerial vehicle that flies in a state where no person is on board, and includes a floating body device for floating near a water surface, and the floating body device includes a floating body main body. And a landing detection unit that detects landing, and a gas supply unit that supplies gas to the floating body in response to detection of landing by the landing detection unit. Such a configuration facilitates the search for the unmanned aerial vehicle because the unmanned aircraft can float near the water surface due to the buoyancy acting on the floating body when it arrives at sea or the like.

  The unmanned aerial vehicle described above may be configured such that the floating body has a beacon transmitter that transmits a beacon. The beacon can be configured by a radio signal and / or a light emission signal or the like. Such a configuration makes it easier to search for unmanned aerial vehicles with beacons. In this case, the unmanned aerial vehicle may be configured such that the beacon transmitter is provided on a side of the floating body opposite to the side connected to the unmanned aircraft. Such a configuration makes it easier to expose the beacon transmitter above the water surface when the unmanned aircraft floats near the water surface. Further, in this case, the unmanned aerial vehicle is configured such that the floating body has a protruding portion on the side opposite to the side connected to the unmanned aircraft, and the beacon transmitter is provided on the protruding portion. Can be done. Such a configuration more reliably makes the beacon transmitter easier to be exposed above the water surface.

  The unmanned aerial vehicle described above further includes a parachute operating unit that emits a parachute, and a control unit that controls at least the parachute operating unit. When the control unit detects an abnormality in flight, the parachute The parachute actuating part may be controlled to release the gas. Such a structure can relieve the impact at the time of landing by a parachute. In this case, the unmanned aerial vehicle further includes a floating body device operating unit that releases the floating body device, and the control unit releases the parachute at a first timing when an abnormality is detected during flight. The parachute operating unit may be controlled to control the floating body device operating unit so as to release the floating body device at a second timing that is later than the first timing. Such a configuration prevents the released floating body device from obstructing the deployment of the parachute because the parachute is released before the floating body device is released. In addition, since the falling speed of the unmanned aircraft when the floating body device is released is suppressed and the attitude of the unmanned aircraft is stabilized, the operation of releasing the floating body device can be stabilized.

  Further, in the above-described unmanned aircraft, the floating body device is provided below the unmanned aircraft, and the floating body has a size that allows the unmanned aircraft to be placed when the floating body is inflated. Can be configured. In such a configuration, when the landing is unscheduled on the sea or the like, the unmanned aerial vehicle can be placed on the floating body, so that the aircraft is prevented from being submerged.

  An unmanned aerial vehicle according to another embodiment of the present invention is an unmanned aerial vehicle that flies in a state where no person is on board, and includes a floating body, a gas supply unit capable of supplying gas to the floating body, and at least A control unit that controls the gas supply unit, and the control unit controls the gas supply unit to supply gas to the floating body when an abnormality is detected during flight. Such a configuration facilitates the search for the unmanned aircraft because the unmanned aircraft can float near the water surface due to the buoyancy acting on the floating body when an abnormality is detected on the sea or the like.

  Various embodiments of the present invention provide an unmanned aerial vehicle that is easy to search in the event of an emergency landing at sea.

1 is an external view of an unmanned aerial vehicle 1 according to an embodiment of the present invention. 1 is a block diagram schematically showing the configuration of an unmanned aerial vehicle 1. FIG. The figure which shows the structure of the floating body apparatus 60 typically. The flowchart which shows an example of the process performed when abnormality is detected. The figure which shows a mode that the parachute 50 discharge | released on the sea was expand | deployed. The figure which shows a mode that the floating body apparatus 60 was discharge | released. The figure which shows a mode that the floating body main body 601 expanded. The figure which shows a mode that the parachute 50 discharge | released on the sea in other embodiment was expand | deployed. The figure which shows a mode that the floating body main body 601A expanded.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is an external view of an unmanned aerial vehicle 1 according to an embodiment of the present invention, and FIG. 2 is a block diagram schematically showing the configuration of the unmanned aircraft 1. As shown in FIG. 1, the unmanned aerial vehicle 1 includes a main body 10 that is a box-shaped member having a hexagonal shape when viewed from above, six arms 11 that extend linearly outward from the main body 10, and each arm. 11, six motors 12 provided one by one at the outer end of the motor 11, six rotors 13 provided one by one above each motor 12 and driven by the motor 12, and provided below the main body 10. Leg 14. The six rotors 13 are arranged at substantially equal intervals on a virtual circle centering on the main body 10. The unmanned aerial vehicle 1 is configured as a multicopter that flies (ascending, descending, horizontally moving, changing direction, and the like) by lift and thrust generated by the rotation of the rotor 13.

