WO2021100501A1 - Plate-forme de décollage et d'atterrissage, procédé d'utilisation de ladite plate-forme et programme - Google Patents

Plate-forme de décollage et d'atterrissage, procédé d'utilisation de ladite plate-forme et programme Download PDF

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Publication number
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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WO
WIPO (PCT)
Prior art keywords
departure
arrival
unmanned aerial
aerial vehicle
platform
Prior art date
Application number
PCT/JP2020/041624
Other languages
English (en)
Japanese (ja)
Inventor
敦嗣 小南
宗司 荒木
Original Assignee
東洋製罐株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 東洋製罐株式会社 filed Critical 東洋製罐株式会社
Publication of WO2021100501A1 publication Critical patent/WO2021100501A1/fr

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Classifications

    • 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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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

L'invention concerne une plate-forme de décollage et d'atterrissage pour un aéronef sans pilote qui peut décoller et atterrir verticalement, la plate-forme de décollage et d'atterrissage comprenant : une unité de d'attache/de détachement qui peut être attachée à un aéronef sans pilote et détachée de ce dernier ; une unité de fixation qui permet de fixer la plate-forme de décollage et d'atterrissage à une position de fixation arbitraire. L'invention concerne également un procédé d'utilisation d'une plate-forme de décollage et d'atterrissage, le procédé comprenant : une étape de fixation, à une position de fixation arbitraire, de la plate-forme de décollage et d'atterrissage à laquelle un aéronef sans pilote est relié ; une étape de détachement de l'aéronef d'une unité d'attache/de détachement de la plate-forme de décollage et d'atterrissage après l'étape de fixation. L'invention concerne également un programme qui amène un ordinateur à exécuter un procédé d'utilisation d'une plate-forme de décollage et d'atterrissage.
PCT/JP2020/041624 2019-11-19 2020-11-06 Plate-forme de décollage et d'atterrissage, procédé d'utilisation de ladite plate-forme et programme WO2021100501A1 (fr)

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JP2019-208572 2019-11-19
JP2019208572A JP2021079815A (ja) 2019-11-19 2019-11-19 発着台、発着台の使用方法およびプログラム

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JP2015042539A (ja) * 2013-08-26 2015-03-05 国立大学法人 千葉大学 ヘリコプタ、ヘリコプタ用バッテリ交換装置、及び、ヘリコプタシステム
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JP6551627B1 (ja) * 2018-10-10 2019-07-31 中国電力株式会社 給電装置

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