WO2021100501A1 - Takeoff and landing platform, method for using takeoff and landing platform, and program - Google Patents
Takeoff and landing platform, method for using takeoff and landing platform, and program Download PDFInfo
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- WO2021100501A1 WO2021100501A1 PCT/JP2020/041624 JP2020041624W WO2021100501A1 WO 2021100501 A1 WO2021100501 A1 WO 2021100501A1 JP 2020041624 W JP2020041624 W JP 2020041624W WO 2021100501 A1 WO2021100501 A1 WO 2021100501A1
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- Prior art keywords
- departure
- arrival
- unmanned aerial
- aerial vehicle
- platform
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C29/00—Aircraft capable of landing or taking-off vertically, e.g. vertical take-off and landing [VTOL] aircraft
-
- 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
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/12—Ground or aircraft-carrier-deck installations for anchoring aircraft
-
- 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
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/13—Propulsion using external fans or propellers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
- B64U70/90—Launching from or landing on platforms
- B64U70/95—Means for guiding the landing UAV towards the platform, e.g. lighting means
-
- 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
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
Definitions
- the present invention relates to a landing platform, a method of using the landing platform, and a program.
- Patent Document 1 Japanese Unexamined Patent Publication No. 2019-18589
- the present invention is a departure / arrival platform for an unmanned aerial vehicle capable of vertical takeoff and landing, and includes a detachable portion for attaching / detaching the unmanned aerial vehicle and a fixing portion for fixing the departure / arrival platform at an arbitrary fixed position.
- a landing platform for an unmanned aerial vehicle capable of vertical takeoff and landing, and includes a detachable portion for attaching / detaching the unmanned aerial vehicle and a fixing portion for fixing the departure / arrival platform at an arbitrary fixed position.
- the departure / arrival platform may be provided with a guidance unit that guides the unmanned aerial vehicle when the unmanned aerial vehicle lands.
- the departure / arrival platform may be provided with a position adjustment unit that adjusts the attachment / detachment unit to a position suitable for capturing the unmanned aerial vehicle when the unmanned aerial vehicle lands.
- the detachable part may prohibit the unmanned aerial vehicle from leaving when the departure / arrival platform is not fixed to the fixed position, and may allow the unmanned aerial vehicle to leave when the departure / arrival platform is fixed to the fixed position.
- the attachment / detachment unit may include a receiving unit that receives instructions for attaching / detaching an unmanned aerial vehicle.
- the attachment / detachment of the unmanned aerial vehicle may be controlled according to the attachment / detachment instruction.
- the departure / arrival table may be provided with a discharge portion for discharging the discharged material and an extension portion extending from the supply source of the discharged product, connecting the supply source and the discharge portion, and supplying the discharged product to the discharge unit. ..
- the supply source may be a storage container in which the discharged material is stored.
- the departure / arrival table may be connected to the discharge unit and may include a direction changing unit that changes the discharge direction of the discharge unit.
- the fixed portion may be provided with a posture changing portion for changing the attitude of the departure / arrival platform.
- the fixed portion may have a magnetic field generating portion that generates a magnetic field for fixing the landing platform at a fixed position.
- the fixed portion may have an adhesive portion that fixes the landing platform at a fixed position.
- the fixed portion may have a protruding portion for fixing the departure / arrival table at a fixed position.
- the fixing portion may have a negative pressure fixing portion for fixing the departure / arrival table at a fixed position.
- the fixed portion may have a grip portion that fixes the departure / arrival table at a fixed position by gripping.
- the fixing portion may have a magnetic viscoelastic material that fixes the landing platform at a fixed position.
- the departure / arrival platform may be provided in connection with the departure / arrival platform and may be provided with a collection means for collecting the departure / arrival platform.
- the departure / arrival platform may be provided with a means of moving the departure / arrival platform from a fixed position.
- the fixing portion may have a releasing means for releasing the fixing of the departure / arrival table.
- departure and arrival include a step of fixing the landing platform to which the unmanned aerial vehicle is connected at an arbitrary fixed position, and a step of detaching the unmanned aerial vehicle from the attachment / detachment portion of the landing platform after the step of fixing. Provide usage of the stand.
- the method of using the departure / arrival table may include a step of fixing the discharge portion for discharging the discharged material toward the discharge target position.
- the method of using the departure / arrival platform may include a stage of discharging the discharged material from the discharge part after the stage of separating the unmanned aerial vehicle from the attachment / detachment part.
- the method of using the departure / arrival platform includes a stage of connecting the unmanned aerial vehicle to the attachment / detachment portion, and the connection stage may include a stage of guiding the unmanned aerial vehicle to the attachment / detachment portion and a stage of landing the unmanned aerial vehicle on the attachment / detachment portion. ..
- the method of using the departure / arrival platform may include a stage in which an unmanned aerial vehicle collects the departure / arrival platform.
- the recovery stage is the stage of connecting the unmanned aerial vehicle to the attachment / detachment part, the stage of rotating the rotor blade of the unmanned aerial vehicle, and the stage of connecting the unmanned aerial vehicle to the attachment / detachment part and rotating the rotor blade. It may have a step of releasing the fixation to.
- the method of using the departure / arrival platform may include a stage of collecting the departure / arrival platform by using a collection means connected to the departure / arrival platform.
- the method of using the departure / arrival platform may include a stage in which the departure / arrival platform is released from fixation and a stage in which the departure / arrival platform moves from the fixed position.
- a program for causing a computer to execute the method of using the departure / arrival table described in the second aspect of the present invention is provided.
- An outline of the configuration of the unmanned aerial vehicle 100 and the departure / arrival platform 200 is shown.
- the state after the unmanned aerial vehicle 100 has landed on the landing platform 200 is shown.
- An example of a method of guiding the unmanned aerial vehicle 100 to the departure / arrival platform 200 using the guidance unit 212 is shown.
- An example of the departure / arrival table 200 including the position adjusting unit 260 is shown.
- An example of the transportation method of the departure / arrival table 200 is shown.
- An example of a method of fixing the departure / arrival table 200 is shown.
- An example of the takeoff method of the departure / arrival platform 200 is shown.
- An example of the departure / arrival stand 200 connected to the supply source 300 is shown.
- An example of the departure / arrival stand 200 connected to the supply source 300 is shown.
- An example of the control system 600 of the unmanned aerial vehicle 100 is shown. An example of how to use the departure / arrival table 200 is shown. An example of the configuration of the control unit 240 is shown. An example of a method of fixing to a fixed object 500 having a step is shown. An example of a method of fixing to a fixed object 500 having a step is shown. An example of the configuration of the posture changing unit 280 is shown. An example of the configuration of the fixed portion 220 is shown. An example of the configuration of the fixed portion 220 is shown. An example of the fixing method of the fixing part 220 having the protrusion 227 is shown. An example of the configuration of the fixing portion 220 having the negative pressure fixing portion 281 is shown. An example of the configuration of the fixed portion 220 is shown.
- An example of the configuration of the fixing portion 220 in which the fixing portion 220 is provided with the magnetic viscoelastic material 282 is shown.
- An example of the collection method of the departure / arrival table 200 is shown.
- Another example of the collection method of the departure / arrival table 200 is shown.
- An example of the configuration of the movable departure / arrival table 200 is shown.
- An example of the configuration of the transportation means 206 is shown. It is a figure for demonstrating how to use the departure / arrival table 200. It is a figure for demonstrating how to use the departure / arrival table 200. It is a figure for demonstrating how to use the departure / arrival table 200. It is a figure for demonstrating how to use the departure / arrival table 200. It is a figure for demonstrating how to use the departure / arrival table 200.
- An example of the collection method of the departure / arrival table 200 is shown.
- An example of the collection method of the departure / arrival table 200 is shown.
- An example of a computer 2200 in which a plurality of aspects of the present invention may be embodied in whole or in part is shown.
- FIG. 1A shows an outline of the configuration of the unmanned aerial vehicle 100 and the departure / arrival platform 200.
- FIG. 1B shows a state after the unmanned aerial vehicle 100 has landed on the landing platform 200.
- the unmanned aerial vehicle 100 is an air vehicle that flies in the air.
- the unmanned aerial vehicle 100 of this example includes a main body portion 10, a leg portion 15, a propulsion portion 20, and an arm portion 24.
- the configuration of the unmanned aerial vehicle 100 is not limited to this example.
- the main body 10 stores various control circuits, power supplies, and the like of the unmanned aerial vehicle 100. Further, the main body portion 10 may function as a structure for connecting the configurations of the unmanned aerial vehicle 100 to each other.
- the main body 10 of this example is connected to the propulsion section 20.
- the main body 10 may include a camera for photographing the surroundings.
- the propulsion unit 20 promotes the unmanned aerial vehicle 100.
- the propulsion unit 20 has a rotary blade 21 and a rotary drive unit 22.
- the unmanned aerial vehicle 100 of this example includes four propulsion units 20.
- the propulsion portion 20 is attached to the main body portion 10 via the arm portion 24.
- the propulsion unit 20 obtains propulsive force by rotating the rotary blade 21.
- Four rotary blades 21 are provided around the main body 10, but the method of arranging the rotary blades 21 is not limited to this example.
- the rotary blade 21 is provided at the tip of the arm portion 24 via a rotary drive unit 22.
- the rotary drive unit 22 has a power source such as a motor and drives the rotary blade 21.
- the rotary drive unit 22 may have a brake mechanism for the rotary blade 21.
- the rotary blade 21 and the rotary drive unit 22 may be directly attached to the main body portion 10 by omitting the arm portion 24.
- the arm portion 24 is provided so as to extend radially from the main body portion 10.
- the unmanned aerial vehicle 100 of this example includes four arm portions 24 provided corresponding to the four propulsion portions 20.
- the arm portion 24 may be fixed or movable. Other configurations such as a camera may be fixed to the arm portion 24.
- the leg portion 15 is connected to the main body portion 10 and maintains the attitude of the unmanned aerial vehicle 100 at the time of landing.
- the landing gear 15 of this example functions as a landing gear for landing on the landing platform 200.
- the unmanned aerial vehicle 100 of this example has four legs 15. By extending the plurality of legs 15 to different lengths, the posture of the unmanned aerial vehicle 100 can be stably maintained even on a sloped ground or an uneven surface. A configuration such as a camera may be attached to the leg portion 15.
- the departure / arrival stand 200 includes a detachable portion 210, a fixing portion 220, a connecting portion 230, and a control unit 240.
- the landing platform 200 of this example realizes the landing and takeoff of the unmanned aerial vehicle 100.
- landing refers to the unmanned aerial vehicle 100 resting or decelerating in contact with the landing platform 200.
- takeoff means that the unmanned aerial vehicle 100 leaves the state of being in contact with the departure / arrival platform 200.
- the departure / arrival platform 200 of this example realizes vertical takeoff and landing of the unmanned aerial vehicle 100.
- the attachment / detachment unit 210 attaches / detaches the unmanned aerial vehicle 100.
- the departure / arrival platform 200 of this example includes four attachment / detachment portions 210 according to the legs 15 of the unmanned aerial vehicle 100.
- the number of detachable portions 210 may be larger than the number of legs 15 of the unmanned aerial vehicle 100.
- the positions of the plurality of attachment / detachment portions 210 may be variable or fixed. By making the positions of the plurality of attachment / detachment portions 210 variable, it is possible to correspond to different types of unmanned aerial vehicles 100.
- the attachment / detachment unit 210 may switch the connection / disconnection between the unmanned aerial vehicle 100 and the departure / arrival platform 200.
- the connection between the unmanned aerial vehicle 100 and the departure / arrival platform 200 means that the unmanned aerial vehicle 100 is fixed to the departure / arrival platform 200 by the detachable portion 210 after landing.
- the departure of the unmanned aerial vehicle 100 means a state in which the unmanned aerial vehicle 100 is not connected to the departure / arrival platform 200 and the unmanned aerial vehicle 100 can take off.
- the fixing portion 220 fixes the departure / arrival table 200 at an arbitrary fixed position.
- the fixing portion 220 may be fixed as long as the departure / arrival table 200 can be fixed to the object to be fixed, and the fixing method is not limited.
- the fixing portion 220 may be able to be released from being fixed to the object to be fixed.
- the fixing portion 220 may switch between fixing to and releasing the fixing object.
- the connecting unit 230 is connected to at least one of the attachment / detachment unit 210, the fixing unit 220, or the control unit 240.
- the connecting portion 230 of this example functions as an auxiliary frame for connecting each configuration.
- the length of the connecting portion 230 may be fixed or variable.
- the connecting portion 230a connects the detachable portions 210 to each other.
- the four connecting portions 230a connect the four attaching / detaching portions 210.
- the connecting portion 230a of this example is arranged so as to form a square, but is not limited thereto.
- the position of the attachment / detachment portion 210 may be changed by expanding / contracting the length of the connecting portion 230a.
- the connecting unit 230b connects the attachment / detachment unit 210 and the control unit 240.
- the four connecting portions 230b connect the four attaching / detaching portions 210 and the control unit 240, respectively.
- the connecting portion 230b may be freely expanded and contracted according to the position of the attachment / detachment portion 210.
- the connecting portion 230c connects the detachable portion 210 and the fixing portion 220.
- the connecting portion 230c is provided so as to extend from the attachment / detachment portion 210 toward the outside of the departure / arrival table 200.
- the length of the connecting portion 230c may be fixed or variable. For example, the connecting portion 230c is adjusted in length so that the unmanned aerial vehicle 100 does not interfere with the surroundings.
- the control unit 240 controls the operation of the departure / arrival table 200.
- the control unit 240 controls attachment / detachment by the attachment / detachment portion 210, fixing by the fixing portion 220, or expansion / contraction of the connecting portion 230.
- the control unit 240 may have a communication unit and transmit / receive information to / from the outside of the departure / arrival table 200.
- the control unit 240 may have a detection unit for detecting the position of the unmanned aerial vehicle 100. For example, the control unit 240 has a camera and detects whether or not the unmanned aerial vehicle 100 has landed.
- FIG. 2 shows an example of a method of guiding the unmanned aerial vehicle 100 to the departure / arrival platform 200 using the guidance unit 212.
- the unmanned aerial vehicle 100 of this example includes a light receiving unit 16.
- FIG. 2 shows an enlarged view of the attachment / detachment portion 210 before and after the landing of the unmanned aerial vehicle 100.
- the attachment / detachment portion 210 includes an exterior portion 211, an induction portion 212, a cushioning portion 213, and a lock mechanism 214.
- the exterior portion 211 accommodates the guide portion 212 and the lock mechanism 214.
- the exterior portion 211 accommodates the leg portion 15 when the unmanned aerial vehicle 100 lands.
- the guidance unit 212 guides the unmanned aerial vehicle 100 to a predetermined position at the time of landing.
- the guidance unit 212 of this example has a light emitting unit for guiding the unmanned aerial vehicle 100 with a laser beam.
- the method of guiding the unmanned aerial vehicle 100 is not limited to this.
- the guidance unit 212 may guide the unmanned aerial vehicle 100 by a pattern, light, or radio waves.
- the guidance unit 212 may guide the unmanned aerial vehicle 100 to a predetermined position by the physical structure.
- the exterior portion 211 may have an inclined portion on the inner wall in which the leg portion 15 is housed, and may function as a guiding portion for guiding the leg portion 15 to a predetermined position.
- the light receiving portion 16 is provided at the tip of the leg portion 15 and receives the laser light from the guiding portion 212. Thereby, the unmanned aerial vehicle 100 can detect the relative positional relationship between the leg portion 15 and the attachment / detachment portion 210. For example, when all the light receiving units 16 receive the laser beam, the unmanned aerial vehicle 100 determines that the positions of the unmanned aerial vehicle 100 and the departure / arrival platform 200 match, and permits landing.
- the shock absorber 213 absorbs the impact of the leg 15 when the unmanned aerial vehicle 100 lands.
- the cushioning portion 213 of this example is provided on the bottom surface of the exterior portion 211.
- the cushioning portion 213 may also be provided on the side surface of the inner wall of the exterior portion 211.
- the cushioning portion 213 contains a material having a higher elasticity than the exterior portion 211.
- the lock mechanism 214 switches between connecting and disconnecting the unmanned aerial vehicle 100. After landing, the lock mechanism 214 prevents the legs 15 from being attached and detached, and realizes connection with the unmanned aerial vehicle 100.
- the lock mechanism 214 of this example prevents the leg portion 15 from being attached and detached by inserting a locking protrusion into the step of the leg portion 15.
- the locking mechanism 214 has a solenoid actuator that uses electromagnetic force to convert electrical energy into mechanical motion.
- the control unit 240 may control whether or not the leg portion 15 is locked by the lock mechanism 214.
- FIG. 3 shows an example of a departure / arrival stand 200 provided with a position adjusting unit 260. Further, FIG. 3 shows an enlarged view of the attachment / detachment portion 210 and the position adjustment portion 260 before landing.
- the unmanned aerial vehicle 100 includes a light emitting unit 17, and the attachment / detachment unit 210 includes a detection unit 215.
- the light emitting unit 17 irradiates light for alignment such as laser light.
- the light emitting portion 17 is provided at the tip of the leg portion 15. However, the light emitting portion 17 may be arranged at another position such as the main body portion 10 or the arm portion 24 as long as the unmanned aerial vehicle 100 can be aligned.
- the guidance method of this example differs from the embodiment of FIG. 2 in that the unmanned aerial vehicle 100 irradiates the departure / arrival table 200 with a laser beam.
- the detection unit 215 detects the position of the unmanned aerial vehicle 100.
- the detection unit 215 detects the position of the leg portion 15 by receiving the laser beam from the light emitting unit 17.
- the detection unit 215 of this example detects the position of the leg portion 15, but is not limited to this.
- the detection unit 215 may be a camera that photographs the unmanned aerial vehicle 100.
- the position adjustment unit 260 adjusts the attachment / detachment unit 210 to a position suitable for connecting the unmanned aerial vehicle 100 when the unmanned aerial vehicle 100 lands.
- the position adjusting portion 260 of this example adjusts the position of the attachment / detachment portion 210 according to the position of the leg portion 15.
- the position adjusting unit 260 specifies the position of the leg portion 15 and adjusts the position of the attachment / detachment portion 210 according to the laser beam from the light emitting unit 17.
- the position adjusting unit 260 may specify the position of the leg portion 15 by photographing the leg portion 15 with a camera and adjust the position of the detachable portion 210.
- a light receiving unit and a camera for specifying the position of the attachment / detachment portion 210 may be provided in the attachment / detachment portion 210.