  As shown in FIG. 1, the main body portion 10 is provided with a parachute storage portion 102 in which a parachute is stored on the upper surface thereof. Moreover, the body unit 10 is provided with a floating body device storage unit 104 in which a floating body device is stored on a side surface thereof. The side surface of the main body 10 is inclined so that the perpendicular line is directed obliquely upward. As a result, the floating body device stored in the floating body device storage unit 104 can be discharged obliquely upward. The floating body storage unit 104 is located below the parachute storage unit 102. Details of the floating body device will be described later.

  As shown in FIG. 2, the unmanned aircraft 1 includes a control unit 20, a communication unit 22, various sensors 24, a position detection unit 25, a photographing unit 26, a storage unit 28 for storing information, and a parachute. The operation unit 29, the floating body device operation unit 30, and a power source 40 that supplies power to each unit of the unmanned aerial vehicle 1 are provided. At least some of these parts can be accommodated inside the box-shaped main body 10.

  The control unit 20 is configured as a small computer, for example, and controls each unit of the unmanned aerial vehicle 1 including the motor 12.

  The communication unit 22 performs wireless communication with a ground radio station such as a remote control device (such as a radio system) used by the user, a communication satellite, and other unmanned aircraft. For example, the communication unit 22 is configured to include at least one of an RC receiver, a Wi-Fi module, a Bluetooth (registered trademark) module, a satellite communication module, or an LTE module.

  The various sensors 24 include various sensors necessary for various controls of the unmanned aircraft 1. For example, the various sensors 24 include an altitude sensor (atmospheric pressure sensor), an orientation sensor (electronic compass), an acceleration sensor, a gyro sensor (angular velocity sensor), and the like.

  The position detection unit 25 detects the current position of the unmanned aircraft 1. For example, the position detection unit 25 includes a GPS receiver.

  The photographing unit 26 is configured as a general digital camera capable of photographing still images and moving images. An image photographed through the photographing unit 26 can be recorded in the storage unit 28.

  The parachute operating part 29 includes a known mechanism for releasing the parachute stored in the parachute storage part 102.

  The floating body device operating unit 30 includes a known mechanism for releasing the floating body device stored in the floating body device storage unit 104. FIG. 3 is a diagram schematically showing the configuration of the floating body device 60 in the present embodiment. As shown in the figure, the floating body device 60 is provided in a bag-like floating body main body 601, a gas cartridge (gas supply unit) 602 capable of supplying gas into the floating body main body 601, and the gas cartridge 602. And a landing sensor (landing detection unit) 603 for detecting landing.

  The floating body 601 has a substantially spherical shape when the gas is supplied and expands. Further, the floating body main body 601 is provided with a projecting portion 6011 having a substantially cylindrical shape when expanded on the side opposite to the position connected to the gas cartridge 602. A beacon transmitter 604 is provided at the tip of the protrusion 6011 in the inside thereof. The beacon transmitter 604 transmits a beacon constituted by a radio signal and / or a light emission signal. The beacon transmitter 604 includes a power source such as a button battery.

  The gas cartridge 602 stores carbon dioxide gas, and is configured to supply carbon dioxide gas to the floating body main body 601 in response to detection of water landing by the water landing sensor 603.

  The landing sensor 603 is configured using, for example, an atmospheric pressure sensor, a water pressure sensor, or an electrode type sensor (detecting conduction due to adhesion of water droplets between two electrodes).

