阅读说明：本技术 飞行体以及飞行体的控制方法 (Flying object and method for controlling flying object ) 是由 中村博 八木桥泰彦 久保大理 于 2018-04-10 设计创作，主要内容包括：飞行体(1A)具备：以能够展开的方式设置于机身(1201)的升力产生部件(1110)、与升力产生部件(1110)连接并且对升力产生部件(1110)进行操作的操作机构(1111、1112)、使升力产生部件(1110)展开的展开装置(1115)、对操作机构(1111、1112)进行控制的控制部(1420)、以及对机身(1201)的落下进行检测的落下检测部(1421)。展开装置(1115)基于落下检测信号来使升力产生部件(1110)展开,控制部(1420)基于落下检测信号来开始操作机构(1111、1112)的控制。(The flying object (1A) is provided with: the aircraft comprises a lift force generation member (1110) which is provided in a deployable manner on a fuselage (1201), operating mechanisms (1111, 1112) which are connected to the lift force generation member (1110) and operate the lift force generation member (1110), a deployment device (1115) which deploys the lift force generation member (1110), a control unit (1420) which controls the operating mechanisms (1111, 1112), and a drop detection unit (1421) which detects the drop of the fuselage (1201). A deployment device (1115) deploys the lift force generation member (1110) based on the drop detection signal, and a control unit (1420) starts control of the operation mechanisms (1111, 1112) based on the drop detection signal.)

1. A flying object characterized by comprising a flying body,

the disclosed device is provided with:

a body;

a propulsion mechanism arranged on the machine body;

a lift force generation member provided to the fuselage so as to be deployable;

an operation mechanism that is connected to the lift force generation member and operates the lift force generation member in a state where the lift force generation member is deployed;

a deployment device that deploys the lift force generation member;

a control unit for controlling the operation mechanism; and

a drop detection unit for detecting a drop of the body and applying a drop detection signal to the deployment device and the control unit;

the deployment device deploys the lift force generation member upon receiving the drop detection signal, and the control unit starts control of the operation mechanism upon receiving the drop detection signal.

2. The flying object of claim 1,

the deployment device deploys the lift force generation member by a propulsive force based on a gas pressure generated by combustion of the powder.

3. The flying object of claim 1 or 2,

the unfolding device is arranged on the outer surface of the machine body.

4. The flying object of any one of claims 1 to 3,

the drop detection unit includes at least one of an acceleration sensor, a gyro sensor, an air pressure sensor, a laser sensor, an ultrasonic sensor, and an abnormal vibration detection device for detecting abnormal vibration of the propulsion mechanism.

5. The flying object of any one of claims 1 to 3,

further provided with:

an electric power supply unit configured to supply electric power for operating the propulsion mechanism; and

and a power supply source for supplying power to the deployment device, the control unit, and the drop detection unit separately from the power supply unit.

6. The flying object of claim 5,

the drop detection unit includes at least one of an acceleration sensor, a gyro sensor, an air pressure sensor, a laser sensor, an ultrasonic sensor, an abnormal vibration detection device for detecting abnormal vibration of the propulsion mechanism, and a voltage abnormality detection device for detecting voltage abnormality of the power supply unit.

7. The flying object of any one of claims 1 to 6,

a position detection unit for detecting the position information of the body;

the control unit controls the operating mechanism based on the position information detected by the position detecting unit.

8. The flying object of claim 7,

the position detecting unit includes at least one of a GNSS device for acquiring the position information using an artificial satellite, a device for acquiring the position information using a base station of a mobile phone, a camera for capturing an image of the periphery of the body, a geomagnetic sensor for detecting an azimuth of the body, and an altitude detecting device for detecting an altitude of the body.

9. The flying object of claim 8,

the aforementioned height detection means includes at least one of an air pressure sensor, a laser sensor, an ultrasonic sensor, an infrared sensor, a millimeter wave radar, and a submillimeter wave radar.

10. The flying object of any one of claims 1 to 9,

the device further includes a lower condition detection unit for detecting a condition below the body.

11. The flying object of claim 10,

the lower condition detection section includes at least one of a camera, an image sensor, an infrared sensor, a laser sensor, an ultrasonic sensor, a millimeter wave radar, and a submillimeter wave radar.

12. The flying object of claim 10 or 11,

the control unit determines a target drop position of the body based on the information detected by the lower condition detection unit, and controls the operation mechanism so that the body is directed to the target drop position.

13. The flying object of claim 12,

the device further includes a determination unit for determining the presence or absence of a person at the drop target position based on the information detected by the lower condition detection unit.

14. The flying object of claim 13,

the device further includes a notification unit that generates a warning sound when the determination unit determines that there is a person at the drop target position.

15. The flying object of any one of claims 10 to 14,

a remote operation device for remotely operating the propulsion mechanism;

the remote operation device has a display unit for displaying the information detected by the lower condition detection unit.

16. The flying object of any one of claims 1 to 14,

a flight control device for controlling the propulsion mechanism is arranged on the fuselage;

the control unit is incorporated in the flight control device.

17. The flying object of any one of claims 1 to 16,

the flying object is an unmanned aircraft.

18. A method for controlling a flight vehicle,

the flying object includes: a body; a propulsion mechanism arranged on the machine body; a lift force generation member provided to the fuselage so as to be deployable; an operation mechanism that is connected to the lift force generation member and operates the lift force generation member in a state where the lift force generation member is deployed; a deployment device that deploys the lift force generation member; a control unit for controlling the operation mechanism; and a drop detection unit for detecting the dropping of the body and providing a drop detection signal to the deployment device and the control unit;

the flight control method includes:

a step in which the deployment device receives the drop detection signal to deploy the lift force generation member; and

and a step in which the control unit receives the drop detection signal to start control of the operation mechanism.

Technical Field

The present disclosure relates to a flying object represented by, for example, an unmanned aircraft or the like, and a method of controlling the flying object.

Background

Conventionally, various types of flying objects are known. The flying object is not limited to an unmanned aircraft such as a passenger plane or a helicopter, but includes an unmanned aircraft. In particular, with the development of autonomous control technology and flight control technology in recent years, the industrial use of unmanned aircraft such as unmanned aircraft has been accelerated.

The unmanned aircraft includes, for example, a plurality of rotary wings, and flies by rotating the plurality of rotary wings simultaneously and in a well-balanced manner. At this time, the rotation speed of the plurality of rotary blades is increased or decreased in the same manner to perform the ascending and descending, and the rotation speed of each of the plurality of rotary blades is increased or decreased to tilt the body to perform the advancing and retreating. The use of such unmanned aircraft is expected to expand worldwide in the future.