- the position adjusting unit 260 has a rotation mechanism 261 and a connecting unit 262.
- the rotation mechanism 261 is connected to the connecting portion 262 and rotates the connecting portion 262.
- the rotation mechanism 261 of this example has a motor.
- the rotation mechanism 261 is eccentrically attached to the attachment / detachment portion 210.
- the connecting portion 262 connects the attachment / detachment portion 210 and the rotation mechanism 261.
- the connecting portion 262 is rotated by the rotating mechanism 261 to adjust the position of the detachable portion 210.
- the connecting portion 262 can finely adjust the position of the detachable portion 210 attached eccentrically according to the leg portion 15 by the rotation of the rotation mechanism 261.
- the departure / arrival table 200 of this example has the position adjustment unit 260, it can correspond to the unmanned aerial vehicle 100 of various shapes. In addition, the alignment of the unmanned aerial vehicle 100 becomes easy.
- FIG. 4A shows an example of a transportation method for the departure / arrival platform 200.
- the departure / arrival platform 200 is transported to the fixed object 500.
- the attachment / detachment portion 210 of this example prohibits the unmanned aerial vehicle 100 from leaving when the departure / arrival table 200 is not fixed to the fixed object 500.
- the unmanned aerial vehicle 100 flies in a state of being connected to the departure / arrival platform 200, and carries the departure / arrival platform 200 to the fixed object 500.
- the connection between the unmanned aerial vehicle 100 and the departure / arrival platform 200 may be realized by the lock mechanism 214.
- the method of connecting the unmanned aerial vehicle 100 and the departure / arrival platform 200 is not limited to this.
- FIG. 4B shows an example of a method of fixing the departure / arrival table 200.
- the unmanned aerial vehicle 100 brings the fixing portion 220 into contact with the fixing object 500 and fixes the fixing portion 220 to the solid position 502 of the fixing object 500. After that, the unmanned aerial vehicle 100 stops the rotation of the rotary blade 21.
- FIG. 4C shows an example of the takeoff method of the unmanned aerial vehicle 100.
- the attachment / detachment unit 210 allows the unmanned aerial vehicle 100 to leave when the departure / arrival platform 200 is fixed to the solid position 502.
- the departure / arrival platform 200 can be left on the fixed object 500.
- FIG. 5A shows an example of the departure / arrival platform 200 connected to the supply source 300.
- the departure / arrival table 200 of this example includes a discharge unit 270, a direction change unit 272, and an extension unit 274.
- the supply source 300 supplies the discharged material to the departure / arrival table 200.
- the supply source 300 realizes safe discharge by supplying the discharged material to the discharge unit 270 in a state where the departure / arrival table 200 is fixed to the fixed object 500.
- the supply source 300 of this example has a pump 301.
- the pump 301 supplies the discharged material to the departure / arrival table 200.
- the supply source 300 of this example has a pump 301, but the method of supplying the discharged material is not limited to this.
- the discharge unit 270 discharges the discharged material supplied from the supply source 300.
- the discharge unit 270 may include a nozzle for discharge. Since the departure / arrival table 200 is provided with the discharge unit 270, the configuration of the unmanned aerial vehicle 100 can be simplified and the unmanned aerial vehicle 100 can be miniaturized.
- the direction change unit 272 is connected to the discharge unit 270 to change the discharge direction of the discharge unit 270. As a result, it is possible to realize ejection to an arbitrary ejection target position while the departure / arrival table 200 is fixed to the fixed object 500.
- the departure / arrival table 200 has a camera that captures a discharge target, and the control unit 240 controls the direction of the direction changing unit 272.
- the stretched portion 274 is provided by stretching from the supply source 300.
- the stretching portion 274 connects the supply source 300 and the discharging portion 270, and supplies the discharged product to the discharging portion 270.
- the extension portion 274 can arrange the departure / arrival table 200 at an arbitrary position away from the supply source 300. That is, the departure / arrival table 200 can be arranged at a free position while the supply source 300 is fixed.
- FIG. 5B shows an example of the departure / arrival platform 200 connected to the supply source 300.
- the supply source 300 of this example is connected to the storage container 302.
- the storage container 302 is a container in which the discharged material is stored.
- the storage container 302 is an aerosol container for injecting a discharged product.
- the storage container 302 is connected to the stretching portion 274 and injects and supplies the discharged material to the discharge unit 270.
- the position of the storage container 302 can be flexibly changed according to the fixed position of the departure / arrival table 200. Further, even when the storage container 302 is emptied, the storage container 302 can be easily replaced, and the contents of the discharged material can be easily changed. Furthermore, the contents are less likely to adhere to the human body and are highly safe when replaced.
- FIG. 6A shows an example of the maneuvering system 600 of the unmanned aerial vehicle 100.
- the control system 600 of this example includes an unmanned aerial vehicle 100, a departure / arrival platform 200, and a terminal device 400.
- the terminal device 400 includes a display unit 410 and a controller 420.
- the display unit 410 displays an image taken by a camera mounted on the unmanned aerial vehicle 100.
- the display unit 410 may communicate with the departure / arrival table 200.
- the image displayed by the display unit 410 may be an image taken by a fixed camera or an image taken by a movable camera.
- the display unit 410 may directly communicate with the unmanned aerial vehicle 100 and the departure / arrival platform 200, or may indirectly communicate with the unmanned aerial vehicle 100 and the departure / arrival platform 200 via the controller 420.
- the display unit 410 may be connected to an external server.
- the controller 420 is operated by the user to operate the unmanned aerial vehicle 100 or the departure / arrival platform 200. In addition to the flight of the unmanned aerial vehicle 100, the controller 420 may instruct the discharge unit 270 to discharge the contents.
- the controller 420 may be connected to the display unit 410 by wire or wirelessly. A plurality of controllers 420 may be provided and used properly for maneuvering the unmanned aerial vehicle 100 and for controlling the departure / arrival platform 200.
- the user of this example manually operates the unmanned aerial vehicle 100 and the departure / arrival platform 200 using the terminal device 400.
- the user may automatically operate by a program instead of the manual.
- the user may directly see and control the unmanned aerial vehicle 100 and the departure / arrival platform 200 without using the screen displayed on the display unit 410.
- the operation of the unmanned aerial vehicle 100 may be automatically controlled, and the discharge of the discharge unit 270 may be manually operated.
- FIG. 6B shows an example of how to use the departure / arrival table 200.
- an operation flowchart in the case of discharging the discharged material to the fixed object 500 by using the departure / arrival table 200 is shown.
- step S100 the departure / arrival platform 200 to which the unmanned aerial vehicle 100 is connected is fixed at an arbitrary solid position 502.
- the departure / arrival platform 200 can be easily fixed in a place where it is difficult for a person to carry it.
- step S102 after the step of fixing, the unmanned aerial vehicle 100 is separated from the attachment / detachment portion 210 of the departure / arrival platform 200 and taken off. As a result, the departure / arrival table 200 is left fixed to the fixed object 500.
- the unmanned aerial vehicle 100 that has left the departure / arrival platform 200 may be used for transporting another departure / arrival platform 200.
- step S104 after step S102, the discharged material is discharged from the discharge unit 270.
- the discharge direction of the discharge unit 270 is adjusted toward the discharge target position. Since the unmanned aerial vehicle 100 is not connected to the departure / arrival table 200 at the time of discharge, there is no risk of the discharged material adhering to the unmanned aerial vehicle 100, and the discharged product can be safely discharged. That is, the departure / arrival table 200 does not need to worry about contamination of the unmanned aerial vehicle 100, and can be applied from a close distance. Further, as compared with the case where the unmanned aerial vehicle 100 discharges while flying, there is no concern about noise during flight, and there is no possibility that the aircraft shakes or crashes at the time of discharge. Further, the unmanned aerial vehicle 100 does not need to be in flight during discharge, so that the battery can be saved.
- step S106 the departure / arrival table 200 is collected.
- the departure / arrival platform 200 may be recovered by the unmanned aerial vehicle 100, or may be recovered by the user using a recovery means described later.
- the unmanned aerial vehicle 100 when the departure / arrival table 200 is collected by the unmanned aerial vehicle 100, the unmanned aerial vehicle 100 is connected to the detachable portion 210 and the rotary blade 21 is rotated. After that, the unmanned aerial vehicle 100 is connected to the attachment / detachment portion 210, and the departure / arrival table 200 is released in a state where the rotary blade 21 is rotated.
- the departure / arrival platform 200 is collected by using the collection means connected to the departure / arrival platform 200.
- the departure / arrival table 200 may be provided with a means for releasing the fixing. The method of collecting the departure / arrival table 200 using the collection means will be described later.
- FIG. 6C shows an example of the configuration of the control unit 240.
- the control unit 240 of this example has a reception unit 242 and a processing unit 244.
- the receiving unit 242 receives information from the unmanned aerial vehicle 100 or the terminal device 400.
- the receiving unit 242 may receive information for controlling the operation of the departure / arrival table 200.
- the receiving unit 242 receives an instruction regarding attachment / detachment of the unmanned aerial vehicle 100.
- the receiving unit 242 may send and receive data to and from the unmanned aerial vehicle 100 or the terminal device 400.
- the processing unit 244 controls the attachment / detachment of the unmanned aerial vehicle 100 in response to the attachment / detachment instruction received by the reception unit 242.
- the processing unit 244 transmits / receives information to / from the receiving unit 242.
- the processing unit 244 controls at least one operation of the locking mechanism 214, the fixing unit 220, and the discharging unit 270.
- the processing unit 244 switches whether or not to connect the unmanned aerial vehicle 100 by controlling the lock mechanism 214.
- the processing unit 244 switches whether or not to fix the departure / arrival table 200 to the fixed object 500 by controlling the fixing unit 220.
- the processing unit 244 adjusts the discharge direction of the discharge unit 270 so as to face the discharge target by controlling the discharge unit 270.
- FIG. 7A shows an example of a method of fixing to a fixed object 500 having a step.
- the departure / arrival table 200 of this example includes a posture changing unit 280.
- the departure / arrival table 200 of this example is fixed to a stepped wall composed of a fixed object 500a and a fixed object 500b. That is, the plurality of fixing portions 220 are fixed sideways.
- the attitude change unit 280 changes the attitude of the departure / arrival platform 200.
- the posture changing portion 280 of this example functions as three connecting portions 230.
- the departure / arrival table 200 of this example includes three posture changing portions 280a to posture changing portions 280c corresponding to the three fixing portions 220a to 220c, respectively.
- the attitude changing unit 280 changes the attitude of the departure / arrival table 200 by controlling the length and direction of the connecting unit 230.
- the posture changing unit 280a and the posture changing unit 280b are adjusted in length according to the fixed object 500a and the fixed object 500b, respectively, to maintain the posture according to the step.
- the attitude change unit 280c holds the attitude of the departure / arrival table 200 horizontally by extending diagonally downward from the attitude change unit 280a and the attitude change unit 280b.
- FIG. 7B shows an example of a method of fixing to a fixed object 500 having a step.
- the landing platform 200 of this example is fixed to a stepped ground composed of a fixed object 500a and a fixed object 500b.
- the departure / arrival table 200 of this example includes four posture changing portions 280 corresponding to the four fixing portions 220. In this way, the plurality of fixing portions 220 are fixed downward.
- the direction of fixing the fixing portion 220 may be upward, sideways, or diagonally.
- FIG. 7C shows an example of the configuration of the posture changing unit 280.
- the posture changing portion 280 of this example has a connecting portion 230a and a connecting portion 230b, and can be automatically expanded and contracted.
- the thicker connecting portion 230a is used as the main landing gear
- the thinner connecting portion 230b is used as the secondary landing gear.
- the connecting portion 230a, which is the main landing gear may be connected to the attachment / detachment portion 210
- the connecting portion 230b which is the secondary landing gear
- the posture changing unit 280 of this example includes a telescopic mechanism 231, a driving unit 232, and a rotating shaft 233.
- the expansion / contraction mechanism 231 expands / contracts the connecting portion 230 by changing the relative positions of the connecting portion 230a and the connecting portion 230b.
- the expansion / contraction mechanism 231 of this example has a feed screw mechanism.
- the male screw of the telescopic mechanism 231 is connected to the connecting portion 230a
- the female screw of the telescopic mechanism 231 is connected to the connecting portion 230b.
- the expansion / contraction mechanism 231 is not limited to the feed screw mechanism as long as it is a mechanism that realizes linear motion.
- the drive unit 232 is connected to the male screw of the expansion / contraction mechanism 231 via the rotation shaft 233.
- the drive unit 232 expands and contracts the connecting unit 230 by rotating the rotation shaft 233.
- the drive unit 232 of this example is a motor, but may be a linear motor for linear drive, an electromagnetic solenoid, or the like.
- FIG. 8A shows an example of the configuration of the fixed portion 220.
- the fixing portion 220 includes an exterior portion 221, a contact portion 222, and a cushioning portion 223.
- the fixed portion 220 of this example includes a magnetic field generating portion 224 and wiring 225.
- the exterior portion 221 houses the magnetic field generating portion 224 and the wiring 225.
- the exterior portion 221 is connected to the contact portion 222 via a cushioning portion 223.
- the contact portion 222 is provided on the side of the object to be fixed 500 at the time of fixing.
- the buffer portion 223 cushions the impact between the exterior portion 221 and the buffer portion 223. When the fixed object 500 is tilted, the buffer portion 223 tilts the contact portion 222 following the tilt of the fixed object 500.
- the magnetic field generation unit 224 generates a magnetic field for fixing the landing platform 200 at the solid position 502.
- the magnetic field generation unit 224 is an electromagnet coil.
- the magnetic field generation unit 224 fixes the landing platform 200 to a magnetic material such as a steel tower by the generated magnetic force.
- the magnetic field generating portion 224 of this example is provided at the tip of the fixing portion 220.
- the position of the magnetic field generating unit 224 is not limited to this example.
- the magnetic field generation unit 224 may be connected to the control unit 240 by wiring 225, and whether or not to generate a magnetic field may be switched.
- FIG. 8B shows an example of the configuration of the fixed portion 220.
- the fixing portion 220 of this example differs from the embodiment of FIG. 8A in that it has an adhesive portion 226.
- the adhesive portion 226 fixes the departure / arrival table 200 at the solid position 502.
- the adhesive portion 226 attaches the adhesive surface to the object 500 to be fixed, and fixes the landing platform 200 at the solid position 502.
- the adhesive portion 226 of this example is provided on the outer surface of the contact portion 222.
- the adhesive portion 226 may be used in combination with other fixing methods such as the magnetic field generating portion 224.
- FIG. 8C shows an example of a fixing method of the fixing portion 220 having the protruding portion 227.
- the fixing portion 220 has a protruding portion 227, an elastic portion 228, and a fastener 229.
- the protrusion 227 fixes the departure / arrival table 200 at the solid position 502.
- the protruding portion 227 of this example is housed in the fixing portion 220 before being fixed, and when the stopper by the fastener 229 is released, the elastic portion 228 punctures the object to be fixed 500.
- the protrusion 227 has a sharp shape like a harpoon and is punctured by the object to be fixed 500.
- the protrusion 227 has a screw-like structure and may be screwed into the object to be fixed 500.
- the departure / arrival table 200 may be collected by leaving the protruding portion 227 in the fixed object 500.
- the protruding portion 227 may have a mechanism that cannot be easily removed from the fixed object 500.
- the protrusion 227 may be disposable.
- FIG. 8D shows an example of the configuration of the fixing portion 220 having the negative pressure fixing portion 281.
- the difference from the fixed portion 220 of FIG. 8A will be particularly described.
- the negative pressure fixing portion 281 fixes the departure / arrival table 200 to the fixed object 500.
- the negative pressure fixing portion 281 realizes attachment and detachment by utilizing negative pressure.
- the negative pressure fixing portion 281 is a suction cup that fixes the departure / arrival table 200 to the fixing object 500 by using the negative pressure.
- the negative pressure fixing portion 281 may be a member that is connected to the negative pressure generator and fixes the departure / arrival table 200 by reducing the pressure.
- the negative pressure fixing portion 281 of this example is provided at the tip of the connecting portion 230, but may be provided at the main body portion 10 or the like.
- FIG. 8E shows an example of the configuration of the fixed portion 220.
- the fixed portion 220 of this example includes a grip portion 291, a movable portion 292, and a driving portion 293.
- the fixing portion 220 of this example fixes the departure / arrival table 200 to a rod-shaped fixing object 500 such as a pole.
- the grip portion 291 fixes the departure / arrival table 200 at a fixed position by gripping the object to be fixed 500.
- the grip portion 291 has a C-shape and is provided so that the fixing object 500 is located inside the C-shape.
- the grip portion 291 is gripped by sandwiching the fixed object 500 in combination with the movable portion 292.
- the grip portion 291 grips the fixed object 500 with sufficient force to hold the posture of the departure / arrival table 200.
- the grip portion 291 may be gripped so as to hang from, for example, the object to be fixed 500, without completely fixing the posture of the departure / arrival table 200.
- the movable portion 292 is moved by the drive portion 293, and the grip portion 291 and the movable portion 292 sandwich and fix the object to be fixed 500.
- the movable portion 292 of this example has a screw structure.
- the drive unit 293 has a motor and is moved in the axial direction by rotating the movable unit 292.
- the fixed object 500 is not particularly limited as long as it can be gripped by the grip portion 291.
- the fixed object 500 of this example has a columnar shape, but the shape is not limited as long as it can be gripped by the gripping portion 291.
- the fixed object 500 may be a building, an electric wire, a utility pole, a pipe, a signboard, a fence, a bridge or a tree.
- FIG. 8F shows an example of the configuration of the fixing portion 220 in which the fixing portion 220 is provided with the magnetic viscoelastic material 282.
- the fixed object 500 of this example has an uneven surface.
- the viscoelasticity of the magnetic viscoelastic material 282 is changed by a magnetic field due to the magnetic viscoelastic effect (magnetorheological effect), and hardening and softening can be switched by applying magnetism.
- the magnetic viscoelastic material 282 fixes the landing platform 200 at the solid position 502.
- the magnetic viscoelastic material 282 is provided in contact with the contact portion 222 of the fixing portion 220.
- the landing platform 200 is brought into contact with the fixed object 500, and after the magnetic viscoelastic material 282 is deformed along the surface shape of the fixed object 500, a magnetic force is applied to cure the fixed object 500.
- a high grip can be obtained.
- the device for applying the magnetic force may be mounted on the departure / arrival table 200 or may be provided on the side of the object to be fixed 500.