  The floating body device 60 configured as described above is stored in the floating body device storage unit 104 in a state in which the floating body main body 601 is folded.

  Next, the operation of the unmanned aerial vehicle 1 configured as described above will be described. First, the operation of the unmanned aerial vehicle 1 during normal operation will be described. The unmanned aerial vehicle 1 flies by remote control using a remote control device or the like by a user, automatic piloting based on a preset flight plan, or autonomous control. Specifically, when the control unit 20 controls the motor 12 based on a flight command based on remote control, automatic piloting or autonomous control, and various values input from the various sensors 24, the motor 12 is rotationally driven. The unmanned aerial vehicle 1 is lifted, lowered, moved horizontally, and turned by the lift and thrust acting on the rotor 13. The six rotors 13 are configured such that the rotation directions of the two adjacent rotors 13 are opposite to each other, and the rotation directions of the two rotors 13 that are opposed via the main body 10 are the same direction. ing.

  For example, the unmanned aerial vehicle 1 hovers by balancing the gravity acting on the unmanned aircraft 1 itself and the upward force including lift that acts on the rotating rotor 13, and increases the number of rotations of the six rotors 13. It rises by increasing the upward force rather than the gravity, and descends by decreasing the rotational speed of the rotor 13 to make the upward force smaller than the gravity.

  Further, for example, the unmanned aircraft 1 is inclined in a specific direction by changing the rotational speed of at least a part of the six rotors 13, and the rotation surface of the rotor 13 is inclined with respect to the horizontal along with the inclination. Due to the thrust component in the horizontal direction generated by For example, the unmanned aerial vehicle 1 makes the rotational speeds of the two rotors 13 located on the specific direction side among the six rotors 13 smaller than the rotational speeds of the two rotors 13 located on the opposite side of the specific direction. Thus, it is possible to move horizontally in the specific direction.

  Further, for example, the unmanned aerial vehicle 1 has the rotational speed of the three rotors 13 rotating in a specific direction among the six rotors 13 smaller than the rotational speed of the three rotors 13 rotating in the opposite direction of the specific direction. By doing so, the direction is changed (horizontal rotation) in the specific direction.

  Next, an operation when the unmanned aircraft 1 is abnormal, in particular, an operation when an abnormality occurs at sea will be described. FIG. 4 is a flowchart illustrating an example of processing executed by the control unit 20 when an abnormality of the unmanned aircraft 1 is detected. The process is executed, for example, when the control unit 20 detects an abnormality of the motor 12. The abnormality of the motor 12 is detected based on, for example, current, voltage, vibration frequency, rotation speed, temperature, and the like. In the embodiment of the present invention, the abnormality of the unmanned aircraft 1 is not limited to the abnormality of the motor 12, but may include abnormality of the power supply 40 or other parts in addition to the motor 12.

  As shown in FIG. 4, when an abnormality of the unmanned aerial vehicle 1 is detected, the control unit 20 first releases a parachute (step S100). Specifically, the control unit 20 controls the parachute operating unit 29 to release the parachute stored in the parachute storage unit 102. FIG. 5 shows a state where an abnormality has occurred in the unmanned aircraft 1 at sea and the released parachute 50 has been deployed. Note that the control unit 20 may perform control so as to stop the rotation of the rotor 13 at the timing of releasing the parachute (or timing before that).

  Then, after waiting for a predetermined waiting time T1 (for example, 1 second) to elapse (step S110), the control unit 20 releases the floating body device 60 (step S120). Specifically, the control unit 20 controls the floating body device operating unit 30 to release the floating body device 60 stored in the floating body device storage unit 104. FIG. 6 shows a state where the floating body device 60 is released. As shown in the drawing, the floating body device 60 is connected to the unmanned aerial vehicle 1 (for example, the main body 10) via a string-like connecting member (wire) 62. At this stage, the floating body main body 601 of the floating body device 60 remains in a folded state. It should be noted that the drawings including FIG. 6 are not necessarily drawn to scale for convenience of explanation. For example, the connecting member 62 can be configured as a member having various lengths regardless of the description of FIG.