However, the risk of a drop accident of the unmanned aircraft is considered to be dangerous, and this is an obstacle to the popularization of the unmanned aircraft. In order to reduce the risk of such a drop accident, parachute devices for unmanned aircrafts are being commercialized. Such a parachute device for an unmanned aerial vehicle reduces the impact at landing by decelerating the speed of the unmanned aerial vehicle by the deployed parachute when the unmanned aerial vehicle falls down.

On the other hand, there is known a guide device using a parachute for collecting a falling object (payload) from a rocket and guiding the falling object to a predetermined target falling position, although the device is not used for an unmanned aircraft. This guide device is disclosed in, for example, japanese patent laying-open No. 5-185993 (patent document 1).

Specifically, the guide device is configured to: the present traveling direction of the parachute is determined based on the three-dimensional position detected by the position detector and the orientation in the horizontal direction detected by the attitude detector, and the actuator is driven in accordance with the deviation of the traveling direction from the preset drop target position.

More specifically, the guide device has a function of turning the parachute by operating the right or left steering wire by driving the actuator so that the traveling direction of the parachute does not coincide with the direction of the target landing position when the traveling direction of the parachute does not coincide with the direction of the target landing position.

Disclosure of Invention

Problems to be solved by the invention

However, the parachute device for an unmanned aerial vehicle described above is not a device for guiding the unmanned aerial vehicle to the drop target position, and therefore there is a problem that the unmanned aerial vehicle is blown by a crosswind and, for example, enters a flight clearance or the like or is greatly deviated from the target position.

On the other hand, the above-described guide device is a device that guides a dropped object from a rocket to a drop target position in order to collect the dropped object, and is not a device that detects the drop of a flying object provided with a propulsion mechanism, such as an unmanned aerial vehicle, and guides the flying object to the drop target position.

The present disclosure has been made in view of such circumstances, and an object thereof is to provide a flying object capable of guiding a fuselage at the time of dropping, and a control method thereof.

Means for solving the problems

A flight object according to an aspect of the present disclosure includes: a body; a propulsion mechanism provided in the body; a lift force generation member provided to the fuselage so as to be deployable; an operation mechanism that is connected to the lift force generation member and operates the lift force generation member in a state where the lift force generation member is deployed; a deployment device that deploys the lift force generation member; a control unit for controlling the operation mechanism; and a drop detection unit that detects a drop of the main body and applies a drop detection signal to the deployment device and the control unit. In the flying object according to an aspect of the present disclosure, the deployment device may deploy the lift force generation member by receiving the drop detection signal, and the control unit may start the control of the operation mechanism by receiving the drop detection signal.

Here, the lift force generation member may be any member as long as it generates lift force in a deployed state, and examples of the lift force generation member include a parafoil, a rogallo parachute, a triangular parachute, and a triangular parachute.

In the above-described flying object according to an aspect of the present disclosure, it is preferable that the deployment device deploy the lift force generation member by a propulsive force based on a gas pressure generated by combustion of an explosive.

In the flight vehicle according to an aspect of the present disclosure, it is preferable that the deployment device is attached to an outer surface of the fuselage.

In the above-described flying object according to an aspect of the present disclosure, it is preferable that the fall detection unit includes at least one of an acceleration sensor, a gyro sensor, an air pressure sensor, a laser sensor, an ultrasonic sensor, and an abnormal vibration detection device that detects abnormal vibration of the propulsion mechanism.

The flight vehicle according to an aspect of the present disclosure may further include: and a power supply source that supplies electric power to the deployment device, the control unit, and the drop detection unit separately from the electric power supply unit.

In the above-described flying object according to an aspect of the present disclosure, when the power supply unit is provided, the drop detection unit preferably includes at least one of an acceleration sensor, a gyro sensor, an air pressure sensor, a laser sensor, an ultrasonic sensor, an abnormal vibration detection device that detects abnormal vibration of the propulsion mechanism, and a voltage abnormality detection device that detects voltage abnormality of the power supply unit.

In the case where the flying object according to one aspect of the present disclosure further includes a position detection unit that detects position information of the aircraft body, the control unit preferably controls the operating mechanism based on the position information detected by the position detection unit.

In the flight vehicle according to an aspect of the present disclosure, it is preferable that the position detection unit includes at least one of a GNSS device that acquires the position information using an artificial satellite, a device that acquires the position information using a base station of a mobile phone, a camera that photographs the periphery of the body, a geomagnetic sensor that detects an azimuth angle of the body, and an altitude detection device that detects an altitude of the body.

In the above-described flying object according to an aspect of the present disclosure, it is preferable that the height detection device includes at least one of an air pressure sensor, a laser sensor, an ultrasonic sensor, an infrared sensor, a millimeter wave radar, and a submillimeter wave radar.

Preferably, the flying object according to an aspect of the present disclosure further includes a lower condition detection unit that detects a condition below the fuselage.

In the above-described flying object according to an aspect of the present disclosure, it is preferable that the lower condition detection unit includes at least one of a camera, an image sensor, an infrared sensor, a laser sensor, an ultrasonic sensor, a millimeter wave radar, and a submillimeter wave radar.

In the flight vehicle according to an aspect of the present disclosure, it is preferable that the control unit determines a target position for the body to be dropped based on information detected by the lower condition detection unit, and controls the operation mechanism so that the body is oriented toward the target position for the body to be dropped.

Preferably, the flying object according to an aspect of the present disclosure further includes a determination unit configured to determine whether or not a person is present at the drop target position based on information detected by the lower condition detection unit.

In the flying object according to an aspect of the present disclosure, it is preferable that the control unit changes the target landing position and controls the operation mechanism so that the body is oriented toward the changed target landing position when the determination unit determines that there is a person at the target landing position.

The flying object according to an aspect of the present disclosure may further include a notification unit that generates a warning sound when the determination unit determines that there is a person at the drop target position.

In the flight vehicle according to an aspect of the present disclosure, the control unit controls the operating mechanism so that the vehicle body is directed to a predetermined flight destination.

In the case where the flight vehicle according to the aspect of the present disclosure further includes a remote operation device for remotely operating the propulsion mechanism, the remote operation device preferably includes a display unit for displaying information detected by the lower condition detection unit.

In the above-described flying object according to an aspect of the present disclosure, a flight control device that controls the propulsion mechanism may be provided in the fuselage, and in this case, the control unit is preferably incorporated in the flight control device.

The above-described flying object based on an aspect of the present disclosure may also be an unmanned aircraft.

In a control method of a flight object according to an aspect of the present disclosure, the flight object includes: a body; a propulsion mechanism provided in the body; a lift force generation member provided to the fuselage so as to be deployable; an operation mechanism that is connected to the lift force generation member and operates the lift force generation member in a state where the lift force generation member is deployed; a deployment device that deploys the lift force generation member; a control unit for controlling the operation mechanism; and a drop detection unit that detects a drop of the vehicle body, and when a drop detection signal is given to the deployment device and the control unit, the method for controlling the flying object includes: a step in which the deployment device receives the drop detection signal to deploy the lift force generation member; and a step in which the control unit receives the drop detection signal to start control of the operating mechanism.