- the fixing portion 220 may be a plurality of combinations having the configurations shown in FIGS. 8A to 8F. As the departure / arrival table 200, an arbitrary fixing portion 220 may be selected and used according to the material or shape of the object to be fixed 500.
- FIG. 9A shows an example of a collection method of the departure / arrival table 200.
- the departure / arrival table 200 of this example includes a collection means 202.
- the collection means 202 is provided in connection with the departure / arrival table 200, and collects the departure / arrival table 200. That is, the unmanned aerial vehicle 100 is not required to collect the departure / arrival platform 200.
- the recovery means 202 is a parachute.
- the departure / arrival table 200 releases the fixing portion 220 from the state of being fixed to the fixing object 500.
- the departure / arrival platform 200 is safely recovered by opening the parachute, which is the recovery means 202.
- FIG. 9B shows another example of the collection method of the departure / arrival table 200.
- the departure / arrival table 200 of this example includes a string connected to the departure / arrival table 200 as the collection means 202.
- the collection means 202 is connected to the departure / arrival stand 200 fixed to the fixed object 500.
- the user pulls the collection means 202 to remove the departure / arrival table 200 from the fixed object 500.
- the landing platform 200 falls due to gravity.
- the protective member 204 is provided at the position where the departure / arrival table 200 falls to prevent damage to the departure / arrival table 200.
- This example is an example of a collection method of the departure / arrival table 200, and is not limited to this.
- the collection means 202 may also function as a release means for releasing the fixation of the departure / arrival table 200.
- the collection means 202 may also function as a release means for releasing the fixation of the departure / arrival table 200.
- the fixing portion 220 has the magnetic field generating portion 224, the generation of the magnetic field is terminated and the fixing of the departure / arrival table 200 is released.
- the departure / arrival table 200 may have a release means for releasing the fixing of the fixing portion 220 separately from the collection means 202.
- FIG. 10A shows an example of the configuration of the movable departure / arrival platform 200.
- the departure / arrival table 200 of this example includes a transportation means 206.
- the moving means 206 is an example of a fixing portion 220 that moves the departure / arrival table 200 from the solid position 502.
- the moving means 206 may have both functions of fixing to the fixed object 500 and moving the departure / arrival table 200.
- FIG. 10B shows an example of the configuration of the transportation means 206.
- the moving means 206 is an example of the fixed portion 220.
- the moving means 206 includes a grip portion 291, a drive unit 293, a roller 296, and a drive unit 297.
- the difference from the fixed portion 220 of FIG. 8E will be particularly described.
- the roller 296 rotates to move the departure / arrival table 200.
- the moving means 206 of this example has three rollers 296a to 296c.
- the three rollers 296a to 296c fix the object to be fixed 500 from three directions.
- the roller 296a is a moving roller that is rotated by a drive unit 297, which is a motor, to generate a driving force for movement.
- the roller 296b and the roller 296c are provided inside the grip portion 291 and are auxiliary rollers that assist in smooth movement by driving the roller 296a.
- FIG. 11A is a diagram for explaining how to use the departure / arrival table 200.
- the user 700 of this example carries the departure / arrival platform 200 to the fixed object 500 by the unmanned aerial vehicle 100.
- the fixed object 500 of this example is an outdoor unit for air conditioning installed on the wall surface of a building.
- the departure / arrival table 200 includes a discharge unit 270 connected to the extension unit 274, as in the embodiment of FIG. 5B.
- One end of the stretched portion 274 is connected to the discharge portion 270, and the other end is connected to the supply source 300.
- the other end of the extension portion 274 is held by the user 700 in order to prevent the departure / arrival table 200 from falling. That is, the stretched portion 274 can also be used as the recovery means 202.
- FIG. 11B is a diagram for explaining how to use the departure / arrival table 200.
- the departure / arrival platform 200 of this example is carried by the unmanned aerial vehicle 100 and fixed to the fixed object 500.
- the unmanned aerial vehicle 100 takes off from the departure / arrival platform 200 after fixing the departure / arrival platform 200 to the fixed object 500.
- the user 700 may operate the unmanned aerial vehicle 100 and collect it at hand. Further, the unmanned aerial vehicle 100 may be hovering in the air.
- the stretched portion 274 remains held by the user 700.
- FIG. 11C is a diagram for explaining how to use the departure / arrival table 200.
- the departure / arrival table 200 discharges the discharged material from the discharge unit 270 to the fixed object 500.
- the user 700 in this example uses an aerosol can as the supply source 300. Since the extension portion 274 and the supply source 300 are held by the user 700, the departure / arrival table 200 can be easily recovered even when the departure / arrival table 200 is released at the time of discharge. Since the unmanned aerial vehicle 100 does not need to be in flight during discharge, the battery can be saved. In addition, the unmanned aerial vehicle 100 can avoid contamination due to discharge. By collecting the unmanned aerial vehicle 100, the user 700 can charge the battery of the unmanned aerial vehicle 100 during the discharging operation.
- FIG. 11D is a diagram for explaining how to use the departure / arrival table 200.
- the unmanned aerial vehicle 100 moves to the departure / arrival platform 200 and lands on the departure / arrival platform 200.
- the unmanned aerial vehicle 100 may be operated by the user 700 or may be automatically connected to the departure / arrival platform 200.
- FIG. 11E is a diagram for explaining how to use the departure / arrival table 200.
- the departure / arrival platform 200 is recovered by the unmanned aerial vehicle 100 by releasing the fixation.
- the unmanned aerial vehicle 100 only needs to be able to carry the departure / arrival platform 200, and does not need to be equipped with the supply source 300, so that it becomes easy to miniaturize. If the extension portion 274 is used as the recovery means 202, the user 700 can recover the departure / arrival platform 200 without using the unmanned aerial vehicle 100.
- FIG. 12A shows an example of a collection method of the departure / arrival table 200.
- User 700b is waiting under user 700a.
- the user 700b holds the collection means 202b and collects the departure / arrival table 200 by pulling the collection means 202b. That is, the collecting means 202b also functions as a releasing means for releasing the fixation of the departure / arrival table 200.
- the user 700a may take his hand off the collection means 202a.
- the collecting means 202 may be an extension portion 274 connected to the supply source 300.
- the user 700a may release the collecting means 202a after removing the supply source 300 from the stretching portion 274. As a result, the departure / arrival platform 200 can be collected more safely.
- FIG. 12B shows an example of a collection method of the departure / arrival table 200.
- the departure / arrival table 200 includes the transportation means 206 of FIG. 10A.
- the departure / arrival table 200 of this example can move up and down with the rainwater pipe as the fixed object 500.
- the departure / arrival table 200 moves to the height of the outdoor unit, which is the processing target 504, and cleans the processing target 504 with the discharged material.
- the departure / arrival table 200 moves to the height of the processing target 504b and discharges after discharging to the processing target 504a. Since the departure / arrival platform 200 of this example has a means of transportation, it can move to the height of the next processing target 504 without being reconnected with the unmanned aerial vehicle 100.
- the collecting means 202 of this example may be used as a releasing means in addition to the stretching portion 274 connected to the supply source 300.
- FIG. 13 shows an example of a computer 2200 in which a plurality of aspects of the present invention may be embodied in whole or in part.
- the program installed on the computer 2200 can cause the computer 2200 to function as an operation associated with the device according to an embodiment of the present invention or as one or more sections of the device, or the operation or the one or more.
- a section can be run and / or a computer 2200 can be run a process according to an embodiment of the invention or a stage of the process.
- Such a program may be run by the CPU 2212 to cause the computer 2200 to perform certain operations associated with some or all of the blocks in the flowcharts and block diagrams described herein.
- the computer 2200 includes a CPU 2212, a RAM 2214, a graphic controller 2216, and a display device 2218, which are connected to each other by a host controller 2210.
- the computer 2200 also includes input / output units such as a communication interface 2222, a hard disk drive 2224, a DVD-ROM drive 2226, and an IC card drive, which are connected to the host controller 2210 via the input / output controller 2220.
- input / output units such as a communication interface 2222, a hard disk drive 2224, a DVD-ROM drive 2226, and an IC card drive, which are connected to the host controller 2210 via the input / output controller 2220.
- the computer also includes legacy input / output units such as the ROM 2230 and keyboard 2242, which are connected to the input / output controller 2220 via an input / output chip 2240.
- the CPU 2212 operates according to the programs stored in the ROM 2230 and the RAM 2214, thereby controlling each unit.
- the graphic controller 2216 acquires the image data generated by the CPU 2212 in a frame buffer or the like provided in the RAM 2214 or itself so that the image data is displayed on the display device 2218.
- the communication interface 2222 communicates with other electronic devices via the network.
- the hard disk drive 2224 stores programs and data used by the CPU 2212 in the computer 2200.
- the DVD-ROM drive 2226 reads the program or data from the DVD-ROM 2201 and provides the program or data to the hard disk drive 2224 via the RAM 2214.
- the IC card drive reads the program and data from the IC card and / or writes the program and data to the IC card.
- the ROM 2230 stores a boot program or the like executed by the computer 2200 at the time of activation and / or a program depending on the hardware of the computer 2200.
- the input / output chip 2240 may also connect various input / output units to the input / output controller 2220 via a parallel port, serial port, keyboard port, mouse port, and the like.
- the program is provided by a computer-readable medium such as a DVD-ROM 2201 or an IC card.
- the program is read from a computer-readable medium, installed on a hard disk drive 2224, RAM 2214, or ROM 2230, which is also an example of a computer-readable medium, and executed by the CPU 2212.
- the information processing described in these programs is read by the computer 2200 and provides a link between the program and the various types of hardware resources described above.
- the device or method may be configured by implementing manipulation or processing of information in accordance with the use of computer 2200.
- the CPU 2212 executes a communication program loaded in the RAM 2214, and performs communication processing on the communication interface 2222 based on the processing described in the communication program. You may order.
- the communication interface 2222 reads and reads the transmission data stored in the transmission buffer processing area provided in the recording medium such as the RAM 2214, the hard disk drive 2224, the DVD-ROM 2201, or the IC card. The data is transmitted to the network, or the received data received from the network is written to the reception buffer processing area or the like provided on the recording medium.
- the CPU 2212 makes the RAM 2214 read all or necessary parts of a file or database stored in an external recording medium such as a hard disk drive 2224, a DVD-ROM drive 2226 (DVD-ROM2201), or an IC card. Various types of processing may be performed on the data on the RAM 2214. The CPU 2212 then writes back the processed data to an external recording medium.
- an external recording medium such as a hard disk drive 2224, a DVD-ROM drive 2226 (DVD-ROM2201), or an IC card.
- Various types of processing may be performed on the data on the RAM 2214.
- the CPU 2212 then writes back the processed data to an external recording medium.
- the CPU 2212 describes various types of operations, information processing, conditional judgment, conditional branching, unconditional branching, and information retrieval described in various parts of the present disclosure with respect to the data read from the RAM 2214. Various types of processing may be performed, including / replacement, etc., and the results are written back to RAM 2214. Further, the CPU 2212 may search for information in a file, a database, or the like in the recording medium. For example, when a plurality of entries each having an attribute value of the first attribute associated with the attribute value of the second attribute are stored in the recording medium, the CPU 2212 specifies the attribute value of the first attribute. Search for an entry that matches the condition from the plurality of entries, read the attribute value of the second attribute stored in the entry, and associate it with the first attribute that satisfies the predetermined condition. The attribute value of the second attribute obtained may be acquired.
- the program or software module described above may be stored on or on a computer-readable medium near the computer 2200.
- a recording medium such as a hard disk or RAM provided in a dedicated communication network or a server system connected to the Internet can be used as a computer readable medium, thereby providing the program to the computer 2200 via the network. To do.
- Recovery means 204 ... Protective member, 206 ... means of transportation, 300 ... source, 301 ... pump, 302 ... storage container, 400 ... terminal device, 410 ... display, 420 ... controller, 500 ... -Fixed object, 502 ... Solid position, 504 ... Processing target, 600 ... Steering system, 700 ... User, 2200 ... Computer, 2201 ... ROM, 2210 ... Host controller , 2212 ... CPU, 2214 ... RAM, 2216 ... Graphic controller, 2218 ... Display device, 2220 ... Output controller, 2222 ... Communication interface, 2224 ... Hard disk drive, 2226 ... ⁇ ⁇ ROM drive, 2230 ⁇ ⁇ ⁇ ROM, 2240 ⁇ ⁇ ⁇ output chip, 2242 ⁇ ⁇ ⁇ keyboard
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Abstract
Provided is a takeoff and landing platform for an unmanned aircraft which can vertically take off and land, the takeoff and landing platform comprising: an attachment/detachment unit which an unmanned aircraft can be attached to and detached from; and a fixing unit for fixing the takeoff and landing platform at an arbitrary fixing position. Also provided is a method for using a takeoff and landing platform, the method comprising: a step for fixing, at an arbitrary fixing position, the takeoff and landing platform to which an unmanned aircraft is connected; and a step for detaching the aircraft from an attachment/detachment unit of the takeoff and landing platform after the fixing step. Also provided is a program that causes a computer to execute a method for using a takeoff and landing platform.
Description
本発明は、発着台、発着台の使用方法およびプログラムに関する。
The present invention relates to a landing platform, a method of using the landing platform, and a program.
従来、対象物を処理するための無人航空機が知られている(例えば、特許文献1参照)。
特許文献1 特開2019-18589号公報 Conventionally, an unmanned aerial vehicle for processing an object is known (see, for example, Patent Document 1).
Patent Document 1 Japanese Unexamined Patent Publication No. 2019-18589
特許文献1 特開2019-18589号公報 Conventionally, an unmanned aerial vehicle for processing an object is known (see, for example, Patent Document 1).
従来の無人航空機では、使用形態に応じたより柔軟な発着台の使用方法が望まれている。
In conventional unmanned aerial vehicles, a more flexible method of using the departure / arrival platform according to the usage pattern is desired.
本発明の第1の態様においては、垂直離着陸が可能な無人航空機の発着台であって、無人航空機を着脱できる着脱部と、発着台を任意の固定位置に固定するための固定部とを備える発着台を提供する。
In the first aspect of the present invention, it is a departure / arrival platform for an unmanned aerial vehicle capable of vertical takeoff and landing, and includes a detachable portion for attaching / detaching the unmanned aerial vehicle and a fixing portion for fixing the departure / arrival platform at an arbitrary fixed position. Provide a landing platform.
発着台は、無人航空機の着陸時に無人航空機を誘導する誘導部を備えてよい。
The departure / arrival platform may be provided with a guidance unit that guides the unmanned aerial vehicle when the unmanned aerial vehicle lands.
発着台は、無人航空機の着陸時に着脱部を無人航空機の捕捉に適した位置に調整する位置調整部を備えてよい。
The departure / arrival platform may be provided with a position adjustment unit that adjusts the attachment / detachment unit to a position suitable for capturing the unmanned aerial vehicle when the unmanned aerial vehicle lands.
着脱部は、発着台の固定位置への非固定時に、無人航空機の離脱を禁止し、発着台の固定位置への固定時に、無人航空機の離脱を許可してよい。
The detachable part may prohibit the unmanned aerial vehicle from leaving when the departure / arrival platform is not fixed to the fixed position, and may allow the unmanned aerial vehicle to leave when the departure / arrival platform is fixed to the fixed position.
着脱部は、無人航空機の着脱の指示を受信する受信部を備えてよい。着脱の指示に応じて、無人航空機の着脱を制御してよい。
The attachment / detachment unit may include a receiving unit that receives instructions for attaching / detaching an unmanned aerial vehicle. The attachment / detachment of the unmanned aerial vehicle may be controlled according to the attachment / detachment instruction.
発着台は、吐出物を吐出する吐出部と、吐出物の供給源から延伸して設けられ、供給源と吐出部とを連結し、吐出部に吐出物を供給する延伸部とを備えてよい。
The departure / arrival table may be provided with a discharge portion for discharging the discharged material and an extension portion extending from the supply source of the discharged product, connecting the supply source and the discharge portion, and supplying the discharged product to the discharge unit. ..
供給源は、吐出物の保存された保存容器であってよい。
The supply source may be a storage container in which the discharged material is stored.
発着台は、吐出部と連結され、吐出部の吐出方向を変更する方向変更部を備えてよい。
The departure / arrival table may be connected to the discharge unit and may include a direction changing unit that changes the discharge direction of the discharge unit.
固定部は、発着台の姿勢を変更するための姿勢変更部を備えてよい。
The fixed portion may be provided with a posture changing portion for changing the attitude of the departure / arrival platform.
固定部は、発着台を固定位置に固定するための磁場を発生させる磁場発生部を有してよい。
The fixed portion may have a magnetic field generating portion that generates a magnetic field for fixing the landing platform at a fixed position.
固定部は、発着台を固定位置に固定する接着部を有してよい。
The fixed portion may have an adhesive portion that fixes the landing platform at a fixed position.
固定部は、発着台を固定位置に固定する突出部を有してよい。
The fixed portion may have a protruding portion for fixing the departure / arrival table at a fixed position.
固定部は、発着台を固定位置に固定する負圧固定部を有してよい。
The fixing portion may have a negative pressure fixing portion for fixing the departure / arrival table at a fixed position.
固定部は、把持によって、発着台を固定位置に固定する把持部を有してよい。
The fixed portion may have a grip portion that fixes the departure / arrival table at a fixed position by gripping.
固定部は、発着台を固定位置に固定する磁気粘弾性素材を有してよい。
The fixing portion may have a magnetic viscoelastic material that fixes the landing platform at a fixed position.
発着台は、発着台と連結して設けられ、発着台を回収するための回収手段を備えてよい。
The departure / arrival platform may be provided in connection with the departure / arrival platform and may be provided with a collection means for collecting the departure / arrival platform.
発着台は、固定位置から発着台を移動させる移動手段を備えてよい。固定部は、発着台の固定を解除するための解除手段を有してよい。
The departure / arrival platform may be provided with a means of moving the departure / arrival platform from a fixed position. The fixing portion may have a releasing means for releasing the fixing of the departure / arrival table.
本発明の第2の態様においては、無人航空機が連結した発着台を任意の固定位置に固定する段階と、固定する段階の後に、無人航空機を発着台の着脱部から離脱する段階とを備える発着台の使用方法を提供する。
In the second aspect of the present invention, departure and arrival include a step of fixing the landing platform to which the unmanned aerial vehicle is connected at an arbitrary fixed position, and a step of detaching the unmanned aerial vehicle from the attachment / detachment portion of the landing platform after the step of fixing. Provide usage of the stand.