  Here, in the present embodiment, the above-described waiting time T1 is set in consideration of, for example, the time required to deploy the released parachute 50. If the floating body device 60 is released before the deployment of the parachute 50 is completed, for example, the floating body device 60 may be tangled with the parachute 50 being deployed. Such a problem is avoided by releasing the floating body device 60 after waiting for the waiting time T1 necessary for the deployment of the parachute 50 to elapse.

  When the unmanned aerial vehicle 1 that has released the floating body device 60 lands on the sea surface, carbon dioxide gas is supplied from the gas cartridge 602 to the floating body main body 601 in response to detection of water landing by the landing sensor 603 of the floating body device 60. The floating body main body 601 expands. FIG. 7 shows a state where the floating body 601 has expanded after the unmanned aerial vehicle 1 has landed on the sea surface SS. In FIG. 7, the parachute 50 is not shown.

  As shown in FIG. 7, the unmanned aerial vehicle 1 floats in the vicinity of the sea surface SS without sinking due to buoyancy acting on the expanded floating body body 601. Further, as shown in the figure, the connecting member 62 that connects the floating body main body 601 to the unmanned aerial vehicle 1 is attached to a position where the gas cartridge 602 of the floating body main body 601 is provided, and a protrusion located on the opposite side. The part 6011 is exposed above the sea surface SS in a standing state. As a result, the beacon transmitter 604 provided at the tip of the protrusion 6011 can normally transmit a beacon without being submerged. Thus, it can be said that the unmanned aerial vehicle 1 is an unmanned aerial vehicle that is easy to search when landing on the sea or the like.

  The unmanned aircraft 1 according to the present embodiment described above includes the floating body device 60 for floating near the water surface. The floating body device 60 includes a floating body main body 601, a landing sensor 603 that detects landing, A gas cartridge 602 that supplies gas to the floating body main body 601 in response to detection of water landing by the water landing sensor 603 is configured. With this configuration, the unmanned aerial vehicle 1 can float in the vicinity of the water surface without sinking due to buoyancy acting on the expanded floating body body 601 when landing on the sea or the like. As described above, the embodiment of the present invention provides an unmanned aerial vehicle that can be easily searched when landing at sea or the like.

  In this embodiment, the floating body device 60 is released after waiting for a predetermined waiting time T1 to elapse after the parachute 50 is released. However, in another embodiment of the present invention, the floating body is released. The device 60 can be released simultaneously with or before the parachute 50 is released.

  In this embodiment, the floating body device 60 is configured such that carbon dioxide gas is supplied from the gas cartridge 602 to the floating body main body 601 in response to detection of water landing by the water landing sensor 603, and the floating body main body 601 expands. However, in other embodiment of this invention, the floating body apparatus 60 may be comprised so that the floating body main body 601 may expand | swell before landing. In this case, for example, the floating body device 60 may be configured such that carbon dioxide gas is supplied from the gas cartridge 602 to the floating body main body 601 in accordance with the release from the floating body device storage unit 104. In this case, for example, the floating body main body 601 expands when the control unit 20 releases the floating body device 60 in response to detection of an abnormality of the unmanned aircraft 1.

  In the embodiment of the present invention, the floating body device 60 may be exposed by being attached to the main body 10 or the like without being stored in the floating body device storage unit 104. For example, the floating body device 60 can be attached to the bottom surface on the lower side of the main body 10. FIG. 8 shows a state in which the parachute 50 released from the unmanned aerial vehicle 1A according to another embodiment of the present invention is deployed. In the unmanned aerial vehicle 1 </ b> A, a floating device 60 </ b> A is attached to the bottom surface of the main body 10. The unmanned aerial vehicle 1A does not have the leg portion 14 of the unmanned aerial vehicle 1 described above. FIG. 9 shows a state where the floating body 601A has expanded after the unmanned aerial vehicle 1A has landed on the sea surface SS. The floating body 601A has such a size that the unmanned aerial vehicle 1A can be placed upon expansion, and has, for example, a cushion-like shape. In the unmanned aircraft 1A according to this embodiment, the aircraft is placed on the floating body main body 601A at the time of emergency landing, so that the aircraft can be prevented from being submerged. In this embodiment, beacon transmitter 604 may be provided in main part 10 of unmanned aerial vehicle 1A. In this case, the beacon transmitter 604 can also be configured to be supplied with power from the power supply 40 of the unmanned aerial vehicle 1A (for example, power is supplied for a certain time after detection of an abnormality by the control unit 20).