Effects of the invention

According to the present disclosure, a flying object capable of guiding a fuselage at the time of dropping and a control method thereof can be realized.

Drawings

Fig. 1 is a diagram showing a state in which the unmanned aerial vehicle according to embodiment 1 is dropped.

Fig. 2 is a view showing a housed state of a lift force generation member of the deployment device shown in fig. 1.

Fig. 3 is a block diagram showing a configuration of a control system of the unmanned aerial vehicle shown in fig. 1.

Fig. 4 is a view showing a deployment device of the unmanned aerial vehicle according to modification 1.

Fig. 5 is a diagram showing a state in which the unmanned aerial vehicle according to embodiment 2 is dropped.

Fig. 6 is a view showing a housed state of the lift force generation member of the deployment device shown in fig. 5.

Fig. 7 is a block diagram showing a configuration of a control system of the unmanned aerial vehicle shown in fig. 5.

Fig. 8 is a view showing a deployment device of the unmanned aerial vehicle according to modification 2.

Fig. 9 is a diagram showing a state in which the unmanned aerial vehicle according to modification 3 falls.

Detailed Description

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The following embodiments exemplify the case where the present invention is applied to an unmanned aircraft, which is an unmanned aircraft as a flying object. In the embodiments described below, the same or common portions are denoted by the same reference numerals in the drawings, and description thereof will not be repeated.

< embodiment 1 >

As shown in fig. 1, an unmanned aircraft 1A according to the present embodiment includes: an aircraft body 1200, and a paraglider device 1100 assembled to the aircraft body 1200. The lift force generation member 1110 (for example, a parafoil) included in the paraglider device 1100 is housed inside the housing container 1151 of the paraglider device 1100 as shown in fig. 2 when the unmanned aerial vehicle 1A is flying normally, and is projected to the outside of the housing container 1151 of the paraglider device 1100 and deployed as shown in fig. 1 when the unmanned aerial vehicle 1A is dropped.

The paraglider device 1100 includes: the lift force generation element 1110, the control cables 1111 and 1112 connected to the lift force generation element 1110 and operating the operation and direction of the lift force generation element 1110, and the deployment device 1115 for deploying the lift force generation element 1110. In fig. 1, the manipulation wire 1111 is located on the left side, and the manipulation wire 1112 is located on the right side.

The aircraft body 1200 includes: the present invention relates to a robot system including a main body 1201, one or more propulsion mechanisms 1202 (e.g., a propeller) assembled to the main body 1201 and propelling the main body 1201, and a plurality of legs 1203 provided at a lower portion of the main body 1201.

As shown in fig. 3, the unmanned aircraft 1A includes, in addition to the aircraft main body 1200 and the paraglider device 1100, a control Unit (a computer having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like) 1420 that controls the steering cables 1111 and 1112, a drop detection Unit 1421, a power supply source 1422, a position detection Unit 1423, a lower condition detection Unit 1424, an image analysis Unit 1425 as a determination Unit, a notification Unit 1426, and a remote control device 1300. The control unit 1420, the drop detection unit 1421, the power supply source 1422, the position detection unit 1423, the lower condition detection unit 1424, the image analysis unit 1425, and the notification unit 1426 are provided in the parachute device 1100 in the present embodiment.

The lift force generation member 1110 is configured to be deployable by a deployment device 1115. As described above, the lift force generation member 1110 is disposed in a non-deployed state as shown in fig. 2 in the initial state, and is deployed by the deployed device 1115 to be in a state as shown in fig. 1.

As shown in fig. 1, the deployment device 1115 is disposed on the fuselage 1201 of the aircraft body 1200. The expansion device 1115 includes: a cup-shaped storage container 1151 that stores the lift force generation member 1110 before being deployed, a plurality of 1 st slings 1113 having one end fixed to the bottom of the storage container 1151, and a plurality of 2 nd slings 1114 having one end connected to the 1 st slings 1113 and the other end connected to the lift force generation member 1110. One end of each of the steering cables 1111 and 1112 is connected to a part of the 2 nd suspension cable 1114, and the other end of each of the steering cables 1111 and 1112 is connected to a drive motor (not shown) provided in the body 1201 of the aircraft body 1200. Here, the steering cables 1111 and 1112 correspond to the operation mechanism as the above-described drive motor.

As shown in fig. 2, the expansion device 1115 further includes: a cylindrical cylinder portion 1152 provided at the inner bottom of the housing container 1151 and having a pyrotechnic actuator (not shown) therein, and 3 pipe portions 1153, 1154, and 1155 connected to the cylinder portion 1152. Tube portions 1153, 1154, 1155 are configured like umbrella ribs, for example. The pyrotechnic actuator is a device that generates gas pressure by burning ignition charge by an igniter, and thus detailed description thereof will be omitted since the pyrotechnic actuator is well known. Here, as a modification, instead of providing the cylinder portion 1152 with the pyrotechnic actuator, one pyrotechnic actuator may be provided inside each of the pipe portions 1153, 1154, and 1155, so that the later-described projectiles 1153a, 1154a, and 1155a can be fired.

The emitter 1153a is inserted into the tube 1153 in a state in which a part thereof is exposed. Similarly, the radiation body 1154a is inserted into the pipe portion 1154 in a state in which a part thereof is exposed. Similarly, the radiation body 1155a is inserted into the pipe portion 1155 in a state in which a part thereof is exposed. The lift force generation member 1110 is connected to the radiator 1153a by the string 1113a and is connected to the radiator 1155a by the string 1113 b. The lift force generation member 1110 is coupled to the radiator 1155a by the string 1113c and is coupled to the radiator 1154a by the string 1113 d.

In such a configuration, the projectiles 1153a, 1154a, 1155a are discharged by the gas pressure generated in the cylinder portion 1152 by the pyrotechnic actuator described above, and the strings 1113a, 1113b, 1113c, 1113d are pulled in the discharge direction, whereby the lift force generation member 1110 is deployed. At this time, the lift force generation member 1110 is fixed to the bottom of the storage container 1151 by one end of the 1 st suspension rope 1113, and is restrained and tied by the 1 st suspension rope 1113. The control unit 1420 controls winding or feeding of the steering cables 1111 and 1112 by the drive motor, thereby adjusting the operation and direction of the deployed lift force generation element 1110. Thereby, the aircraft body 1200 turns so that the traveling direction thereof coincides with the direction of the landing target position described later.