発着台の使用方法は、吐出物を吐出するための吐出部を、吐出対象位置に向けて固定する段階を備えてよい。
The method of using the departure / arrival table may include a step of fixing the discharge portion for discharging the discharged material toward the discharge target position.
発着台の使用方法は、無人航空機を着脱部から離脱させる段階の後に、吐出部から吐出物を吐出する段階を備えてよい。
The method of using the departure / arrival platform may include a stage of discharging the discharged material from the discharge part after the stage of separating the unmanned aerial vehicle from the attachment / detachment part.
発着台の使用方法は、無人航空機を着脱部に連結させる段階を備え、連結させる段階は、無人航空機を着脱部に誘導する段階と、無人航空機を着脱部に着陸させる段階とを有してよい。
The method of using the departure / arrival platform includes a stage of connecting the unmanned aerial vehicle to the attachment / detachment portion, and the connection stage may include a stage of guiding the unmanned aerial vehicle to the attachment / detachment portion and a stage of landing the unmanned aerial vehicle on the attachment / detachment portion. ..
発着台の使用方法は、無人航空機が発着台を回収する段階を備えてよい。回収する段階は、無人航空機を着脱部に連結させる段階と、無人航空機の回転翼を回転させる段階と、無人航空機を着脱部に連結させて回転翼を回転させた状態で、発着台の固定位置への固定を解除する段階とを有してよい。
The method of using the departure / arrival platform may include a stage in which an unmanned aerial vehicle collects the departure / arrival platform. The recovery stage is the stage of connecting the unmanned aerial vehicle to the attachment / detachment part, the stage of rotating the rotor blade of the unmanned aerial vehicle, and the stage of connecting the unmanned aerial vehicle to the attachment / detachment part and rotating the rotor blade. It may have a step of releasing the fixation to.
発着台の使用方法は、発着台に連結された回収手段を用いて、発着台を回収する段階を備えてよい。
The method of using the departure / arrival platform may include a stage of collecting the departure / arrival platform by using a collection means connected to the departure / arrival platform.
発着台の使用方法は、発着台が固定を解除する段階と、固定位置から発着台が移動する段階とを備えてよい。
The method of using the departure / arrival platform may include a stage in which the departure / arrival platform is released from fixation and a stage in which the departure / arrival platform moves from the fixed position.
本発明の第3の態様においては、本発明の第2の態様に記載の発着台の使用方法をコンピュータに実行させるためのプログラムを提供する。
In the third aspect of the present invention, a program for causing a computer to execute the method of using the departure / arrival table described in the second aspect of the present invention is provided.
なお、上記の発明の概要は、本発明の特徴の全てを列挙したものではない。また、これらの特徴群のサブコンビネーションもまた、発明となりうる。
The outline of the above invention does not list all the features of the present invention. Sub-combinations of these feature groups can also be inventions.
以下、発明の実施の形態を通じて本発明を説明するが、以下の実施形態は請求の範囲にかかる発明を限定するものではない。また、実施形態の中で説明されている特徴の組み合わせの全てが発明の解決手段に必須であるとは限らない。
Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the inventions claimed. Also, not all combinations of features described in the embodiments are essential to the means of solving the invention.
図1Aは、無人航空機100および発着台200の構成の概要を示す。図1Bは、無人航空機100が発着台200に着陸した後の状態を示す。
FIG. 1A shows an outline of the configuration of the unmanned aerial vehicle 100 and the departure / arrival platform 200. FIG. 1B shows a state after the unmanned aerial vehicle 100 has landed on the landing platform 200.
無人航空機100は、空中を飛行する飛行体である。本例の無人航空機100は、本体部10と、脚部15と、推進部20と、腕部24とを備える。無人航空機100の構成は本例に限られない。
The unmanned aerial vehicle 100 is an air vehicle that flies in the air. The unmanned aerial vehicle 100 of this example includes a main body portion 10, a leg portion 15, a propulsion portion 20, and an arm portion 24. The configuration of the unmanned aerial vehicle 100 is not limited to this example.
本体部10は、無人航空機100の各種制御回路および電源等を格納する。また、本体部10は、無人航空機100の構成同士を連結する構造体として機能してよい。本例の本体部10は、推進部20に連結されている。本体部10は、周囲を撮影するためのカメラを備えてよい。
The main body 10 stores various control circuits, power supplies, and the like of the unmanned aerial vehicle 100. Further, the main body portion 10 may function as a structure for connecting the configurations of the unmanned aerial vehicle 100 to each other. The main body 10 of this example is connected to the propulsion section 20. The main body 10 may include a camera for photographing the surroundings.
推進部20は、無人航空機100を推進させる。推進部20は、回転翼21および回転駆動部22を有する。本例の無人航空機100は、4つの推進部20を備える。推進部20は、腕部24を介して本体部10に取り付けられている。
The propulsion unit 20 promotes the unmanned aerial vehicle 100. The propulsion unit 20 has a rotary blade 21 and a rotary drive unit 22. The unmanned aerial vehicle 100 of this example includes four propulsion units 20. The propulsion portion 20 is attached to the main body portion 10 via the arm portion 24.
推進部20は、回転翼21を回転させることにより推進力を得る。回転翼21は、本体部10を中心として4つ設けられているが、回転翼21の配置方法は本例に限られない。回転翼21は、腕部24の先端に回転駆動部22を介して設けられる。
The propulsion unit 20 obtains propulsive force by rotating the rotary blade 21. Four rotary blades 21 are provided around the main body 10, but the method of arranging the rotary blades 21 is not limited to this example. The rotary blade 21 is provided at the tip of the arm portion 24 via a rotary drive unit 22.
回転駆動部22は、モータ等の動力源を有し回転翼21を駆動させる。回転駆動部22は、回転翼21のブレーキ機構を有してよい。回転翼21および回転駆動部22は、腕部24を省略して本体部10に直接取り付けられてもよい。
The rotary drive unit 22 has a power source such as a motor and drives the rotary blade 21. The rotary drive unit 22 may have a brake mechanism for the rotary blade 21. The rotary blade 21 and the rotary drive unit 22 may be directly attached to the main body portion 10 by omitting the arm portion 24.
腕部24は、本体部10から放射状に延伸して設けられる。本例の無人航空機100は、4つの推進部20に対応して設けられた4つの腕部24を備える。腕部24は、固定式であっても可動式であってもよい。腕部24には、カメラ等の他の構成が固定されてよい。
The arm portion 24 is provided so as to extend radially from the main body portion 10. The unmanned aerial vehicle 100 of this example includes four arm portions 24 provided corresponding to the four propulsion portions 20. The arm portion 24 may be fixed or movable. Other configurations such as a camera may be fixed to the arm portion 24.
脚部15は、本体部10に連結されて、着陸時に無人航空機100の姿勢を保持する。本例の脚部15は、発着台200上に着陸するための着陸脚として機能する。本例の無人航空機100は、4本の脚部15を有する。複数の脚部15は、それぞれ異なる長さに伸びることにより傾斜地または凹凸のある面でも安定して無人航空機100の姿勢を保持できる。脚部15には、カメラ等の構成が取り付けられてもよい。
The leg portion 15 is connected to the main body portion 10 and maintains the attitude of the unmanned aerial vehicle 100 at the time of landing. The landing gear 15 of this example functions as a landing gear for landing on the landing platform 200. The unmanned aerial vehicle 100 of this example has four legs 15. By extending the plurality of legs 15 to different lengths, the posture of the unmanned aerial vehicle 100 can be stably maintained even on a sloped ground or an uneven surface. A configuration such as a camera may be attached to the leg portion 15.
発着台200は、着脱部210と、固定部220と、連結部230と、制御部240とを備える。本例の発着台200は、無人航空機100の着陸および離陸を実現する。本明細書において、着陸とは、無人航空機100が発着台200と接触した状態で静止または減速することを指す。また、離陸とは、無人航空機100が発着台200と接触した状態から離れることを指す。本例の発着台200は、無人航空機100の垂直離着陸を実現する。
The departure / arrival stand 200 includes a detachable portion 210, a fixing portion 220, a connecting portion 230, and a control unit 240. The landing platform 200 of this example realizes the landing and takeoff of the unmanned aerial vehicle 100. As used herein, landing refers to the unmanned aerial vehicle 100 resting or decelerating in contact with the landing platform 200. Further, takeoff means that the unmanned aerial vehicle 100 leaves the state of being in contact with the departure / arrival platform 200. The departure / arrival platform 200 of this example realizes vertical takeoff and landing of the unmanned aerial vehicle 100.
着脱部210は、無人航空機100を着脱する。本例の発着台200は、無人航空機100の脚部15に応じて4つの着脱部210を備える。但し、着脱部210の個数は、無人航空機100の脚部15の個数よりも多くてよい。複数の着脱部210の位置は、可変であってもよいし、固定であってもよい。複数の着脱部210の位置を可変とすることにより、種類の異なる無人航空機100に対応することができる。
The attachment / detachment unit 210 attaches / detaches the unmanned aerial vehicle 100. The departure / arrival platform 200 of this example includes four attachment / detachment portions 210 according to the legs 15 of the unmanned aerial vehicle 100. However, the number of detachable portions 210 may be larger than the number of legs 15 of the unmanned aerial vehicle 100. The positions of the plurality of attachment / detachment portions 210 may be variable or fixed. By making the positions of the plurality of attachment / detachment portions 210 variable, it is possible to correspond to different types of unmanned aerial vehicles 100.
また、着脱部210は、無人航空機100と発着台200との連結および離脱を切り替えてよい。無人航空機100と発着台200との連結とは、着陸後、着脱部210によって無人航空機100を発着台200に固定することを指す。一方、無人航空機100の離脱とは、無人航空機100が発着台200に連結されておらず、無人航空機100の離陸が可能な状態を指す。
Further, the attachment / detachment unit 210 may switch the connection / disconnection between the unmanned aerial vehicle 100 and the departure / arrival platform 200. The connection between the unmanned aerial vehicle 100 and the departure / arrival platform 200 means that the unmanned aerial vehicle 100 is fixed to the departure / arrival platform 200 by the detachable portion 210 after landing. On the other hand, the departure of the unmanned aerial vehicle 100 means a state in which the unmanned aerial vehicle 100 is not connected to the departure / arrival platform 200 and the unmanned aerial vehicle 100 can take off.
固定部220は、任意の固定位置に発着台200を固定する。固定部220は、固定対象物に発着台200を固定可能であればよく、固定の方法は限定されない。固定部220は、固定対象物への固定を解除可能であってよい。固定部220は、固定対象物への固定および固定解除を切り替えてよい。
The fixing portion 220 fixes the departure / arrival table 200 at an arbitrary fixed position. The fixing portion 220 may be fixed as long as the departure / arrival table 200 can be fixed to the object to be fixed, and the fixing method is not limited. The fixing portion 220 may be able to be released from being fixed to the object to be fixed. The fixing portion 220 may switch between fixing to and releasing the fixing object.
連結部230は、着脱部210、固定部220または制御部240の少なくとも1つと連結されている。本例の連結部230は、各構成を連結するための補助フレームとして機能している。連結部230の長さは、固定であっても可変であってもよい。
The connecting unit 230 is connected to at least one of the attachment / detachment unit 210, the fixing unit 220, or the control unit 240. The connecting portion 230 of this example functions as an auxiliary frame for connecting each configuration. The length of the connecting portion 230 may be fixed or variable.
連結部230aは、着脱部210同士を連結している。本例では、4つの連結部230aが、4つの着脱部210を連結している。本例の連結部230aは、正方形を形成するように配置されているものの、これに限定されない。連結部230aは、長さを伸縮することにより、着脱部210の位置を変化させてもよい。
The connecting portion 230a connects the detachable portions 210 to each other. In this example, the four connecting portions 230a connect the four attaching / detaching portions 210. The connecting portion 230a of this example is arranged so as to form a square, but is not limited thereto. The position of the attachment / detachment portion 210 may be changed by expanding / contracting the length of the connecting portion 230a.
連結部230bは、着脱部210と制御部240とを連結している。本例では、4つの連結部230bが、4つの着脱部210と制御部240とをそれぞれ連結している。連結部230bは、着脱部210の位置に応じて自在に伸縮してよい。
The connecting unit 230b connects the attachment / detachment unit 210 and the control unit 240. In this example, the four connecting portions 230b connect the four attaching / detaching portions 210 and the control unit 240, respectively. The connecting portion 230b may be freely expanded and contracted according to the position of the attachment / detachment portion 210.
連結部230cは、着脱部210と固定部220とを連結している。連結部230cは、着脱部210から発着台200の外側に向けて延伸して設けられている。連結部230cの長さは、固定であっても、可変であってもよい。例えば、連結部230cは、無人航空機100が周囲と干渉しないように、長さを調整する。
The connecting portion 230c connects the detachable portion 210 and the fixing portion 220. The connecting portion 230c is provided so as to extend from the attachment / detachment portion 210 toward the outside of the departure / arrival table 200. The length of the connecting portion 230c may be fixed or variable. For example, the connecting portion 230c is adjusted in length so that the unmanned aerial vehicle 100 does not interfere with the surroundings.
制御部240は、発着台200の動作を制御する。一例において、制御部240は、着脱部210による着脱、固定部220による固定、または連結部230の伸縮を制御する。制御部240は、通信ユニットを有し、発着台200の外部と情報を送受信してもよい。制御部240は、無人航空機100の位置を検出するための検出部を有してもよい。例えば、制御部240は、カメラを有し、無人航空機100が着陸したか否かを検出する。
The control unit 240 controls the operation of the departure / arrival table 200. In one example, the control unit 240 controls attachment / detachment by the attachment / detachment portion 210, fixing by the fixing portion 220, or expansion / contraction of the connecting portion 230. The control unit 240 may have a communication unit and transmit / receive information to / from the outside of the departure / arrival table 200. The control unit 240 may have a detection unit for detecting the position of the unmanned aerial vehicle 100. For example, the control unit 240 has a camera and detects whether or not the unmanned aerial vehicle 100 has landed.
図2は、誘導部212を用いた無人航空機100の発着台200への誘導方法の一例を示す。本例の無人航空機100は、受光部16を備える。また、図2は、無人航空機100の着陸前後における着脱部210の拡大図を示している。着脱部210は、外装部211と、誘導部212と、緩衝部213と、ロック機構214とを有する。
FIG. 2 shows an example of a method of guiding the unmanned aerial vehicle 100 to the departure / arrival platform 200 using the guidance unit 212. The unmanned aerial vehicle 100 of this example includes a light receiving unit 16. Further, FIG. 2 shows an enlarged view of the attachment / detachment portion 210 before and after the landing of the unmanned aerial vehicle 100. The attachment / detachment portion 210 includes an exterior portion 211, an induction portion 212, a cushioning portion 213, and a lock mechanism 214.
外装部211は、誘導部212およびロック機構214を収容する。外装部211は、無人航空機100の着陸時に脚部15を収容する。
The exterior portion 211 accommodates the guide portion 212 and the lock mechanism 214. The exterior portion 211 accommodates the leg portion 15 when the unmanned aerial vehicle 100 lands.
誘導部212は、着陸時に無人航空機100を予め定められた位置に誘導する。本例の誘導部212は、レーザ光で無人航空機100を誘導するための発光部を有する。無人航空機100の誘導方法は、これに限定されない。例えば、誘導部212は、模様、光、または電波によって、無人航空機100を誘導してもよい。また、誘導部212は、無人航空機100を物理構造によって、予め定められた位置に誘導してもよい。例えば、外装部211は、脚部15が収容される内壁に傾斜部を有し、脚部15を予め定められた位置に誘導するための誘導部として機能してもよい。
The guidance unit 212 guides the unmanned aerial vehicle 100 to a predetermined position at the time of landing. The guidance unit 212 of this example has a light emitting unit for guiding the unmanned aerial vehicle 100 with a laser beam. The method of guiding the unmanned aerial vehicle 100 is not limited to this. For example, the guidance unit 212 may guide the unmanned aerial vehicle 100 by a pattern, light, or radio waves. Further, the guidance unit 212 may guide the unmanned aerial vehicle 100 to a predetermined position by the physical structure. For example, the exterior portion 211 may have an inclined portion on the inner wall in which the leg portion 15 is housed, and may function as a guiding portion for guiding the leg portion 15 to a predetermined position.
受光部16は、脚部15の先端に設けられ、誘導部212からのレーザ光を受光する。これにより、無人航空機100は、脚部15と着脱部210との相対的な位置関係を検出することができる。例えば、無人航空機100は、全ての受光部16がレーザ光を受光した場合に、無人航空機100と発着台200との位置が合致したと判断して、着陸を許可する。
The light receiving portion 16 is provided at the tip of the leg portion 15 and receives the laser light from the guiding portion 212. Thereby, the unmanned aerial vehicle 100 can detect the relative positional relationship between the leg portion 15 and the attachment / detachment portion 210. For example, when all the light receiving units 16 receive the laser beam, the unmanned aerial vehicle 100 determines that the positions of the unmanned aerial vehicle 100 and the departure / arrival platform 200 match, and permits landing.
緩衝部213は、無人航空機100の着陸時に脚部15の衝撃を吸収する。本例の緩衝部213は、外装部211の底面に設けられる。緩衝部213は、外装部211の内壁の側面にも設けられてよい。例えば、緩衝部213は、外装部211よりも弾力性の高い材料を含む。
The shock absorber 213 absorbs the impact of the leg 15 when the unmanned aerial vehicle 100 lands. The cushioning portion 213 of this example is provided on the bottom surface of the exterior portion 211. The cushioning portion 213 may also be provided on the side surface of the inner wall of the exterior portion 211. For example, the cushioning portion 213 contains a material having a higher elasticity than the exterior portion 211.
ロック機構214は、無人航空機100の連結と離脱とを切り替える。ロック機構214は、着陸後に、脚部15の着脱を防止して、無人航空機100との連結を実現する。本例のロック機構214は、ロック用の突起を脚部15の段差に挿入することによって、脚部15の着脱を防止する。例えば、ロック機構214は、電磁力を利用して電気エネルギーを機械的運動に変換するソレノイドアクチュエータを有する。制御部240は、ロック機構214によって脚部15をロックするか否かを制御してよい。
The lock mechanism 214 switches between connecting and disconnecting the unmanned aerial vehicle 100. After landing, the lock mechanism 214 prevents the legs 15 from being attached and detached, and realizes connection with the unmanned aerial vehicle 100. The lock mechanism 214 of this example prevents the leg portion 15 from being attached and detached by inserting a locking protrusion into the step of the leg portion 15. For example, the locking mechanism 214 has a solenoid actuator that uses electromagnetic force to convert electrical energy into mechanical motion. The control unit 240 may control whether or not the leg portion 15 is locked by the lock mechanism 214.