  In the embodiment of the present invention, the body of the unmanned aerial vehicle 1, 1 </ b> A (at least a part of the main body 10, the arm 11, the motor 12, the rotor 13, and the leg 14) is waterproofed, or the control unit 20, You may make it provide waterproof performance to each part, such as covering at least one of the communication parts 22 with a waterproof case.

  The embodiment of the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the invention. For example, the shape, number, arrangement, or the like of each member in the above-described embodiment is appropriately changed. For example, the number of rotors included in the unmanned aerial vehicle in the embodiment of the present invention is not limited to six, and may be five or less or seven or more. Moreover, the unmanned aerial vehicle in the embodiment of the present invention is not limited to the multicopter as described above, and may include various types of unmanned aerial vehicles. For example, the unmanned aerial vehicle in the embodiment of the present invention includes a fixed wing aircraft such as a vertical take-off and landing aircraft (VTOL aircraft).

DESCRIPTION OF SYMBOLS 1, 1A Unmanned aerial vehicle 10 Main body part 12 Motor 13 Rotor 20 Control part 22 Communication part 24 Various sensors 25 Position detection part 26 Imaging part 28 Memory | storage part 29 Parachute action | operation part 30 Floating body apparatus action part 40 Power supply 50 Parachute 60, 60A Floating body Devices 601 and 601A Floating body main body 602 Gas cartridge (gas supply unit)
603 Water landing sensor (water landing detection unit)
604 Beacon transmitter

Claims (8)

An unmanned aircraft that flies without a person on board,
Equipped with a floating body device for floating near the water surface,
The floating body device includes: a floating body, a landing detection unit that detects landing, and a gas supply unit that supplies gas to the floating body in response to detection of landing by the landing detection unit. Have
Unmanned aerial vehicle.   The unmanned aerial vehicle according to claim 1, wherein the floating body includes a beacon transmitter that transmits a beacon.   The unmanned aerial vehicle according to claim 2, wherein the beacon transmitter is provided on an opposite side of the floating body body to a side connected to the unmanned aircraft. An unmanned aerial vehicle according to claim 3,
The floating body has a protrusion on the side opposite to the side connected to the unmanned aerial vehicle;
The beacon transmitter is provided on the protruding portion,
Unmanned aerial vehicle. An unmanned aerial vehicle according to any one of claims 1 to 4,
A parachute actuating part for releasing the parachute;
A control unit for controlling at least the parachute operating unit,
When the control unit detects an abnormality in flight, the parachute operating unit is controlled to release the parachute;
Unmanned aerial vehicle. An unmanned aerial vehicle according to claim 5,
A floating body device operating unit for releasing the floating body device;
When the control unit detects an abnormality during flight, the parachute operating unit is controlled to release the parachute at a first timing, and at a second timing that is later than the first timing, Controlling the floating device actuating unit to release the floating device;
Unmanned aerial vehicle. An unmanned aerial vehicle according to any one of claims 1 to 5,
The floating body device is provided below the unmanned aerial vehicle;
The floating body has a size capable of mounting the unmanned aerial vehicle when inflated.
Unmanned aerial vehicle. An unmanned aircraft that flies without a person on board,
A floating body,
A gas supply unit capable of supplying gas to the floating body;
A control unit for controlling at least the gas supply unit,
When the control unit detects an abnormality during flight, the gas supply unit is controlled to supply gas to the floating body.
Unmanned aerial vehicle.

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