Referring to fig. 3, the drop detection unit 1421 is configured by at least one of an acceleration sensor, a gyro sensor (gyro sensor), an air pressure sensor, a laser sensor, an ultrasonic sensor, an abnormal vibration detection unit that detects abnormal vibration of the propulsion mechanism 1202 (here, a motor that rotates a propeller) provided in the body 1201, and a voltage abnormality detection unit that detects voltage abnormality of a power supply unit (not shown) that supplies power for operating the propulsion mechanism 1202 provided in the body 1201. For example, when the drop detection unit 1421 includes an acceleration sensor, and when the vehicle falls into a predetermined state such as when the acceleration sensor detects an acceleration equal to or higher than a predetermined value (for example, a predetermined acceleration assumed to be dropping), the drop detection unit 1421 gives a drop detection signal indicating that the vehicle body 1201 is dropping to the deployment device 1115 and the control unit 1420. The deployment device 1115, upon receiving the drop detection signal, deploys the lift force generation element 1110, and upon receiving the drop detection signal, the control unit 1420, upon receiving the drop detection signal, starts control of the operation and direction of the lift force generation element 1110 by the steering cables 1111 and 1112. Alternatively, the drop detection unit 1421 may provide the deployment device 1115 and the control unit 1420 with a drop detection signal, for example, when the operation signal from the remote operation device 1300 is not received for a certain period of time.

The power supply source 1422 is provided separately from the above-described power supply unit that supplies power for operating the propulsion mechanism 1202 provided in the main body 1201, and supplies power to the above-described deployment device 1115, the control unit 1420, the drop detection unit 1421, the position detection unit 1423, the lower condition detection unit 1424, the image analysis unit 1425, and the notification unit 1426, respectively. As the power supply source 1422, for example, a lithium ion battery can be used.

The position detection unit 1423 detects position information of the body 1201. The position detection unit 1423 is configured by at least one of a GNSS (Global Navigation Satellite System) device that detects three-dimensional position information of the body 1201 by using an artificial Satellite, a device that acquires three-dimensional position information of the body 1201 by using a base station of a mobile phone, a camera that captures an image of the periphery of the body 1201, a geomagnetic sensor that detects an azimuth angle of the body 1201, and an altitude detection device that detects an altitude of the body 1201, for example. The height detection device is configured by at least one of an air pressure sensor, a laser sensor, an ultrasonic sensor, an infrared sensor, a millimeter wave radar, and a submillimeter wave radar, for example. The control unit 1420 controls the steering cables 1111 and 1112 based on the position information detected by the position detection unit 1423.

The lower condition detection unit 1424 detects a condition below the body 1201. Here, the lower side of the body 1201 is a direction on the ground side as viewed from the body 1201 regardless of the posture of the body 1201. The lower condition detection unit 1424 is configured by at least one of a camera, an image sensor, an infrared sensor, a laser sensor, an ultrasonic sensor, a millimeter wave radar, and a submillimeter wave radar, for example. The control unit 1420 determines the target position for the body 1201 to fall based on the information detected by the lower condition detection unit 1424, and controls the steering cables 1111 and 1112 so that the body 1201 faces the target position.

The image analysis unit 1425 determines the presence or absence of a person at the drop target position based on the information detected by the lower condition detection unit 1424. The notification unit 1426 generates a warning sound when the image analysis unit 1425 determines that a person is present at the drop target position. The image analysis unit 1425 may be configured by hardware, or may be functionally realized by software.

The remote operation device 1300 is used when an operator remotely operates the propulsion mechanism 1202 provided in the aircraft main body 1200. The remote control device 1300 includes: a communication unit (not shown) capable of performing wireless communication with the control unit 1420, and a display unit 1301 that displays information detected by the lower condition detection unit 1424.

According to the unmanned aerial vehicle 1A of the present embodiment, if the drop of the fuselage 1201 is detected by the drop detection unit 1421, the lift force generation member 1110 can be immediately deployed by the deployment device 1115, and the deployed lift force generation member 1110 is controlled by the control unit 1420 via the steering cables 1111 and 1112. As a result, the lift force generated by the lift force generation member 1110 and the air resistance to the lift force generation member 1110 are coupled to each other, whereby the speed of the fuselage 1201 can be decelerated and the speed of the fuselage 1201 can be controlled. Therefore, the impact on the body 1201 at the time of landing can be reduced, and the body 1201 can be guided to the landing target position without causing the body 1201 to be blown by a crosswind to enter a flight-restricted area or the like or to be greatly deviated from the landing target position. Further, since the fall detection unit 1421 is provided, the fall of the fuselage 1201 can be detected instantaneously, and the lift force generation member 1110 can be ejected and deployed by the deployment device 1115 based on the detection. Further, the body 1201 can be safely guided based on the determination of the state of the drop point.

In the present embodiment, the unmanned aerial vehicle 1A is provided with a power supply source 1422 that supplies power to the deployment device 1115, the control unit 1420, and the drop detection unit 1421, separately from a power supply unit that supplies power for operating the propulsion mechanism 1202 provided in the fuselage 1201. If the unmanned aerial vehicle 1A is assumed to be provided with only a power supply unit that supplies power for operating the propulsion mechanism 1202 provided in the fuselage 1201, for example, if all the power is consumed, there is a possibility that the power cannot be received from the power supply unit. That is, even if the power of the power supply unit cannot be supplied any more for some reason, the expansion device 1115, the control unit 1420, and the drop detection unit 1421 can be operated by the power of the power supply source 1422 provided separately from the power supply unit. The power supply source 1422 may be used as a secondary power supply of the power supply unit.

In the present embodiment, the situation below the body 1201 can be recognized based on the information of the below situation detection unit 1424. This makes it possible to determine whether or not the position where the body 1201 should be grounded is appropriate. In addition, the drop target position can be changed according to the downward situation.

In the present embodiment, since the presence or absence of a person is determined by the image analysis unit 1425, it is possible to avoid a collision between the main body 1201 and the person. In addition, in the case where the body 1201 should land on the ground in a place where a person is present by any chance, the warning sound is emitted by the notification unit 1426, and therefore the person can be retracted from the place. This can avoid collision of the body 1201 with a person.

In the present embodiment, the control unit 1420 determines a target landing position of the body 1201 based on the information detected by the lower condition detection unit 1424, and controls the body 1201 to land on the target landing position. Accordingly, the main body 1201 can be guided to a safe landing point.

Further, in the present embodiment, the remote operation device 1300 includes a display unit 1301 that displays information detected by the lower condition detection unit 1424. Therefore, the operator can easily grasp the situation below the body 1201 by visually checking the display unit 1301. That is, the operator can guide the body 1201 to a safe place by grasping the situation below the body 1201.