図3は、位置調整部260を備える発着台200の一例を示す。また、図3は、着陸前における着脱部210および位置調整部260の拡大図を示している。本例では、無人航空機100が発光部17を備え、着脱部210が検出部215を備えている。
FIG. 3 shows an example of a departure / arrival stand 200 provided with a position adjusting unit 260. Further, FIG. 3 shows an enlarged view of the attachment / detachment portion 210 and the position adjustment portion 260 before landing. In this example, the unmanned aerial vehicle 100 includes a light emitting unit 17, and the attachment / detachment unit 210 includes a detection unit 215.
発光部17は、レーザ光等の位置合わせ用の光を照射する。発光部17は、脚部15の先端に設けられる。但し、発光部17は、無人航空機100の位置合わせが可能であれば、本体部10または腕部24等の他の位置に配置されてよい。本例の誘導方法は、無人航空機100から発着台200にレーザ光を照射する点で図2の実施例と相違する。
The light emitting unit 17 irradiates light for alignment such as laser light. The light emitting portion 17 is provided at the tip of the leg portion 15. However, the light emitting portion 17 may be arranged at another position such as the main body portion 10 or the arm portion 24 as long as the unmanned aerial vehicle 100 can be aligned. The guidance method of this example differs from the embodiment of FIG. 2 in that the unmanned aerial vehicle 100 irradiates the departure / arrival table 200 with a laser beam.
検出部215は、無人航空機100の位置を検出する。検出部215は、発光部17からのレーザ光を受光することにより、脚部15の位置を検出する。本例の検出部215は、脚部15の位置を検出しているが、これに限定されない。検出部215は、無人航空機100を撮影するカメラであってもよい。
The detection unit 215 detects the position of the unmanned aerial vehicle 100. The detection unit 215 detects the position of the leg portion 15 by receiving the laser beam from the light emitting unit 17. The detection unit 215 of this example detects the position of the leg portion 15, but is not limited to this. The detection unit 215 may be a camera that photographs the unmanned aerial vehicle 100.
位置調整部260は、無人航空機100の着陸時に着脱部210を無人航空機100の連結に適した位置に調整する。本例の位置調整部260は、脚部15の位置に応じて着脱部210の位置を調整する。例えば、位置調整部260は、発光部17からのレーザ光に応じて、脚部15の位置を特定して、着脱部210の位置を調整する。また、位置調整部260は、脚部15をカメラで撮影することにより、脚部15の位置を特定して、着脱部210の位置を調整してもよい。着脱部210の位置を特定するための受光部およびカメラは、着脱部210に設けられてもよい。位置調整部260は、回転機構261および連結部262を有する。
The position adjustment unit 260 adjusts the attachment / detachment unit 210 to a position suitable for connecting the unmanned aerial vehicle 100 when the unmanned aerial vehicle 100 lands. The position adjusting portion 260 of this example adjusts the position of the attachment / detachment portion 210 according to the position of the leg portion 15. For example, the position adjusting unit 260 specifies the position of the leg portion 15 and adjusts the position of the attachment / detachment portion 210 according to the laser beam from the light emitting unit 17. Further, the position adjusting unit 260 may specify the position of the leg portion 15 by photographing the leg portion 15 with a camera and adjust the position of the detachable portion 210. A light receiving unit and a camera for specifying the position of the attachment / detachment portion 210 may be provided in the attachment / detachment portion 210. The position adjusting unit 260 has a rotation mechanism 261 and a connecting unit 262.
回転機構261は、連結部262と連結され、連結部262を回転させる。本例の回転機構261は、モータを有する。回転機構261は、着脱部210と偏心して取り付けられている。
The rotation mechanism 261 is connected to the connecting portion 262 and rotates the connecting portion 262. The rotation mechanism 261 of this example has a motor. The rotation mechanism 261 is eccentrically attached to the attachment / detachment portion 210.
連結部262は、着脱部210および回転機構261を連結する。連結部262は、回転機構261によって回転され、着脱部210の位置を調整する。連結部262は、回転機構261の回転によって、偏心して取り付けられた着脱部210の位置を脚部15に合わせて微調整することができる。
The connecting portion 262 connects the attachment / detachment portion 210 and the rotation mechanism 261. The connecting portion 262 is rotated by the rotating mechanism 261 to adjust the position of the detachable portion 210. The connecting portion 262 can finely adjust the position of the detachable portion 210 attached eccentrically according to the leg portion 15 by the rotation of the rotation mechanism 261.
本例の発着台200は、位置調整部260を有するので、様々な形状の無人航空機100に対応できる。また、無人航空機100の位置合わせが容易になる。
Since the departure / arrival table 200 of this example has the position adjustment unit 260, it can correspond to the unmanned aerial vehicle 100 of various shapes. In addition, the alignment of the unmanned aerial vehicle 100 becomes easy.
図4Aは、発着台200の運搬方法の一例を示す。本例の無人航空機100は、発着台200を固定対象物500まで運搬される。本例の着脱部210は、発着台200の固定対象物500への非固定時に、無人航空機100の離脱を禁止する。無人航空機100は、発着台200と連結した状態で飛行して、発着台200を固定対象物500まで運搬する。無人航空機100と発着台200との連結は、ロック機構214によって実現されてよい。但し、無人航空機100と発着台200との連結の方法は、これに限定されない。
FIG. 4A shows an example of a transportation method for the departure / arrival platform 200. In the unmanned aerial vehicle 100 of this example, the departure / arrival platform 200 is transported to the fixed object 500. The attachment / detachment portion 210 of this example prohibits the unmanned aerial vehicle 100 from leaving when the departure / arrival table 200 is not fixed to the fixed object 500. The unmanned aerial vehicle 100 flies in a state of being connected to the departure / arrival platform 200, and carries the departure / arrival platform 200 to the fixed object 500. The connection between the unmanned aerial vehicle 100 and the departure / arrival platform 200 may be realized by the lock mechanism 214. However, the method of connecting the unmanned aerial vehicle 100 and the departure / arrival platform 200 is not limited to this.
図4Bは、発着台200の固定方法の一例を示す。無人航空機100は、固定部220を固定対象物500に接触させて、固定部220を固定対象物500の固***置502に固定する。その後、無人航空機100は、回転翼21の回転を停止する。
FIG. 4B shows an example of a method of fixing the departure / arrival table 200. The unmanned aerial vehicle 100 brings the fixing portion 220 into contact with the fixing object 500 and fixes the fixing portion 220 to the solid position 502 of the fixing object 500. After that, the unmanned aerial vehicle 100 stops the rotation of the rotary blade 21.
図4Cは、無人航空機100の離陸方法の一例を示す。着脱部210は、発着台200の固***置502への固定時において、無人航空機100の離脱を許可する。発着台200を固定対象物500に固定したまま、無人航空機100を離陸させることにより、発着台200を固定対象物500に残すことができる。
FIG. 4C shows an example of the takeoff method of the unmanned aerial vehicle 100. The attachment / detachment unit 210 allows the unmanned aerial vehicle 100 to leave when the departure / arrival platform 200 is fixed to the solid position 502. By taking off the unmanned aerial vehicle 100 while the departure / arrival platform 200 is fixed to the fixed object 500, the departure / arrival platform 200 can be left on the fixed object 500.
図5Aは、供給源300と連結された発着台200の一例を示す。本例の発着台200は、吐出部270と、方向変更部272と、延伸部274とを備える。
FIG. 5A shows an example of the departure / arrival platform 200 connected to the supply source 300. The departure / arrival table 200 of this example includes a discharge unit 270, a direction change unit 272, and an extension unit 274.
供給源300は、吐出物を発着台200に供給する。供給源300は、発着台200が固定対象物500に固定された状態で、吐出部270に吐出物を供給することにより、安全な吐出を実現する。本例の供給源300は、ポンプ301を有する。
The supply source 300 supplies the discharged material to the departure / arrival table 200. The supply source 300 realizes safe discharge by supplying the discharged material to the discharge unit 270 in a state where the departure / arrival table 200 is fixed to the fixed object 500. The supply source 300 of this example has a pump 301.
ポンプ301は、吐出物を発着台200に供給する。本例の供給源300は、ポンプ301を有するが、吐出物の供給方法はこれに限定されない。
The pump 301 supplies the discharged material to the departure / arrival table 200. The supply source 300 of this example has a pump 301, but the method of supplying the discharged material is not limited to this.
吐出部270は、供給源300から供給された吐出物を吐出する。吐出部270は、吐出用のノズルを含んでよい。発着台200が吐出部270を備えることにより、無人航空機100の構成を簡素化して、無人航空機100を小型化することができる。
The discharge unit 270 discharges the discharged material supplied from the supply source 300. The discharge unit 270 may include a nozzle for discharge. Since the departure / arrival table 200 is provided with the discharge unit 270, the configuration of the unmanned aerial vehicle 100 can be simplified and the unmanned aerial vehicle 100 can be miniaturized.
方向変更部272は、吐出部270と連結され、吐出部270の吐出方向を変更する。これにより、発着台200が固定対象物500に固定された状態のまま、任意の吐出対象位置への吐出を実現できる。一例において、発着台200は、吐出対象を撮影するカメラを有し、制御部240によって方向変更部272の向きを制御する。
The direction change unit 272 is connected to the discharge unit 270 to change the discharge direction of the discharge unit 270. As a result, it is possible to realize ejection to an arbitrary ejection target position while the departure / arrival table 200 is fixed to the fixed object 500. In one example, the departure / arrival table 200 has a camera that captures a discharge target, and the control unit 240 controls the direction of the direction changing unit 272.
延伸部274は、供給源300から延伸して設けられる。延伸部274は、供給源300と吐出部270とを連結し、吐出部270に吐出物を供給する。これにより、延伸部274は、発着台200を供給源300から離れた任意の位置に配置することができる。即ち、供給源300を固定したまま、自由な位置に発着台200を配置することができる。
The stretched portion 274 is provided by stretching from the supply source 300. The stretching portion 274 connects the supply source 300 and the discharging portion 270, and supplies the discharged product to the discharging portion 270. As a result, the extension portion 274 can arrange the departure / arrival table 200 at an arbitrary position away from the supply source 300. That is, the departure / arrival table 200 can be arranged at a free position while the supply source 300 is fixed.
図5Bは、供給源300と連結された発着台200の一例を示す。本例の供給源300は、保存容器302と連結されている。
FIG. 5B shows an example of the departure / arrival platform 200 connected to the supply source 300. The supply source 300 of this example is connected to the storage container 302.
保存容器302は、吐出物を保存した容器である。例えば、保存容器302は、吐出物を噴射するためのエアゾール容器である。保存容器302は、延伸部274と連結され、吐出部270に吐出物を噴射して供給する。保存容器302を用いる場合、発着台200の固定位置に合わせて、保存容器302の位置を柔軟に変更することができる。また、保存容器302が空になった場合でも保存容器302の交換が容易であり、吐出物の内容の変更も容易である。さらに、内容物が人体に付着しにくく交換時の安全性が高い。
The storage container 302 is a container in which the discharged material is stored. For example, the storage container 302 is an aerosol container for injecting a discharged product. The storage container 302 is connected to the stretching portion 274 and injects and supplies the discharged material to the discharge unit 270. When the storage container 302 is used, the position of the storage container 302 can be flexibly changed according to the fixed position of the departure / arrival table 200. Further, even when the storage container 302 is emptied, the storage container 302 can be easily replaced, and the contents of the discharged material can be easily changed. Furthermore, the contents are less likely to adhere to the human body and are highly safe when replaced.
図6Aは、無人航空機100の操縦システム600の一例を示す。本例の操縦システム600は、無人航空機100と、発着台200と、端末装置400とを備える。端末装置400は、表示部410およびコントローラ420を含む。
FIG. 6A shows an example of the maneuvering system 600 of the unmanned aerial vehicle 100. The control system 600 of this example includes an unmanned aerial vehicle 100, a departure / arrival platform 200, and a terminal device 400. The terminal device 400 includes a display unit 410 and a controller 420.
表示部410は、無人航空機100に搭載されたカメラで撮影した映像を表示する。表示部410は、発着台200がカメラを搭載している場合、発着台200と通信してもよい。表示部410の表示する映像は、固定カメラで撮影した映像であっても、可動カメラで撮影した映像であってもよい。表示部410は、無人航空機100および発着台200と直接通信してもよいし、コントローラ420を介して間接的に無人航空機100および発着台200と通信してもよい。表示部410は、外部のサーバと接続されてもよい。
The display unit 410 displays an image taken by a camera mounted on the unmanned aerial vehicle 100. When the departure / arrival table 200 is equipped with a camera, the display unit 410 may communicate with the departure / arrival table 200. The image displayed by the display unit 410 may be an image taken by a fixed camera or an image taken by a movable camera. The display unit 410 may directly communicate with the unmanned aerial vehicle 100 and the departure / arrival platform 200, or may indirectly communicate with the unmanned aerial vehicle 100 and the departure / arrival platform 200 via the controller 420. The display unit 410 may be connected to an external server.
コントローラ420は、ユーザによって操作され、無人航空機100または発着台200を操縦する。コントローラ420は、無人航空機100の飛行に加えて、吐出部270による内容物の吐出を指示してもよい。コントローラ420は、有線または無線により表示部410と接続されてよい。複数のコントローラ420が設けられ、無人航空機100の操縦用と、発着台200の制御用で使い分けてもよい。
The controller 420 is operated by the user to operate the unmanned aerial vehicle 100 or the departure / arrival platform 200. In addition to the flight of the unmanned aerial vehicle 100, the controller 420 may instruct the discharge unit 270 to discharge the contents. The controller 420 may be connected to the display unit 410 by wire or wirelessly. A plurality of controllers 420 may be provided and used properly for maneuvering the unmanned aerial vehicle 100 and for controlling the departure / arrival platform 200.
なお、本例のユーザは、端末装置400を用いてマニュアルで無人航空機100および発着台200を操縦する。但し、ユーザは、マニュアルではなく、プログラムによって自動で操縦してもよい。また、ユーザは、表示部410に表示された画面を使用せず、直接、無人航空機100および発着台200を見て操縦してもよい。また、無人航空機100の操縦を自動制御して、吐出部270の吐出をマニュアルで操作してもよい。
The user of this example manually operates the unmanned aerial vehicle 100 and the departure / arrival platform 200 using the terminal device 400. However, the user may automatically operate by a program instead of the manual. Further, the user may directly see and control the unmanned aerial vehicle 100 and the departure / arrival platform 200 without using the screen displayed on the display unit 410. Further, the operation of the unmanned aerial vehicle 100 may be automatically controlled, and the discharge of the discharge unit 270 may be manually operated.
図6Bは、発着台200の使用方法の一例を示す。本例では、発着台200を用いて固定対象物500に吐出物を吐出する場合の動作フローチャートを示す。
FIG. 6B shows an example of how to use the departure / arrival table 200. In this example, an operation flowchart in the case of discharging the discharged material to the fixed object 500 by using the departure / arrival table 200 is shown.
ステップS100において、無人航空機100が連結した発着台200を任意の固***置502に固定する。無人航空機100が発着台200を運搬することにより、人による運搬が困難な場所に容易に発着台200を固定できる。
In step S100, the departure / arrival platform 200 to which the unmanned aerial vehicle 100 is connected is fixed at an arbitrary solid position 502. By transporting the departure / arrival platform 200 by the unmanned aerial vehicle 100, the departure / arrival platform 200 can be easily fixed in a place where it is difficult for a person to carry it.
ステップS102において、固定する段階の後に、無人航空機100を発着台200の着脱部210から離脱させ、離陸させる。これにより、発着台200が固定対象物500に固定された状態で残される。発着台200から離脱した無人航空機100は別の発着台200の運搬に用いられてもよい。
In step S102, after the step of fixing, the unmanned aerial vehicle 100 is separated from the attachment / detachment portion 210 of the departure / arrival platform 200 and taken off. As a result, the departure / arrival table 200 is left fixed to the fixed object 500. The unmanned aerial vehicle 100 that has left the departure / arrival platform 200 may be used for transporting another departure / arrival platform 200.
ステップS104において、ステップS102の後に、吐出部270から吐出物を吐出する。吐出部270の吐出方向は、吐出対象位置に向けて調整される。吐出時に無人航空機100が発着台200と連結されていないので、無人航空機100に吐出物が付着する恐れがなく、安全に吐出することができる。即ち、発着台200は、無人航空機100の汚染を気にする必要がなく、至近距離からの塗布を実現できる。また、無人航空機100が飛行しながら吐出する場合と比較して、飛行中の騒音の心配がなくなり、吐出時に機体がぶれたり墜落したりするおそれがなくなる。さらに、無人航空機100は、吐出中に飛行しておく必要がないので、バッテリを節約できる。
In step S104, after step S102, the discharged material is discharged from the discharge unit 270. The discharge direction of the discharge unit 270 is adjusted toward the discharge target position. Since the unmanned aerial vehicle 100 is not connected to the departure / arrival table 200 at the time of discharge, there is no risk of the discharged material adhering to the unmanned aerial vehicle 100, and the discharged product can be safely discharged. That is, the departure / arrival table 200 does not need to worry about contamination of the unmanned aerial vehicle 100, and can be applied from a close distance. Further, as compared with the case where the unmanned aerial vehicle 100 discharges while flying, there is no concern about noise during flight, and there is no possibility that the aircraft shakes or crashes at the time of discharge. Further, the unmanned aerial vehicle 100 does not need to be in flight during discharge, so that the battery can be saved.
ステップS106において、発着台200を回収する。発着台200は、無人航空機100によって回収されてもよいし、後述する回収手段を用いてユーザによって回収されてもよい。
In step S106, the departure / arrival table 200 is collected. The departure / arrival platform 200 may be recovered by the unmanned aerial vehicle 100, or may be recovered by the user using a recovery means described later.
例えば、無人航空機100によって発着台200を回収する場合、無人航空機100を着脱部210に連結させ、回転翼21を回転させる。その後、無人航空機100を着脱部210に連結させて、回転翼21を回転させた状態で、発着台200の固定を解除する。
For example, when the departure / arrival table 200 is collected by the unmanned aerial vehicle 100, the unmanned aerial vehicle 100 is connected to the detachable portion 210 and the rotary blade 21 is rotated. After that, the unmanned aerial vehicle 100 is connected to the attachment / detachment portion 210, and the departure / arrival table 200 is released in a state where the rotary blade 21 is rotated.
一方、ユーザによって発着台200を回収する場合、発着台200に連結された回収手段を用いて、発着台200を回収する。発着台200は、固定を解除する手段を備えてよい。回収手段を用いた発着台200の回収方法については後述する。
On the other hand, when the user collects the departure / arrival platform 200, the departure / arrival platform 200 is collected by using the collection means connected to the departure / arrival platform 200. The departure / arrival table 200 may be provided with a means for releasing the fixing. The method of collecting the departure / arrival table 200 using the collection means will be described later.
図6Cは、制御部240の構成の一例を示す。本例の制御部240は、受信部242および処理部244を有する。
FIG. 6C shows an example of the configuration of the control unit 240. The control unit 240 of this example has a reception unit 242 and a processing unit 244.
受信部242は、無人航空機100または端末装置400から情報を受信する。受信部242は、発着台200の動作を制御するための情報を受信してよい。例えば、受信部242は、無人航空機100の着脱に関する指示を受信する。受信部242は、無人航空機100または端末装置400との間でデータを送受信してもよい。
The receiving unit 242 receives information from the unmanned aerial vehicle 100 or the terminal device 400. The receiving unit 242 may receive information for controlling the operation of the departure / arrival table 200. For example, the receiving unit 242 receives an instruction regarding attachment / detachment of the unmanned aerial vehicle 100. The receiving unit 242 may send and receive data to and from the unmanned aerial vehicle 100 or the terminal device 400.
処理部244は、受信部242が受信した着脱の指示に応じて、無人航空機100の着脱を制御する。処理部244は、受信部242との間で情報を送受信する。処理部244は、ロック機構214、固定部220および吐出部270の少なくとも1つの動作を制御する。例えば、処理部244は、ロック機構214を制御することにより、無人航空機100を連結するか否かを切り替える。また、処理部244は、固定部220を制御することによって、発着台200を固定対象物500に固定するか否かを切り替える。処理部244は、吐出部270を制御することにより、吐出対象を向くように吐出部270の吐出方向を調整する。
The processing unit 244 controls the attachment / detachment of the unmanned aerial vehicle 100 in response to the attachment / detachment instruction received by the reception unit 242. The processing unit 244 transmits / receives information to / from the receiving unit 242. The processing unit 244 controls at least one operation of the locking mechanism 214, the fixing unit 220, and the discharging unit 270. For example, the processing unit 244 switches whether or not to connect the unmanned aerial vehicle 100 by controlling the lock mechanism 214. Further, the processing unit 244 switches whether or not to fix the departure / arrival table 200 to the fixed object 500 by controlling the fixing unit 220. The processing unit 244 adjusts the discharge direction of the discharge unit 270 so as to face the discharge target by controlling the discharge unit 270.
図7Aは、段差のある固定対象物500への固定方法の一例を示す。本例の発着台200は、姿勢変更部280を備える。本例の発着台200は、固定対象物500aおよび固定対象物500bにより構成された段差のある壁に固定されている。即ち、複数の固定部220は、横向きに固定されている。
FIG. 7A shows an example of a method of fixing to a fixed object 500 having a step. The departure / arrival table 200 of this example includes a posture changing unit 280. The departure / arrival table 200 of this example is fixed to a stepped wall composed of a fixed object 500a and a fixed object 500b. That is, the plurality of fixing portions 220 are fixed sideways.
姿勢変更部280は、発着台200の姿勢を変更する。本例の姿勢変更部280は、3本の連結部230として機能している。本例の発着台200は、3つの固定部220a~固定部220cにそれぞれ対応した、3つの姿勢変更部280a~姿勢変更部280cを備える。姿勢変更部280は、連結部230の長さと方向を制御することにより、発着台200の姿勢を変更する。
The attitude change unit 280 changes the attitude of the departure / arrival platform 200. The posture changing portion 280 of this example functions as three connecting portions 230. The departure / arrival table 200 of this example includes three posture changing portions 280a to posture changing portions 280c corresponding to the three fixing portions 220a to 220c, respectively. The attitude changing unit 280 changes the attitude of the departure / arrival table 200 by controlling the length and direction of the connecting unit 230.
姿勢変更部280aおよび姿勢変更部280bは、固定対象物500aと固定対象物500bにそれぞれ合わせて長さを調整することにより、段差に合わせた姿勢の保持を実現している。姿勢変更部280cは、姿勢変更部280aおよび姿勢変更部280bよりも斜め下方向に延伸することにより、発着台200の姿勢を水平に保持している。
The posture changing unit 280a and the posture changing unit 280b are adjusted in length according to the fixed object 500a and the fixed object 500b, respectively, to maintain the posture according to the step. The attitude change unit 280c holds the attitude of the departure / arrival table 200 horizontally by extending diagonally downward from the attitude change unit 280a and the attitude change unit 280b.
図7Bは、段差のある固定対象物500への固定方法の一例を示す。本例の発着台200は、固定対象物500aおよび固定対象物500bにより構成された段差のある地面に固定されている。本例の発着台200は、4つの固定部220に対応して、4つの姿勢変更部280を備えている。このように、複数の固定部220は、下向きに固定されている。固定部220を固定する向きは、上向きであっても、横向きであっても、斜め方向に向いてもよい。
FIG. 7B shows an example of a method of fixing to a fixed object 500 having a step. The landing platform 200 of this example is fixed to a stepped ground composed of a fixed object 500a and a fixed object 500b. The departure / arrival table 200 of this example includes four posture changing portions 280 corresponding to the four fixing portions 220. In this way, the plurality of fixing portions 220 are fixed downward. The direction of fixing the fixing portion 220 may be upward, sideways, or diagonally.
図7Cは、姿勢変更部280の構成の一例を示す。本例の姿勢変更部280は、連結部230aおよび連結部230bを有し、自動で伸縮することができる。太い方の連結部230aを主脚とし、細い方の連結部230bを副脚としている。主脚である連結部230aが着脱部210に連結され、副脚である連結部230bが固定部220に連結されてもよいし、その逆であってもよい。本例の姿勢変更部280は、伸縮機構231と、駆動部232と、回転軸233とを備える。
FIG. 7C shows an example of the configuration of the posture changing unit 280. The posture changing portion 280 of this example has a connecting portion 230a and a connecting portion 230b, and can be automatically expanded and contracted. The thicker connecting portion 230a is used as the main landing gear, and the thinner connecting portion 230b is used as the secondary landing gear. The connecting portion 230a, which is the main landing gear, may be connected to the attachment / detachment portion 210, and the connecting portion 230b, which is the secondary landing gear, may be connected to the fixing portion 220, or vice versa. The posture changing unit 280 of this example includes a telescopic mechanism 231, a driving unit 232, and a rotating shaft 233.
伸縮機構231は、連結部230aと連結部230bの相対的な位置を変化させることにより、連結部230を伸縮させる。本例の伸縮機構231は、送りねじ機構を有する。本例では、伸縮機構231の雄ネジが連結部230aと連結され、伸縮機構231の雌ネジが連結部230bと連結されている。なお、伸縮機構231は、直線運動を実現する機構であれば、送りねじ機構に限定されない。
The expansion / contraction mechanism 231 expands / contracts the connecting portion 230 by changing the relative positions of the connecting portion 230a and the connecting portion 230b. The expansion / contraction mechanism 231 of this example has a feed screw mechanism. In this example, the male screw of the telescopic mechanism 231 is connected to the connecting portion 230a, and the female screw of the telescopic mechanism 231 is connected to the connecting portion 230b. The expansion / contraction mechanism 231 is not limited to the feed screw mechanism as long as it is a mechanism that realizes linear motion.
駆動部232は、回転軸233を介して伸縮機構231の雄ネジに接続されている。駆動部232は、回転軸233を回転させることにより、連結部230を伸縮させる。本例の駆動部232は、モータであるが、直線駆動用のリニアモータまたは電磁ソレノイド等であってもよい。
The drive unit 232 is connected to the male screw of the expansion / contraction mechanism 231 via the rotation shaft 233. The drive unit 232 expands and contracts the connecting unit 230 by rotating the rotation shaft 233. The drive unit 232 of this example is a motor, but may be a linear motor for linear drive, an electromagnetic solenoid, or the like.
図8Aは、固定部220の構成の一例を示す。固定部220は、外装部221と、接触部222と、緩衝部223とを備える。本例の固定部220は、磁場発生部224および配線225を備える。
FIG. 8A shows an example of the configuration of the fixed portion 220. The fixing portion 220 includes an exterior portion 221, a contact portion 222, and a cushioning portion 223. The fixed portion 220 of this example includes a magnetic field generating portion 224 and wiring 225.
外装部221は、磁場発生部224および配線225を収容している。外装部221は、緩衝部223を介して接触部222と連結されている。接触部222は、固定時に、固定対象物500側に設けられる。緩衝部223は、外装部221と緩衝部223との間の衝撃を緩衝する。緩衝部223は、固定対象物500が傾斜している場合に、固定対象物500の傾斜に追従して接触部222を傾斜させる。
The exterior portion 221 houses the magnetic field generating portion 224 and the wiring 225. The exterior portion 221 is connected to the contact portion 222 via a cushioning portion 223. The contact portion 222 is provided on the side of the object to be fixed 500 at the time of fixing. The buffer portion 223 cushions the impact between the exterior portion 221 and the buffer portion 223. When the fixed object 500 is tilted, the buffer portion 223 tilts the contact portion 222 following the tilt of the fixed object 500.
磁場発生部224は、発着台200を固***置502に固定するための磁場を発生させる。例えば、磁場発生部224は、電磁石コイルである。磁場発生部224は、発生した磁力によって鉄塔などの磁性体に発着台200を固定する。本例の磁場発生部224は、固定部220の先端に設けられている。但し、磁場発生部224の位置は、本例に限られない。磁場発生部224は、配線225によって制御部240と接続され、磁場を発生するか否かが切り替えられてよい。
The magnetic field generation unit 224 generates a magnetic field for fixing the landing platform 200 at the solid position 502. For example, the magnetic field generation unit 224 is an electromagnet coil. The magnetic field generation unit 224 fixes the landing platform 200 to a magnetic material such as a steel tower by the generated magnetic force. The magnetic field generating portion 224 of this example is provided at the tip of the fixing portion 220. However, the position of the magnetic field generating unit 224 is not limited to this example. The magnetic field generation unit 224 may be connected to the control unit 240 by wiring 225, and whether or not to generate a magnetic field may be switched.
図8Bは、固定部220の構成の一例を示す。本例の固定部220は、接着部226を有する点で図8Aの実施例と相違する。
FIG. 8B shows an example of the configuration of the fixed portion 220. The fixing portion 220 of this example differs from the embodiment of FIG. 8A in that it has an adhesive portion 226.
接着部226は、発着台200を固***置502に固定する。例えば、接着部226は、粘着面を固定対象物500に貼り付けて、発着台200を固***置502に固定する。本例の接着部226は、接触部222の外面に設けられる。接着部226は、磁場発生部224などの他の固定方法と組み合わせて用いられてもよい。
The adhesive portion 226 fixes the departure / arrival table 200 at the solid position 502. For example, the adhesive portion 226 attaches the adhesive surface to the object 500 to be fixed, and fixes the landing platform 200 at the solid position 502. The adhesive portion 226 of this example is provided on the outer surface of the contact portion 222. The adhesive portion 226 may be used in combination with other fixing methods such as the magnetic field generating portion 224.
図8Cは、突出部227を有する固定部220の固定方法の一例を示す。固定部220は、突出部227と、弾性部228と、留め具229とを有する。
FIG. 8C shows an example of a fixing method of the fixing portion 220 having the protruding portion 227. The fixing portion 220 has a protruding portion 227, an elastic portion 228, and a fastener 229.
突出部227は、発着台200を固***置502に固定する。本例の突出部227は、固定前では固定部220に収容されており、留め具229によるストッパを解除すると、弾性部228によって固定対象物500に穿刺される。例えば、突出部227は、モリ(銛)のような鋭利な形状を有し、固定対象物500に穿刺される。また、突出部227は、ネジのような構造を有し、固定対象物500にねじ込まれてもよい。
The protrusion 227 fixes the departure / arrival table 200 at the solid position 502. The protruding portion 227 of this example is housed in the fixing portion 220 before being fixed, and when the stopper by the fastener 229 is released, the elastic portion 228 punctures the object to be fixed 500. For example, the protrusion 227 has a sharp shape like a harpoon and is punctured by the object to be fixed 500. Further, the protrusion 227 has a screw-like structure and may be screwed into the object to be fixed 500.
なお、発着台200は、突出部227を固定対象物500に残して回収されてもよい。この場合、突出部227が容易に固定対象物500から取り外しができない機構を有していてもよい。突出部227が使い捨てであってもよい。
The departure / arrival table 200 may be collected by leaving the protruding portion 227 in the fixed object 500. In this case, the protruding portion 227 may have a mechanism that cannot be easily removed from the fixed object 500. The protrusion 227 may be disposable.
図8Dは、負圧固定部281を有する固定部220の構成の一例を示す。本例では、図8Aの固定部220と相違する点について特に説明する。
FIG. 8D shows an example of the configuration of the fixing portion 220 having the negative pressure fixing portion 281. In this example, the difference from the fixed portion 220 of FIG. 8A will be particularly described.
負圧固定部281は、発着台200を固定対象物500に固定する。負圧固定部281は、負圧を利用して取り付けおよび取り外しを実現する。例えば、負圧固定部281は、負圧を利用して発着台200を固定対象物500に固定する吸盤である。また、負圧固定部281は、負圧発生装置に接続されて、減圧することにより発着台200を固定する部材であってよい。本例の負圧固定部281は、連結部230の先端に設けられているが、本体部10等に設けられてもよい。
The negative pressure fixing portion 281 fixes the departure / arrival table 200 to the fixed object 500. The negative pressure fixing portion 281 realizes attachment and detachment by utilizing negative pressure. For example, the negative pressure fixing portion 281 is a suction cup that fixes the departure / arrival table 200 to the fixing object 500 by using the negative pressure. Further, the negative pressure fixing portion 281 may be a member that is connected to the negative pressure generator and fixes the departure / arrival table 200 by reducing the pressure. The negative pressure fixing portion 281 of this example is provided at the tip of the connecting portion 230, but may be provided at the main body portion 10 or the like.
図8Eは、固定部220の構成の一例を示す。本例の固定部220は、把持部291と、可動部292と、駆動部293とを備える。本例の固定部220は、ポールなどの棒状の固定対象物500に発着台200を固定する。
FIG. 8E shows an example of the configuration of the fixed portion 220. The fixed portion 220 of this example includes a grip portion 291, a movable portion 292, and a driving portion 293. The fixing portion 220 of this example fixes the departure / arrival table 200 to a rod-shaped fixing object 500 such as a pole.
把持部291は、固定対象物500を把持することによって、発着台200を固定位置に固定する。把持部291は、C字形状を有し、C字形状の内側に固定対象物500が位置するように設けられる。把持部291は、可動部292と組み合わせて、固定対象物500を挟むことによって把持する。把持部291は、発着台200の姿勢を保持するために十分な力で、固定対象物500を把持する。なお、把持部291は、完全に発着台200の姿勢を固定せずに、例えば、固定対象物500にぶら下がるように把持してもよい。
The grip portion 291 fixes the departure / arrival table 200 at a fixed position by gripping the object to be fixed 500. The grip portion 291 has a C-shape and is provided so that the fixing object 500 is located inside the C-shape. The grip portion 291 is gripped by sandwiching the fixed object 500 in combination with the movable portion 292. The grip portion 291 grips the fixed object 500 with sufficient force to hold the posture of the departure / arrival table 200. The grip portion 291 may be gripped so as to hang from, for example, the object to be fixed 500, without completely fixing the posture of the departure / arrival table 200.
可動部292は、駆動部293によって可動され、把持部291および可動部292で固定対象物500を挟んで固定する。本例の可動部292は、ネジ構造を有する。例えば、駆動部293は、モータを有し、可動部292を回転させることによって軸方向に可動させる。
The movable portion 292 is moved by the drive portion 293, and the grip portion 291 and the movable portion 292 sandwich and fix the object to be fixed 500. The movable portion 292 of this example has a screw structure. For example, the drive unit 293 has a motor and is moved in the axial direction by rotating the movable unit 292.
なお、固定対象物500は、把持部291によって把持できるものであれば特に限定されない。本例の固定対象物500は、円柱状であるが、把持部291によって把持できるものであれば形状は限定されない。固定対象物500は、建物、電線、電柱、パイプ、看板、柵、橋または木であってよい。
The fixed object 500 is not particularly limited as long as it can be gripped by the grip portion 291. The fixed object 500 of this example has a columnar shape, but the shape is not limited as long as it can be gripped by the gripping portion 291. The fixed object 500 may be a building, an electric wire, a utility pole, a pipe, a signboard, a fence, a bridge or a tree.
図8Fは、固定部220に磁気粘弾性素材282を備えた固定部220の構成の一例を示す。本例の固定対象物500は、凹凸面を有する。
FIG. 8F shows an example of the configuration of the fixing portion 220 in which the fixing portion 220 is provided with the magnetic viscoelastic material 282. The fixed object 500 of this example has an uneven surface.
磁気粘弾性素材282は、磁気粘弾性効果(magnetorheological effect)によって磁場で粘弾性が変化して、磁気の印加によって硬化と軟化を切り替えることができる。磁気粘弾性素材282は、発着台200を固***置502に固定する。磁気粘弾性素材282は、固定部220の接触部222と接して設けられる。本例では、発着台200を固定対象物500と接触させ、固定対象物500の表面形状に沿って磁気粘弾性素材282が変形した後に、磁力を印加して硬化させることで、固定対象物500に対し、高いグリップを得ることができる。磁力を印加する装置は、発着台200に搭載されてもよいし、固定対象物500側に設けられてもよい。
The viscoelasticity of the magnetic viscoelastic material 282 is changed by a magnetic field due to the magnetic viscoelastic effect (magnetorheological effect), and hardening and softening can be switched by applying magnetism. The magnetic viscoelastic material 282 fixes the landing platform 200 at the solid position 502. The magnetic viscoelastic material 282 is provided in contact with the contact portion 222 of the fixing portion 220. In this example, the landing platform 200 is brought into contact with the fixed object 500, and after the magnetic viscoelastic material 282 is deformed along the surface shape of the fixed object 500, a magnetic force is applied to cure the fixed object 500. On the other hand, a high grip can be obtained. The device for applying the magnetic force may be mounted on the departure / arrival table 200 or may be provided on the side of the object to be fixed 500.