< modification example based on embodiment 1 >

The above embodiment 1 is merely an example, and various modifications can be made. For example, the following modification 1 can be also employed.

(modification 1)

As shown in fig. 4, a deployment device 1190 according to modification 1 includes a pyrotechnic actuator 1188 and a lift force generation member (for example, a parafoil) 1186. The pyrotechnic actuator 1188 includes: an igniter 1184 having a cup-shaped housing 1185 that contains ignition charge (not shown); a piston 1181 having a recess 1182 and a piston head 1183 integrally formed with the recess 1182; and a bottomed cylindrical housing 1180 that houses the piston 1181 and restricts the advancing direction of the piston 1181.

The lift generation member 1186 is housed in the housing 1180 in a state of being disposed on the piston head 1183. In such a structure, the lift force generation member 1186 can be directly pushed out and deployed by propelling the piston 1181 using the gas pressure generated by the igniter 1184. The open end of the housing 1180 is closed by the cover 1187 in an initial state, and is separated from the open end by pushing out the lift force generation member 1186.

(other modification example)

In embodiment 1 and modification 1 described above, the control unit, the drop detection unit, the power supply source, the position detection unit, the lower condition detection unit, the image analysis unit, and the notification unit are provided in the parachute device, but the present invention is not limited thereto, and some or all of these may be provided in the aircraft body. In the case where the control unit is provided in the aircraft body, the control unit may be incorporated in a flight control device provided in the fuselage. Here, the flight control device is a device that controls the flight of the aircraft body by controlling a propulsion mechanism provided in the fuselage.

In embodiment 1 and modification 1 described above, the notifying unit that generates the warning sound when the image analyzing unit as the determining unit determines that there is a person at the drop target position is used, but the present invention is not limited to this, and for example, a lamp or a smoke pot may be used to warn that evacuation is necessary.

In addition, in the above-described embodiment 1 and modification 1, the case where the parafoil is used as the lift force generation member has been described as an example, but any form of member may be used as the lift force generation member as long as it generates lift force in a deployed state, and in addition, a rogowski parachute, a triangular parachute, or the like may be used.

In addition, in embodiment 1 and modification 1 described above, the case where the control unit is configured to determine the target position for the body to be dropped based on the information detected by the lower condition detection unit and control the operation mechanism so that the body is directed to the target position for the body to be dropped is exemplified, but the control unit may be configured to change the target position for the body to be dropped and further control the operation mechanism so that the body is directed to the target position for the body to be dropped after the change when the determination unit determines that there is a person at the target position for the body to be dropped.

In addition, in embodiment 1 and modification 1 described above, the case where the control unit is configured to determine the landing target position of the body based on the information detected by the lower condition detection unit has been described as an example, but the control unit may instead be configured to control the operation mechanism so that the body is directed to a predetermined destination, for example, when the predetermined destination is close.

Further, in embodiment 1 and modification 1 described above, the case where the present invention is applied to an unmanned aircraft as a flying object, that is, an unmanned aircraft, has been described as an example, but the present invention can be similarly applied to other types of unmanned aircraft or manned aircraft.

< embodiment 1 and modified example based on embodiment 1

The embodiment 1 disclosed above and the modification example based on the embodiment 1 will be summarized as follows.

The flying object according to aspect 1 of the present disclosure includes: a body; a propulsion mechanism provided in the body; a lift force generation member provided to the fuselage so as to be deployable; an operation mechanism that is connected to the lift force generation element and operates the lift force generation element in a state where the lift force generation element is deployed; a deployment device that deploys the lift force generation member; a control unit for controlling the operation mechanism; and a drop detection unit that detects a drop of the main body and applies a drop detection signal to the deployment device and the control unit. In the flying object according to claim 1 of the present disclosure, the deployment device deploys the lift force generation member upon receiving the drop detection signal, and the control unit starts control of the operation mechanism upon receiving the drop detection signal.

With this configuration, if the fall of the body is detected by the fall detection unit, the lift force generation member can be immediately deployed by the deployment device, and the operation of the deployed lift force generation member is controlled by the control unit via the operation mechanism. Therefore, the lift force generated by the lift force generation member and the air resistance to the lift force generation member are coupled to each other, so that the speed of the body can be reduced and the speed of the body can be controlled. This reduces the impact on the body at the time of landing, and guides the body to the landing target position without causing the body to be blown by a crosswind and to enter a flight-restricted area or to be greatly deviated from the landing target position.

In the above-described flying object according to claim 1 of the present disclosure, it is preferable that the deployment device deploy the lift force generation member by a propulsive force based on a gas pressure generated by combustion of an explosive.

With this configuration, the lift force generation member can be instantaneously deployed when the machine body falls down.

In the flight vehicle according to claim 1 of the present disclosure, it is preferable that the deployment device is attached to an outer surface of the fuselage.

With this configuration, by attaching the deployment device to the surface of the body, for example, the side surface of the body, the lift force generation member can be deployed in a state where the body is tilted, and the body can be grounded. By inclining the body in this manner, it is possible to avoid various devices provided in the lower part of the body or the like, or a lithium ion battery or the like that may catch fire from being directly impacted when the body touches the ground.

In the above-described flying object according to claim 1 of the present disclosure, it is preferable that the drop detection unit includes at least one of an acceleration sensor, a gyro sensor, an air pressure sensor, a laser sensor, an ultrasonic sensor, and an abnormal vibration detection device that detects abnormal vibration of the propulsion mechanism.

With this configuration, the falling of the body can be accurately recognized.

The above-described flying object according to aspect 1 of the present disclosure may further include: an electric power supply unit configured to supply electric power for operating the propulsion mechanism; and a power supply source that supplies power to the deployment device, the control unit, and the drop detection unit separately from the power supply unit.

If the unmanned aerial vehicle is provided with only the power supply unit that supplies power for operating the propulsion mechanism, for example, if the power supply unit consumes all of the power, the unmanned aerial vehicle may not receive the power from the power supply unit and may become inoperable. That is, even if the power supply unit cannot supply any more power for some reason, the parachute device can be operated by the power of the power supply source. Further, the power supply source may be used as a secondary power source of the power supply unit.

In the flying object according to claim 1 of the present disclosure, it is preferable that the drop detection unit includes at least one of an acceleration sensor, a gyro sensor, an air pressure sensor, a laser sensor, an ultrasonic sensor, an abnormal vibration detection device that detects abnormal vibration of the propulsion mechanism, and a voltage abnormality detection device that detects voltage abnormality of the power supply unit.

With this configuration, the falling of the body can be accurately recognized.

In the case where the flying object according to claim 1 of the present disclosure further includes a position detection unit that detects position information of the aircraft body, the control unit preferably controls the operation mechanism based on the position information detected by the position detection unit.