なお、固定部220は、図8A~図8Fまでに挙げた構成の複数の組み合わせであってもよい。発着台200は、固定対象物500の材質または形状等に応じて、任意の固定部220を選択して使用してよい。
The fixing portion 220 may be a plurality of combinations having the configurations shown in FIGS. 8A to 8F. As the departure / arrival table 200, an arbitrary fixing portion 220 may be selected and used according to the material or shape of the object to be fixed 500.
図9Aは、発着台200の回収方法の一例を示す。本例の発着台200は、回収手段202を備える。
FIG. 9A shows an example of a collection method of the departure / arrival table 200. The departure / arrival table 200 of this example includes a collection means 202.
回収手段202は、発着台200と連結して設けられ、発着台200を回収する。即ち、発着台200の回収に無人航空機100が不要である。例えば、回収手段202は、パラシュートである。発着台200は、固定対象物500に固定された状態から、固定部220の固定を解除する。発着台200は、回収手段202であるパラシュートを開くことによって、安全に回収される。
The collection means 202 is provided in connection with the departure / arrival table 200, and collects the departure / arrival table 200. That is, the unmanned aerial vehicle 100 is not required to collect the departure / arrival platform 200. For example, the recovery means 202 is a parachute. The departure / arrival table 200 releases the fixing portion 220 from the state of being fixed to the fixing object 500. The departure / arrival platform 200 is safely recovered by opening the parachute, which is the recovery means 202.
図9Bは、発着台200の回収方法の他の例を示す。本例の発着台200は、回収手段202として、発着台200と連結された紐を備える。
FIG. 9B shows another example of the collection method of the departure / arrival table 200. The departure / arrival table 200 of this example includes a string connected to the departure / arrival table 200 as the collection means 202.
回収手段202は、固定対象物500に固定された発着台200と連結されている。例えば、ユーザが回収手段202を引っ張ることにより、発着台200を固定対象物500から取り外す。これにより、発着台200が重力によって落下する。本例では、保護部材204を発着台200の落下する位置に設けることによって、発着台200の損傷を防止している。本例は、発着台200の回収方法の一例であり、これに限定されない。
The collection means 202 is connected to the departure / arrival stand 200 fixed to the fixed object 500. For example, the user pulls the collection means 202 to remove the departure / arrival table 200 from the fixed object 500. As a result, the landing platform 200 falls due to gravity. In this example, the protective member 204 is provided at the position where the departure / arrival table 200 falls to prevent damage to the departure / arrival table 200. This example is an example of a collection method of the departure / arrival table 200, and is not limited to this.
なお、回収手段202は、発着台200の固定を解除するための解除手段としても機能してよい。例えば、固定部220が磁場発生部224を有する場合、磁場の発生を終了して、発着台200の固定を解除する。但し、発着台200は、固定部220の固定を解除する解除手段を回収手段202とは別に有してもよい。
The collection means 202 may also function as a release means for releasing the fixation of the departure / arrival table 200. For example, when the fixing portion 220 has the magnetic field generating portion 224, the generation of the magnetic field is terminated and the fixing of the departure / arrival table 200 is released. However, the departure / arrival table 200 may have a release means for releasing the fixing of the fixing portion 220 separately from the collection means 202.
図10Aは、移動可能な発着台200の構成の一例を示す。本例の発着台200は、移動手段206を備える。移動手段206は、固***置502から発着台200を移動させる固定部220の一例である。移動手段206は、固定対象物500への固定と発着台200の移動の両方の機能を有してよい。
FIG. 10A shows an example of the configuration of the movable departure / arrival platform 200. The departure / arrival table 200 of this example includes a transportation means 206. The moving means 206 is an example of a fixing portion 220 that moves the departure / arrival table 200 from the solid position 502. The moving means 206 may have both functions of fixing to the fixed object 500 and moving the departure / arrival table 200.
図10Bは、移動手段206の構成の一例を示す。移動手段206は、固定部220の一例である。移動手段206は、把持部291と、駆動部293と、ローラ296と、駆動部297とを備える。本例では、図8Eの固定部220と相違する点について特に説明する。
FIG. 10B shows an example of the configuration of the transportation means 206. The moving means 206 is an example of the fixed portion 220. The moving means 206 includes a grip portion 291, a drive unit 293, a roller 296, and a drive unit 297. In this example, the difference from the fixed portion 220 of FIG. 8E will be particularly described.
ローラ296は、回転することにより、発着台200を移動させる。本例の移動手段206は、3つのローラ296a~ローラ296cを有する。3つのローラ296a~ローラ296cは、固定対象物500を3方向から固定する。
The roller 296 rotates to move the departure / arrival table 200. The moving means 206 of this example has three rollers 296a to 296c. The three rollers 296a to 296c fix the object to be fixed 500 from three directions.
ローラ296aは、モータである駆動部297によって回転して、移動するための駆動力を生じる移動用ローラである。ローラ296bおよびローラ296cは、把持部291の内側に設けられており、ローラ296aの駆動によって滑らかに移動できるように補助する補助用ローラである。
The roller 296a is a moving roller that is rotated by a drive unit 297, which is a motor, to generate a driving force for movement. The roller 296b and the roller 296c are provided inside the grip portion 291 and are auxiliary rollers that assist in smooth movement by driving the roller 296a.
図11Aは、発着台200の使用方法を説明するための図である。本例のユーザ700は、無人航空機100により発着台200を固定対象物500まで運搬する。本例の固定対象物500は、建物の壁面上に設置された空調用の室外機である。発着台200は、図5Bの実施例と同様に、延伸部274と連結された吐出部270を備えている。延伸部274の一端は、吐出部270と連結され、他端が供給源300と連結されている。延伸部274の他端は、発着台200の落下防止のため、ユーザ700に保持されている。即ち、延伸部274は、回収手段202としても使用できる。
FIG. 11A is a diagram for explaining how to use the departure / arrival table 200. The user 700 of this example carries the departure / arrival platform 200 to the fixed object 500 by the unmanned aerial vehicle 100. The fixed object 500 of this example is an outdoor unit for air conditioning installed on the wall surface of a building. The departure / arrival table 200 includes a discharge unit 270 connected to the extension unit 274, as in the embodiment of FIG. 5B. One end of the stretched portion 274 is connected to the discharge portion 270, and the other end is connected to the supply source 300. The other end of the extension portion 274 is held by the user 700 in order to prevent the departure / arrival table 200 from falling. That is, the stretched portion 274 can also be used as the recovery means 202.
図11Bは、発着台200の使用方法を説明するための図である。本例の発着台200は、無人航空機100によって運搬されて、固定対象物500に固定されている。無人航空機100は、発着台200の固定対象物500への固定後、発着台200から離陸している。ユーザ700は、無人航空機100を操縦し、手元へと回収してもよい。また、無人航空機100は空中でホバリングしていてもよい。延伸部274は、ユーザ700に保持されたままである。
FIG. 11B is a diagram for explaining how to use the departure / arrival table 200. The departure / arrival platform 200 of this example is carried by the unmanned aerial vehicle 100 and fixed to the fixed object 500. The unmanned aerial vehicle 100 takes off from the departure / arrival platform 200 after fixing the departure / arrival platform 200 to the fixed object 500. The user 700 may operate the unmanned aerial vehicle 100 and collect it at hand. Further, the unmanned aerial vehicle 100 may be hovering in the air. The stretched portion 274 remains held by the user 700.
図11Cは、発着台200の使用方法を説明するための図である。発着台200は、吐出部270から吐出物を固定対象物500に吐出している。本例のユーザ700は、供給源300としてエアゾール缶を使用している。延伸部274と供給源300がユーザ700に保持されているので、吐出時に発着台200の固定が解除された場合であっても、発着台200を容易に回収することができる。無人航空機100は、吐出中に飛行しておく必要がないので、バッテリを節約できる。また、無人航空機100は、吐出による汚染を回避できる。ユーザ700は、無人航空機100を回収しておくことで、吐出作業中に無人航空機100のバッテリを充電する事ができる。
FIG. 11C is a diagram for explaining how to use the departure / arrival table 200. The departure / arrival table 200 discharges the discharged material from the discharge unit 270 to the fixed object 500. The user 700 in this example uses an aerosol can as the supply source 300. Since the extension portion 274 and the supply source 300 are held by the user 700, the departure / arrival table 200 can be easily recovered even when the departure / arrival table 200 is released at the time of discharge. Since the unmanned aerial vehicle 100 does not need to be in flight during discharge, the battery can be saved. In addition, the unmanned aerial vehicle 100 can avoid contamination due to discharge. By collecting the unmanned aerial vehicle 100, the user 700 can charge the battery of the unmanned aerial vehicle 100 during the discharging operation.
図11Dは、発着台200の使用方法を説明するための図である。無人航空機100は、発着台200まで移動して、発着台200に着陸する。無人航空機100は、ユーザ700によって操作されてもよいし、自動で発着台200と連結してもよい。
FIG. 11D is a diagram for explaining how to use the departure / arrival table 200. The unmanned aerial vehicle 100 moves to the departure / arrival platform 200 and lands on the departure / arrival platform 200. The unmanned aerial vehicle 100 may be operated by the user 700 or may be automatically connected to the departure / arrival platform 200.
図11Eは、発着台200の使用方法を説明するための図である。発着台200は、固定を解除することにより、無人航空機100によって回収されている。無人航空機100は、発着台200を運搬できればよく、供給源300を搭載する必要がないので、小型化しやすくなる。なお、ユーザ700は、延伸部274を回収手段202として使用すれば、無人航空機100を用いずに、発着台200を回収できる。
FIG. 11E is a diagram for explaining how to use the departure / arrival table 200. The departure / arrival platform 200 is recovered by the unmanned aerial vehicle 100 by releasing the fixation. The unmanned aerial vehicle 100 only needs to be able to carry the departure / arrival platform 200, and does not need to be equipped with the supply source 300, so that it becomes easy to miniaturize. If the extension portion 274 is used as the recovery means 202, the user 700 can recover the departure / arrival platform 200 without using the unmanned aerial vehicle 100.
図12Aは、発着台200の回収方法の一例を示す。ユーザ700bは、ユーザ700aの下で待機している。ユーザ700bは、回収手段202bを保持しており、回収手段202bを引っ張ることにより、発着台200を回収している。即ち、回収手段202bは、発着台200の固定を解除する解除手段としても機能している。ユーザ700aは、回収手段202aから手を離してよい。
FIG. 12A shows an example of a collection method of the departure / arrival table 200. User 700b is waiting under user 700a. The user 700b holds the collection means 202b and collects the departure / arrival table 200 by pulling the collection means 202b. That is, the collecting means 202b also functions as a releasing means for releasing the fixation of the departure / arrival table 200. The user 700a may take his hand off the collection means 202a.
なお、回収手段202は、供給源300に連結された延伸部274であってもよい。この場合、ユーザ700aは、供給源300を延伸部274から取り外した後に回収手段202aを離してよい。これにより、より安全に発着台200を回収することができる。
The collecting means 202 may be an extension portion 274 connected to the supply source 300. In this case, the user 700a may release the collecting means 202a after removing the supply source 300 from the stretching portion 274. As a result, the departure / arrival platform 200 can be collected more safely.
図12Bは、発着台200の回収方法の一例を示す。発着台200は、図10Aの移動手段206を備える。本例の発着台200は、雨水用のパイプを固定対象物500として、上下に移動することができる。発着台200は、処理対象504である室外機の高さまで移動して、吐出物によって処理対象504を洗浄する。例えば、発着台200は、処理対象504aに吐出した後に、処理対象504bの高さまで移動して吐出する。本例の発着台200は、移動手段を有するので、無人航空機100と再び連結することなく、次の処理対象504の高さまで移動することができる。本例の回収手段202は、供給源300に連結された延伸部274に加えて、解除手段としても使用されてよい。
FIG. 12B shows an example of a collection method of the departure / arrival table 200. The departure / arrival table 200 includes the transportation means 206 of FIG. 10A. The departure / arrival table 200 of this example can move up and down with the rainwater pipe as the fixed object 500. The departure / arrival table 200 moves to the height of the outdoor unit, which is the processing target 504, and cleans the processing target 504 with the discharged material. For example, the departure / arrival table 200 moves to the height of the processing target 504b and discharges after discharging to the processing target 504a. Since the departure / arrival platform 200 of this example has a means of transportation, it can move to the height of the next processing target 504 without being reconnected with the unmanned aerial vehicle 100. The collecting means 202 of this example may be used as a releasing means in addition to the stretching portion 274 connected to the supply source 300.
図13は、本発明の複数の態様が全体的又は部分的に具現化されてよいコンピュータ2200の例を示す。コンピュータ2200にインストールされたプログラムは、コンピュータ2200に、本発明の実施形態に係る装置に関連付けられる操作又は当該装置の1又は複数のセクションとして機能させることができ、又は当該操作又は当該1又は複数のセクションを実行させることができ、及び/又はコンピュータ2200に、本発明の実施形態に係るプロセス又は当該プロセスの段階を実行させることができる。そのようなプログラムは、コンピュータ2200に、本明細書に記載のフローチャート及びブロック図のブロックのうちのいくつか又はすべてに関連付けられた特定の操作を実行させるべく、CPU2212によって実行されてよい。
FIG. 13 shows an example of a computer 2200 in which a plurality of aspects of the present invention may be embodied in whole or in part. The program installed on the computer 2200 can cause the computer 2200 to function as an operation associated with the device according to an embodiment of the present invention or as one or more sections of the device, or the operation or the one or more. A section can be run and / or a computer 2200 can be run a process according to an embodiment of the invention or a stage of the process. Such a program may be run by the CPU 2212 to cause the computer 2200 to perform certain operations associated with some or all of the blocks in the flowcharts and block diagrams described herein.
本実施形態によるコンピュータ2200は、CPU2212、RAM2214、グラフィックコントローラ2216、及びディスプレイデバイス2218を含み、それらはホストコントローラ2210によって相互に接続されている。コンピュータ2200はまた、通信インタフェース2222、ハードディスクドライブ2224、DVD-ROMドライブ2226、及びICカードドライブのような入/出力ユニットを含み、それらは入/出力コントローラ2220を介してホストコントローラ2210に接続されている。コンピュータはまた、ROM2230及びキーボード2242のようなレガシの入/出力ユニットを含み、それらは入/出力チップ2240を介して入/出力コントローラ2220に接続されている。
The computer 2200 according to this embodiment includes a CPU 2212, a RAM 2214, a graphic controller 2216, and a display device 2218, which are connected to each other by a host controller 2210. The computer 2200 also includes input / output units such as a communication interface 2222, a hard disk drive 2224, a DVD-ROM drive 2226, and an IC card drive, which are connected to the host controller 2210 via the input / output controller 2220. There is. The computer also includes legacy input / output units such as the ROM 2230 and keyboard 2242, which are connected to the input / output controller 2220 via an input / output chip 2240.
CPU2212は、ROM2230及びRAM2214内に格納されたプログラムに従い動作し、それにより各ユニットを制御する。グラフィックコントローラ2216は、RAM2214内に提供されるフレームバッファ等又はそれ自体の中にCPU2212によって生成されたイメージデータを取得し、イメージデータがディスプレイデバイス2218上に表示されるようにする。
The CPU 2212 operates according to the programs stored in the ROM 2230 and the RAM 2214, thereby controlling each unit. The graphic controller 2216 acquires the image data generated by the CPU 2212 in a frame buffer or the like provided in the RAM 2214 or itself so that the image data is displayed on the display device 2218.
通信インタフェース2222は、ネットワークを介して他の電子デバイスと通信する。ハードディスクドライブ2224は、コンピュータ2200内のCPU2212によって使用されるプログラム及びデータを格納する。DVD-ROMドライブ2226は、プログラム又はデータをDVD-ROM2201から読み取り、ハードディスクドライブ2224にRAM2214を介してプログラム又はデータを提供する。ICカードドライブは、プログラム及びデータをICカードから読み取り、及び/又はプログラム及びデータをICカードに書き込む。
The communication interface 2222 communicates with other electronic devices via the network. The hard disk drive 2224 stores programs and data used by the CPU 2212 in the computer 2200. The DVD-ROM drive 2226 reads the program or data from the DVD-ROM 2201 and provides the program or data to the hard disk drive 2224 via the RAM 2214. The IC card drive reads the program and data from the IC card and / or writes the program and data to the IC card.
ROM2230はその中に、アクティブ化時にコンピュータ2200によって実行されるブートプログラム等、及び/又はコンピュータ2200のハードウェアに依存するプログラムを格納する。入/出力チップ2240はまた、様々な入/出力ユニットをパラレルポート、シリアルポート、キーボードポート、マウスポート等を介して、入/出力コントローラ2220に接続してよい。
The ROM 2230 stores a boot program or the like executed by the computer 2200 at the time of activation and / or a program depending on the hardware of the computer 2200. The input / output chip 2240 may also connect various input / output units to the input / output controller 2220 via a parallel port, serial port, keyboard port, mouse port, and the like.
プログラムが、DVD-ROM2201又はICカードのようなコンピュータ可読媒体によって提供される。プログラムは、コンピュータ可読媒体から読み取られ、コンピュータ可読媒体の例でもあるハードディスクドライブ2224、RAM2214、又はROM2230にインストールされ、CPU2212によって実行される。これらのプログラム内に記述される情報処理は、コンピュータ2200に読み取られ、プログラムと、上記様々なタイプのハードウェアリソースとの間の連携をもたらす。装置又は方法が、コンピュータ2200の使用に従い情報の操作又は処理を実現することによって構成されてよい。
The program is provided by a computer-readable medium such as a DVD-ROM 2201 or an IC card. The program is read from a computer-readable medium, installed on a hard disk drive 2224, RAM 2214, or ROM 2230, which is also an example of a computer-readable medium, and executed by the CPU 2212. The information processing described in these programs is read by the computer 2200 and provides a link between the program and the various types of hardware resources described above. The device or method may be configured by implementing manipulation or processing of information in accordance with the use of computer 2200.