With this configuration, the current position of the body can be easily recognized based on the position information of the body detected by the position detection unit, and the drop target position can be determined using the position information. The control unit can appropriately control the operation mechanism based on the position information.

In the flight vehicle according to claim 1 of the present disclosure, when the power supply unit is provided, the position detection unit preferably includes at least one of a GNSS device that acquires the position information using an artificial satellite, a device that acquires the position information using a base station of a mobile phone, a camera that photographs the periphery of the body, a geomagnetic sensor that detects an azimuth angle of the body, and an altitude detection device that detects an altitude of the body.

With this configuration, highly accurate information indicating the position of the body can be obtained.

In the above-described flying object according to claim 1 of the present disclosure, it is preferable that the height detection device includes at least one of an air pressure sensor, a laser sensor, an ultrasonic sensor, an infrared sensor, a millimeter wave radar, and a submillimeter wave radar.

With this configuration, highly accurate information indicating the height of the body can be obtained.

Preferably, the flying object according to claim 1 of the present disclosure further includes a lower condition detection unit that detects a condition below the fuselage.

With this configuration, the situation below the body can be recognized based on the information detected by the below situation detection unit. This makes it possible to determine whether or not the position at which the body should land is appropriate. In addition, the drop target position can be changed according to the downward situation.

In the above-described flying object according to claim 1 of the present disclosure, it is preferable that the lower condition detection unit includes at least one of a camera, an image sensor, an infrared sensor, a laser sensor, an ultrasonic sensor, a millimeter wave radar, and a submillimeter wave radar.

With this configuration, highly accurate information indicating the state of the lower part of the body can be obtained. This makes it possible to determine the drop target position of the body with high reliability.

In the flight vehicle according to claim 1 of the present disclosure, it is preferable that the control unit determines a target position for the body to be dropped based on information detected by the lower condition detection unit, and controls the operation mechanism so that the body is oriented toward the target position for the body to be dropped.

With this configuration, the landing target position of the body is determined based on the information detected by the lower condition detection unit, and therefore the body can be landed at a safe landing point.

Preferably, the flying object according to claim 1 of the present disclosure further includes a determination unit configured to determine whether or not a person is present at the drop target position based on information detected by the lower condition detection unit.

With this configuration, the presence or absence of a person is determined by the determination unit, so that a collision between the body and the person can be avoided.

The flying object according to claim 1 of the present disclosure may further include a notification unit that generates a warning sound when the determination unit determines that there is a person at the drop target position.

With this configuration, even in a situation where the body should land on the floor in a certain place by any chance, the warning sound is generated by the notification unit, and therefore, the person can be retracted from the place. This can avoid the collision of the body with a person.

In the case where the flying object according to claim 1 of the present disclosure may further include a remote operation device for remotely operating the propulsion mechanism, the remote operation device preferably includes a display unit for displaying information detected by the lower condition detection unit.

With this configuration, the operator can easily grasp the situation below the body by visually checking the display unit.

In the above-described flying object according to claim 1 of the present disclosure, a flight control device that controls the propulsion mechanism may be provided in the fuselage, and in this case, the control unit is preferably incorporated in the flight control device.

With this configuration, the weight of the control unit of the parachute device is reduced, and the weight of the parachute device can be reduced accordingly.

The above-described flying object according to aspect 1 of the present disclosure may be an unmanned aircraft.

With this configuration, the risk of the unmanned aircraft due to a drop accident can be greatly reduced.

In a control method of a flight object according to the 1 st aspect of the present disclosure, the flight object includes: a body; a propulsion mechanism provided in the body; a lift force generation member provided to the fuselage so as to be deployable; an operation mechanism that is connected to the lift force generation member and operates the lift force generation member in a state where the lift force generation member is deployed; a deployment device that deploys the lift force generation member; a control unit for controlling the operation mechanism; and a drop detection unit that detects a drop of the aircraft body, and when a drop detection signal is given to the deployment device and the control unit, the method for controlling the aircraft includes: a step in which the deployment device receives the drop detection signal to deploy the lift force generation member; and a step in which the control unit receives the drop detection signal to start control of the operating mechanism.

With this configuration, when the fall of the body is detected by the fall detection unit, the lift force generation member can be immediately deployed by the deployment device, and the operation of the lift force generation member after deployment is controlled by the control unit via the operation mechanism. Therefore, the lift force generated by the lift force generation member and the air resistance to the lift force generation member are coupled to each other, so that the speed of the body can be reduced and the speed of the body can be controlled. This reduces the impact on the body at the time of landing, and guides the body to the landing target position without causing the body to be blown by a crosswind and to enter a flight-restricted area or to be greatly deviated from the landing target position.

< embodiment 2 >

As shown in fig. 5, the unmanned aircraft 1B according to the present embodiment includes an aircraft body 2200, a parachute device 2100 incorporated in the aircraft body 2200, and a propulsion mechanism control device provided in the aircraft body 2200. The lift force generation member 2110 (for example, a parafoil) included in the parachute device 2100 is stored inside the storage container 2151 of the parachute device 2100 as shown in fig. 6 when the unmanned aerial vehicle 1B is flying in a normal manner, and is projected to the outside of the storage container 2151 of the parachute device 2100 and deployed when the unmanned aerial vehicle 1B falls as shown in fig. 5.

The paraglider device 2100 includes the lift force generation member 2110 described above, and a deployment device 2115 connected to the lift force generation member 2110 for deploying the lift force generation member 2110.

The aircraft main body 2200 includes a fuselage 2201, one or more propulsion mechanisms 2202 (e.g., a propeller and a drive motor 2204 (see fig. 7) for driving the propeller) which are incorporated in the fuselage 2201 and propel the fuselage 2201, and a plurality of legs 2203 provided at a lower portion of the fuselage 2201.

As shown in fig. 7, the propulsion mechanism control device includes a control unit (a computer having a CPU, a ROM, a RAM, and the like) 2420 that controls the drive motor 2204 of the propulsion mechanism 2202, a drop detection unit 2421, a power supply unit 2422, a position detection unit 2423, a lower condition detection unit 2424, an image analysis unit 2426 as a determination unit, and a notification unit 2427. Since the propulsion mechanism control device is provided in the aircraft main body 2200 as described above, these control unit 2420, drop detection unit 2421, power supply source 2422, position detection unit 2423, lower condition detection unit 2424, image analysis unit 2426, and notification unit 2427 are also provided in the aircraft main body 2200.

The lift force generation element 2110 is configured to be deployable by a deployment device 2115. As described above, the lift force generation member 2110 is disposed in a non-deployed state as shown in fig. 6 in an initial state, and is deployed by the deployment device 2115 to be in a state shown in fig. 5.