例えば、通信がコンピュータ2200及び外部デバイス間で実行される場合、CPU2212は、RAM2214にロードされた通信プログラムを実行し、通信プログラムに記述された処理に基づいて、通信インタフェース2222に対し、通信処理を命令してよい。通信インタフェース2222は、CPU2212の制御下、RAM2214、ハードディスクドライブ2224、DVD-ROM2201、又はICカードのような記録媒体内に提供される送信バッファ処理領域に格納された送信データを読み取り、読み取られた送信データをネットワークに送信し、又はネットワークから受信された受信データを記録媒体上に提供される受信バッファ処理領域等に書き込む。
For example, when communication is executed between the computer 2200 and an external device, the CPU 2212 executes a communication program loaded in the RAM 2214, and performs communication processing on the communication interface 2222 based on the processing described in the communication program. You may order. Under the control of the CPU 2212, the communication interface 2222 reads and reads the transmission data stored in the transmission buffer processing area provided in the recording medium such as the RAM 2214, the hard disk drive 2224, the DVD-ROM 2201, or the IC card. The data is transmitted to the network, or the received data received from the network is written to the reception buffer processing area or the like provided on the recording medium.
また、CPU2212は、ハードディスクドライブ2224、DVD-ROMドライブ2226(DVD-ROM2201)、ICカード等のような外部記録媒体に格納されたファイル又はデータベースの全部又は必要な部分がRAM2214に読み取られるようにし、RAM2214上のデータに対し様々なタイプの処理を実行してよい。CPU2212は次に、処理されたデータを外部記録媒体にライトバックする。
Further, the CPU 2212 makes the RAM 2214 read all or necessary parts of a file or database stored in an external recording medium such as a hard disk drive 2224, a DVD-ROM drive 2226 (DVD-ROM2201), or an IC card. Various types of processing may be performed on the data on the RAM 2214. The CPU 2212 then writes back the processed data to an external recording medium.
様々なタイプのプログラム、データ、テーブル、及びデータベースのような様々なタイプの情報が記録媒体に格納され、情報処理を受けてよい。CPU2212は、RAM2214から読み取られたデータに対し、本開示の随所に記載され、プログラムの命令シーケンスによって指定される様々なタイプの操作、情報処理、条件判断、条件分岐、無条件分岐、情報の検索/置換等を含む、様々なタイプの処理を実行してよく、結果をRAM2214に対しライトバックする。また、CPU2212は、記録媒体内のファイル、データベース等における情報を検索してよい。例えば、各々が第2の属性の属性値に関連付けられた第1の属性の属性値を有する複数のエントリが記録媒体内に格納される場合、CPU2212は、第1の属性の属性値が指定される、条件に一致するエントリを当該複数のエントリの中から検索し、当該エントリ内に格納された第2の属性の属性値を読み取り、それにより予め定められた条件を満たす第1の属性に関連付けられた第2の属性の属性値を取得してよい。
Various types of information such as various types of programs, data, tables, and databases may be stored in recording media and processed. The CPU 2212 describes various types of operations, information processing, conditional judgment, conditional branching, unconditional branching, and information retrieval described in various parts of the present disclosure with respect to the data read from the RAM 2214. Various types of processing may be performed, including / replacement, etc., and the results are written back to RAM 2214. Further, the CPU 2212 may search for information in a file, a database, or the like in the recording medium. For example, when a plurality of entries each having an attribute value of the first attribute associated with the attribute value of the second attribute are stored in the recording medium, the CPU 2212 specifies the attribute value of the first attribute. Search for an entry that matches the condition from the plurality of entries, read the attribute value of the second attribute stored in the entry, and associate it with the first attribute that satisfies the predetermined condition. The attribute value of the second attribute obtained may be acquired.
上で説明したプログラム又はソフトウェアモジュールは、コンピュータ2200上又はコンピュータ2200近傍のコンピュータ可読媒体に格納されてよい。また、専用通信ネットワーク又はインターネットに接続されたサーバーシステム内に提供されるハードディスク又はRAMのような記録媒体が、コンピュータ可読媒体として使用可能であり、それによりプログラムを、ネットワークを介してコンピュータ2200に提供する。
The program or software module described above may be stored on or on a computer-readable medium near the computer 2200. Also, a recording medium such as a hard disk or RAM provided in a dedicated communication network or a server system connected to the Internet can be used as a computer readable medium, thereby providing the program to the computer 2200 via the network. To do.
以上、本発明を実施の形態を用いて説明したが、本発明の技術的範囲は上記実施の形態に記載の範囲には限定されない。上記実施の形態に、多様な変更または改良を加えることが可能であることが当業者に明らかである。その様な変更または改良を加えた形態も本発明の技術的範囲に含まれ得ることが、請求の範囲の記載から明らかである。
Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various changes or improvements can be made to the above embodiments. It is clear from the claims that the form with such modifications or improvements may also be included in the technical scope of the invention.
請求の範囲、明細書、および図面中において示した装置、システム、プログラム、および方法における動作、手順、ステップ、および段階等の各処理の実行順序は、特段「より前に」、「先立って」等と明示しておらず、また、前の処理の出力を後の処理で用いるのでない限り、任意の順序で実現しうることに留意すべきである。請求の範囲、明細書、および図面中の動作フローに関して、便宜上「まず、」、「次に、」等を用いて説明したとしても、この順で実施することが必須であることを意味するものではない。
The order of execution of operations, procedures, steps, steps, etc. in the devices, systems, programs, and methods shown in the claims, specifications, and drawings is particularly "before" and "prior to". It should be noted that it can be realized in any order unless the output of the previous process is used in the subsequent process. Even if the claims, the specification, and the operation flow in the drawings are explained using "first", "next", etc. for convenience, it means that it is essential to carry out in this order. is not it.
10・・・本体部、15・・・脚部、16・・・受光部、17・・・発光部、20・・・推進部、21・・・回転翼、22・・・回転駆動部、24・・・腕部、100・・・無人航空機、200・・・発着台、210・・・着脱部、211・・・外装部、212・・・誘導部、213・・・緩衝部、214・・・ロック機構、215・・・検出部、220・・・固定部、221・・・外装部、222・・・接触部、223・・・緩衝部、224・・・磁場発生部、225・・・配線、226・・・接着部、227・・・突出部、228・・・弾性部、229・・・留め具、230・・・連結部、231・・・伸縮機構、232・・・駆動部、233・・・回転軸、240・・・制御部、242・・・受信部、244・・・処理部、260・・・位置調整部、261・・・回転機構、262・・・連結部、270・・・吐出部、272・・・方向変更部、274・・・延伸部、280・・・姿勢変更部、281・・・負圧固定部、282・・・磁気粘弾性素材、291・・・把持部、292・・・可動部、293・・・駆動部、296・・・ローラ、297・・・駆動部、202・・・回収手段、204・・・保護部材、206・・・移動手段、300・・・供給源、301・・・ポンプ、302・・・保存容器、400・・・端末装置、410・・・表示部、420・・・コントローラ、500・・・固定対象物、502・・・固***置、504・・・処理対象、600・・・操縦システム、700・・・ユーザ、2200・・・コンピュータ、2201・・・ROM、2210・・・ホストコントローラ、2212・・・CPU、2214・・・RAM、2216・・・グラフィックコントローラ、2218・・・ディスプレイデバイス、2220・・・出力コントローラ、2222・・・通信インタフェース、2224・・・ハードディスクドライブ、2226・・・ROMドライブ、2230・・・ROM、2240・・・出力チップ、2242・・・キーボード
10 ... main body, 15 ... legs, 16 ... light receiving part, 17 ... light emitting part, 20 ... propulsion part, 21 ... rotary blade, 22 ... rotary drive part, 24 ... Arms, 100 ... Unmanned aircraft, 200 ... Departure platform, 210 ... Detachable part, 211 ... Exterior part, 212 ... Guidance part, 213 ... Buffer part, 214 ... Lock mechanism, 215 ... Detection part, 220 ... Fixed part, 221 ... Exterior part, 222 ... Contact part, 223 ... Buffer part, 224 ... Magnetic field generation part, 225 ... Wiring, 226 ... Adhesive part, 227 ... Protruding part, 228 ... Elastic part, 229 ... Fastener, 230 ... Connecting part, 231 ... Telescopic mechanism, 232 ... -Drive unit, 233 ... Rotating shaft, 240 ... Control unit, 242 ... Receiver unit, 244 ... Processing unit, 260 ... Position adjustment unit, 261 ... Rotation mechanism, 262 ... -Connecting part, 270 ... Discharge part, 272 ... Direction changing part, 274 ... Stretching part, 280 ... Attitude changing part, 281 ... Negative pressure fixing part, 282 ... Magnetic viscoelasticity Material, 291 ... Grip part, 292 ... Movable part, 293 ... Drive part, 296 ... Roller, 297 ... Drive part, 202 ... Recovery means, 204 ... Protective member, 206 ... means of transportation, 300 ... source, 301 ... pump, 302 ... storage container, 400 ... terminal device, 410 ... display, 420 ... controller, 500 ... -Fixed object, 502 ... Solid position, 504 ... Processing target, 600 ... Steering system, 700 ... User, 2200 ... Computer, 2201 ... ROM, 2210 ... Host controller , 2212 ... CPU, 2214 ... RAM, 2216 ... Graphic controller, 2218 ... Display device, 2220 ... Output controller, 2222 ... Communication interface, 2224 ... Hard disk drive, 2226 ...・ ・ ROM drive, 2230 ・ ・ ・ ROM, 2240 ・ ・ ・ output chip, 2242 ・ ・ ・ keyboard
Claims (25)
- 垂直離着陸が可能な無人航空機の発着台であって、
前記無人航空機を着脱できる着脱部と、
前記発着台を任意の固定位置に固定するための固定部と
を備える発着台。 It is a landing platform for unmanned aerial vehicles capable of vertical takeoff and landing.
A detachable part to which the unmanned aerial vehicle can be attached and detached
A landing platform provided with a fixing portion for fixing the landing platform at an arbitrary fixed position. - 前記発着台は、前記無人航空機の着陸時に前記無人航空機を誘導する誘導部を備える
請求項1に記載の発着台。 The departure / arrival platform according to claim 1, wherein the departure / arrival platform includes a guidance unit that guides the unmanned aerial vehicle when the unmanned aerial vehicle lands. - 前記発着台は、前記無人航空機の着陸時に前記着脱部を前記無人航空機の連結に適した位置に調整する位置調整部を備える
請求項1または2に記載の発着台。 The departure / arrival platform according to claim 1 or 2, wherein the departure / arrival platform includes a position adjustment unit that adjusts the attachment / detachment portion to a position suitable for connecting the unmanned aerial vehicle when the unmanned aerial vehicle lands. - 前記着脱部は、
前記発着台の前記固定位置への非固定時に、前記無人航空機の離脱を禁止し、
前記発着台の前記固定位置への固定時に、前記無人航空機の離脱を許可する
請求項1から3のいずれか一項に記載の発着台。 The detachable part
When the departure / arrival platform is not fixed to the fixed position, the unmanned aerial vehicle is prohibited from leaving.
The departure / arrival platform according to any one of claims 1 to 3, which permits the unmanned aerial vehicle to leave when the departure / arrival platform is fixed to the fixed position. - 前記着脱部は、前記無人航空機の着脱の指示を受信する受信部を備え、
前記着脱の指示に応じて、前記無人航空機の着脱を制御する
請求項1から4のいずれか一項に記載の発着台。 The attachment / detachment unit includes a receiving unit that receives an instruction to attach / detach the unmanned aerial vehicle.
The departure / arrival platform according to any one of claims 1 to 4, which controls the attachment / detachment of the unmanned aerial vehicle in response to the attachment / detachment instruction. - 吐出物を吐出する吐出部と、
前記吐出物の供給源から延伸して設けられ、前記供給源と前記吐出部とを連結し、前記吐出部に前記吐出物を供給する延伸部と
を備える請求項1から5のいずれか一項に記載の発着台。 The discharge part that discharges the discharged material and
Any one of claims 1 to 5, which is provided by extending from the supply source of the discharged product, is provided by connecting the supply source and the discharge unit, and includes a stretched portion for supplying the discharged product to the discharge unit. Departure and arrival table described in. - 前記供給源は、前記吐出物の保存された保存容器である
請求項6に記載の発着台。 The departure / arrival table according to claim 6, wherein the supply source is a storage container for storing the discharged material. - 前記吐出部と連結され、前記吐出部の吐出方向を変更する方向変更部を備える
請求項6または7に記載の発着台。 The departure / arrival table according to claim 6 or 7, further comprising a direction changing portion that is connected to the discharging portion and changes the discharging direction of the discharging portion. - 前記固定部は、前記発着台の姿勢を変更するための姿勢変更部を備える
請求項1から8のいずれか一項に記載の発着台。 The departure / arrival table according to any one of claims 1 to 8, wherein the fixed portion includes a posture changing unit for changing the posture of the departure / arrival table. - 前記固定部は、前記発着台を前記固定位置に固定するための磁場を発生させる磁場発生部を有する
請求項1から9のいずれか一項に記載の発着台。 The landing platform according to any one of claims 1 to 9, wherein the fixed portion includes a magnetic field generating unit that generates a magnetic field for fixing the landing platform at the fixed position. - 前記固定部は、前記発着台を前記固定位置に固定する接着部を有する
請求項1から10のいずれか一項に記載の発着台。 The departure / arrival table according to any one of claims 1 to 10, wherein the fixing portion has an adhesive portion for fixing the departure / arrival table at the fixed position. - 前記固定部は、前記発着台を前記固定位置に固定する突出部を有する
請求項1から11のいずれか一項に記載の発着台。 The departure / arrival table according to any one of claims 1 to 11, wherein the fixing portion has a protruding portion for fixing the departure / arrival table at the fixed position. - 前記固定部は、前記発着台を前記固定位置に固定する負圧固定部を有する
請求項1から12のいずれか一項に記載の発着台。 The departure / arrival table according to any one of claims 1 to 12, wherein the fixing portion has a negative pressure fixing portion for fixing the departure / arrival table at the fixed position. - 前記固定部は、把持によって、前記発着台を前記固定位置に固定する把持部を有する
請求項1から13のいずれか一項に記載の発着台。 The departure / arrival table according to any one of claims 1 to 13, wherein the fixing portion has a grip portion that fixes the departure / arrival table to the fixed position by gripping. - 前記固定部は、前記発着台を前記固定位置に固定する磁気粘弾性素材を有する
請求項1から14のいずれかに一項に記載の発着台。 The landing platform according to any one of claims 1 to 14, wherein the fixing portion has a magnetic viscoelastic material that fixes the landing platform at the fixed position. - 前記発着台と連結して設けられ、前記発着台を回収するための回収手段を備える
請求項1から15のいずれかに一項に記載の発着台。 The departure / arrival table according to any one of claims 1 to 15, which is provided in connection with the departure / arrival table and includes a collection means for collecting the departure / arrival table. - 前記固定位置から前記発着台を移動させる移動手段を備え、
前記固定部は、前記発着台の固定を解除するための解除手段を有する
請求項1から16のいずれか一項に記載の発着台。 A moving means for moving the departure / arrival platform from the fixed position is provided.
The departure / arrival table according to any one of claims 1 to 16, wherein the fixing portion has a release means for releasing the fixation of the departure / arrival table. - 無人航空機が連結した発着台を任意の固定位置に固定する段階と、
前記固定する段階の後に、前記無人航空機を前記発着台の着脱部から離脱する段階と
を備える発着台の使用方法。 The stage of fixing the departure and arrival platform to which the unmanned aerial vehicle is connected to an arbitrary fixed position,
A method of using a landing platform, which comprises a step of detaching the unmanned aerial vehicle from the attachment / detachment portion of the landing platform after the fixing step. - 吐出物を吐出するための吐出部を、吐出対象位置に向けて固定する段階を備える
請求項18に記載の発着台の使用方法。 The method of using the departure / arrival table according to claim 18, further comprising a step of fixing the discharge portion for discharging the discharged material toward the discharge target position. - 前記無人航空機を前記着脱部から離脱させる段階の後に、前記吐出部から前記吐出物を吐出する段階を備える
請求項19に記載の発着台の使用方法。 The method of using the landing platform according to claim 19, further comprising a step of discharging the discharged material from the discharge portion after the step of separating the unmanned aerial vehicle from the detachable portion. - 前記無人航空機を前記着脱部に連結させる段階を備え、
前記連結させる段階は、
前記無人航空機を前記着脱部に誘導する段階と、
前記無人航空機を前記着脱部に着陸させる段階と
を有する
請求項18から20のいずれか一項に記載の発着台の使用方法。 A step of connecting the unmanned aerial vehicle to the attachment / detachment portion is provided.
The step of connecting is
At the stage of guiding the unmanned aerial vehicle to the attachment / detachment portion,
The method of using the landing platform according to any one of claims 18 to 20, which comprises a step of landing the unmanned aerial vehicle on the attachment / detachment portion. - 前記無人航空機が前記発着台を回収する段階を備え、
前記回収する段階は、
前記無人航空機を前記着脱部に連結させる段階と、
前記無人航空機の回転翼を回転させる段階と、
前記無人航空機を前記着脱部に連結させて前記回転翼を回転させた状態で、前記発着台の前記固定位置への固定を解除する段階と
を有する請求項18から21のいずれか一項に記載の発着台の使用方法。 The unmanned aerial vehicle has a stage of recovering the landing platform.
The recovery stage is
At the stage of connecting the unmanned aerial vehicle to the attachment / detachment portion,
The stage of rotating the rotor blades of the unmanned aerial vehicle and
The invention according to any one of claims 18 to 21, wherein the unmanned aerial vehicle is connected to the detachable portion and the rotary wing is rotated, and the step of releasing the fixation of the departure / arrival table to the fixed position is provided. How to use the departure and arrival platform. - 前記発着台に連結された回収手段を用いて、前記発着台を回収する段階を備える
請求項18から21のいずれか一項に記載の発着台の使用方法。 The method of using the landing platform according to any one of claims 18 to 21, further comprising a step of collecting the landing platform by using the collection means connected to the landing platform. - 前記発着台が前記固定を解除する段階と、
前記固定位置から前記発着台が移動する段階と
を備える請求項18から21のいずれか一項に記載の発着台の使用方法。 When the departure / arrival platform releases the fixation,
The method of using the landing platform according to any one of claims 18 to 21, further comprising a step of moving the landing platform from the fixed position. - 請求項18から24のいずれか一項に記載の発着台の使用方法をコンピュータに実行させるためのプログラム。 A program for causing a computer to execute the method of using the departure / arrival table according to any one of claims 18 to 24.
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JP2019-208572 | 2019-11-19 | ||
JP2019208572A JP2021079815A (en) | 2019-11-19 | 2019-11-19 | Take-off/landing base, method for using the same, and program |
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JP2015042539A (en) * | 2013-08-26 | 2015-03-05 | 国立大学法人 千葉大学 | Helicopter, battery replacement device for helicopter, and helicopter system |
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TW202120387A (en) | 2021-06-01 |
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