As shown in fig. 5, the deployment device 2115 is disposed on the fuselage 2201 of the aircraft body 2200. In more detail, the deployment device 2115 is provided on the side of the body 2201. The deployment device 2115 includes: a cup-shaped storage container 2151 that stores the lift force generation member 2110 before deployment; a plurality of 1 st slings 2112 having one end fixed to the bottom of the storage container 2151; a plurality of 2 nd slings 2113 having one end connected to the 1 st sling 2112; and a plurality of 3 rd slings 2114 having one end connected to the 2 nd sling 2113 and the other end connected to the lift force generation element 2110.

As shown in fig. 6, the deployment device 2115 further includes: a support post 2152 provided at the inner bottom of the storage container 2151; and 3 tube portions 2153, 2154, 2155, which are internally provided with pyrotechnic actuators 2160, 2161, 2162 and are connected to the support posts 2152. A pyrotechnic actuator 2160 is disposed within tube 2153, a pyrotechnic actuator 2161 is disposed within tube 2154, and a pyrotechnic actuator 2162 is disposed within tube 2155. The tube portions 2153, 2154, 2155 are arranged like umbrella ribs, for example. In addition, since the pyrotechnic actuators 2160, 2161, 2162 are well known, detailed description is omitted, but the pyrotechnic actuators are devices that generate gas pressure by burning ignition charge by an igniter and propel a piston by the gas pressure.

The emitter 2153a is inserted into the tube 2153 with a part thereof exposed. Similarly, the emitter 2154a is inserted into the tube portion 2154 with a part thereof exposed. Further, similarly, the emitter 2155a is inserted into the pipe portion 2155 with a part thereof exposed. The lift force generation member 2110 is coupled to the emitter 2153a by a string 2113a, and is coupled to the emitter 2155a by a string 2113 b. The lift force generation member 2110 is coupled to the emitter 2155a by a string 2113c, and is coupled to the emitter 2154a by a string 2113 d.

In such a configuration, the projectile 2153a is launched by the advancement of the piston of the pyrotechnic actuator 2160, the projectile 2154a is launched by the advancement of the piston of the pyrotechnic actuator 2161, and the projectile 2155a is launched by the advancement of the piston of the pyrotechnic actuator 2162, so that the strings 2113a, 2113b, 2113c, 2113d are pulled in the launching direction, and the lift force generation member 2110 is deployed. At this time, the lift force generation member 2110 is fixed to the bottom of the storage container 2151 by one end of the 1 st suspension wire 2112, and is restrained and tied by the 1 st suspension wire 2112.

Referring to fig. 7, the drop detection unit 2421 is configured by at least one of an acceleration sensor, a gyro sensor, an air pressure sensor, a laser sensor, an ultrasonic sensor, an abnormal vibration detection unit that detects abnormal vibration of the propulsion mechanism 2202 (here, a motor that rotates a propeller) provided in the body 2201, and a voltage abnormality detection unit that detects voltage abnormality of a power supply unit (not shown) that supplies electric power for operating the propulsion mechanism 2202 provided in the body 2201, for example. For example, when the fall detection unit 2421 includes an acceleration sensor, and when the vehicle falls into a predetermined state such as when the acceleration sensor detects an acceleration equal to or higher than a predetermined value (for example, a predetermined acceleration assumed to be falling), the fall detection unit 2421 gives a fall detection signal indicating that the vehicle body 2201 is falling to the deployment device 2115 and the control unit 2420.

The deployment device 2115 receives the drop detection signal to deploy the lift force generation member 2110, and the control unit 2420 receives the drop detection signal to control the drive motor 2204 of the propulsion mechanism 2202, thereby guiding the main body 2201 to a drop target position described later. In the present embodiment, the control unit 2420 controls the drive motor 2204 even when the unmanned aerial vehicle 1B is flying normally. The rotation speed of the drive motor 2204 in normal flight and the rotation speed of the drive motor 2204 in guidance at the time of landing may be the same or different from each other.

The power supply source 2422 is provided separately from the above-described power supply unit that supplies power for operating the propulsion mechanism 2202 provided in the main body 2201 during normal flight, and supplies power to the above-described deployment device 2115, control unit 2420, drop detection unit 2421, position detection unit 2423, lower condition detection unit 2424, image analysis unit 2426, and notification unit 2427. Further, the power supply source 2422 may supply power to the drive motor 2204 of the propulsion mechanism 2202 during the fall, in addition to the above-described power supply to each part. As the power supply source 2422, for example, a lithium ion battery can be used.

The position detection unit 2423 detects position information of the main body 2201. The position detection unit 2423 is configured by at least one of a GNSS device that detects three-dimensional position information of the body 2201 using an artificial satellite, a device that acquires three-dimensional position information of the body 2201 using a base station of a mobile phone, a camera that photographs the periphery of the body 2201, a geomagnetic sensor that detects an azimuth angle of the body 2201, and an altitude detection device that detects an altitude of the body 2201, for example. The height detection device is configured by at least one of an air pressure sensor, a laser sensor, an ultrasonic sensor, an infrared sensor, a millimeter wave radar, and a submillimeter wave radar. The control unit 2420 determines a target drop position of the main body 2201 based on the position information detected by the position detection unit 2423, and controls the drive motor 2204 of the propulsion mechanism 2202 so that the main body 2201 faces the target drop position.

The lower condition detection unit 2424 detects a condition below the body 2201. Here, the lower side of the body 2201 is a direction on the ground side as viewed from the body 2201 regardless of the posture of the body 2201. The lower condition detection unit 2424 is configured from at least one of a camera, an image sensor, an infrared sensor, a laser sensor, an ultrasonic sensor, a millimeter wave radar, and a submillimeter wave radar, for example. The control unit 2420 determines the target landing position of the body 2201 based on the position information of the body 2201 detected by the position detection unit 2423 and the information detected by the lower condition detection unit 2424.

The image analysis unit 2426 determines the presence or absence of a person at the drop target position based on the information detected by the lower condition detection unit 2424. The notification unit 2427 generates a warning sound when the image analysis unit 2426 determines that a person is present at the drop target position. The image analysis unit 2426 may be configured by hardware, or may be functionally realized by software.

According to the unmanned aerial vehicle 1B of the present embodiment, when the fuselage 2201 falls, the lift force generation member 2110 can be deployed immediately by the deployment device 2115. Accordingly, the lift force generated by the lift force generation member 2110 and the air resistance against the lift force generation member 2110 are coupled to each other, so that the speed of the body 2201 can be reduced, and therefore, the impact on the body 2201 at the time of landing can be sufficiently reduced. When the machine body 2201 is dropped, the control unit 2420 controls the operation of the propulsion mechanism 2202, whereby the machine body 2201 can be guided to the drop target position. This eliminates the case where the body 2201 is blown by a crosswind and enters a flight-restricted area or the like, or is greatly deviated from a drop target position. Further, by providing the drop detection unit 2421, the drop of the machine body 2201 can be detected instantaneously, and the lift force generation member 2110 can be ejected and deployed by the deployment device 2115 based on the detection. Further, the body 2201 can be safely guided based on the determination of the state of the drop point.

In the present embodiment, the propulsion mechanism 2202 provided in the body 2201 can be used both during normal flight and during landing. As described above, by using the propulsion mechanism 2202 in combination with the use of guiding the body 2201 to the target landing position when the body 2201 is dropped and the use of normal flight, it is not necessary to separately provide a propulsion mechanism for guiding the body 2201 when the body is dropped.

In the present embodiment, by attaching the deployment device 2115 to the side surface of the body 2201, the body 2201 can be brought into a state of being inclined and the body 2201 can be grounded in a state where the lift force generation member 2110 is deployed. By tilting the body 2201 in this manner, various devices provided in the lower part of the body 2201 or the like, lithium ion batteries that may be ignited, and the like can be prevented from being directly impacted when they land.

In the present embodiment, the unmanned aerial vehicle 1B is provided with a power supply source 2422 for supplying power to the propulsion mechanism control device, separately from a power supply unit for supplying power for operating the propulsion mechanism 2202 provided in the fuselage 2201. If the unmanned aerial vehicle 1B is assumed to be provided with only a power supply unit that supplies power for operating the propulsion mechanism 2202 provided in the fuselage 2201, there is a possibility that the power supply unit cannot receive power if all of the power is consumed, for example. That is, even if the electric power of the electric power supply unit cannot be supplied any more for some reason, the propulsion mechanism control device can be operated by the electric power of the electric power supply source 2422 provided separately from the electric power supply source. The power supply source 2422 may be used as a sub-power source of the power supply unit.

In the present embodiment, the situation below the main body 2201 can be recognized based on the information detected by the below situation detection unit 2424. This makes it possible to determine whether or not the position where the body 2201 should be grounded is appropriate. In addition, the drop target position can be changed according to the downward situation.

In the present embodiment, since the presence or absence of a person is determined by the image analysis unit 2426, it is possible to avoid a collision between the body 2201 and a person. In addition, in the case where the body 2201 should land on the ground in a place where a person is present, the warning sound is generated by the notification unit 2427, and therefore the person can be retracted from the place. This can avoid collision of the body 2201 with a person.

In addition, in the present embodiment, the current position of the body 2201 can be easily recognized based on the position information of the body 2201 detected by the position detection unit 2423. The position information can be used as information for determining the target position of the body 2201 for the fall.

In the present embodiment, since the drop target position of the main body 2201 is determined based on the position information detected by the position detection unit 2423, it becomes easy to guide the main body 2201 to the drop target position.

< modification example based on embodiment 2 >

The above embodiment 2 is merely an example, and various modifications can be made. For example, the following modifications 2 and 3 may be employed.

(modification 2)

As shown in fig. 8, the deployment device 2190 according to modification 2 is configured such that, for example, a pyrotechnic actuator and a lift force generation member are provided in a case having one end opened, and the lift force generation member is directly pushed out and deployed by the propulsive force of a piston of the pyrotechnic actuator.

Specifically, the deployment device 2190 is provided with a pyrotechnic actuator 2163 and a lift generating member 2186. The pyrotechnic actuator 2163 includes: an igniter 2184 having a cup-shaped housing 2185 that houses an ignition charge (not shown); a piston 2181 having a recess 2182 and a piston head 2183 integrally formed with the recess 2182; and a bottomed cylindrical housing 2180 which houses the piston 2181 and restricts the advancing direction of the piston 2181.

The lift generation member 2186 is a so-called parachute in which it is housed in the housing 2180 in a state of being disposed on the piston head 2183. In such a configuration, the lift force generation member 2186 can be directly pushed out and deployed by pushing the piston 2181 by the gas pressure generated by the igniter 2184. Further, the open end of the housing 2180 is closed by the cover 2187 in an initial state, and is separated from the open end by the pushing out of the lift force generation member 2186.

(modification 3)

As shown in fig. 9, the unmanned aerial vehicle 1C according to modification 3 and the propulsion mechanism 3202 that operates during normal flight are provided with a drop-time propulsion device (a motor, a propeller, and the like) 3116 that propels the unmanned aerial vehicle 1C during dropping (that is, during guidance to a target dropping position). The paraglider device 3100 having such a structure is a so-called motor paraglider device. The pusher 3116 for dropping is provided on a side surface of the storage container 3151, for example.

Here, the other configurations of the unmanned aircraft 1C according to modification 3 are basically the same as those of the unmanned aircraft 1B according to embodiment 2 described above, and redundant description thereof will be omitted here. In fig. 9, the structure given the same reference numeral for the last 3-digit position as the last 3-digit position of the reference numeral given to the structure shown in fig. 5 is substantially the same as the structure described in fig. 5.

In the case of such a configuration, particularly in the case where the propulsion mechanism 3202 that operates during normal flight is damaged, the body 3201 can be guided to the drop target position by appropriately operating and controlling the propulsion device 3116 during drop.

(other modification example)

In embodiment 2, and modifications 2 and 3 described above, the control unit, the drop detection unit, the power supply source, the position detection unit, the lower condition detection unit, the image analysis unit, and the notification unit are provided on the aircraft body, but the present invention is not limited thereto, and some or all of these may be provided on the parachute device.

In embodiment 2, and modifications 2 and 3 described above, a notification unit is used that generates a warning sound when the image analysis unit as the determination unit determines that there is a person at the drop target position, but the present invention is not limited to this, and for example, a lamp or a smoke pot may be used to warn that evacuation is necessary.

In addition, in the above-described embodiment 2 and the 2 nd and 3 rd modifications, the case where the parafoil is used as the lift force generation member has been described as an example, but any form of members may be used as the lift force generation member as long as the members generate the lift force in the deployed state, and in addition, a rogowski parachute, a triangular parachute, or the like may be used.

In addition, in the above-described embodiment 2 and the modifications 2 and 3, the case where the control unit is configured to determine the target position for the body to be dropped based on the information detected by the lower condition detection unit and to control the propulsion mechanism so as to direct the body to the target position for the body to be dropped is exemplified, but when the determination unit determines that there is a person at the target position for the body to be dropped, the control unit may be configured to change the target position for the body to be dropped and further control the propulsion mechanism so as to direct the body to the target position for the body to be dropped after the change.

In addition, in the above-described embodiment 2 and the 2 nd and 3 rd modifications, the case where the control unit is configured to determine the landing target position of the body based on the information detected by the lower condition detection unit is described as an example, but the control unit may instead be configured to control the propulsion mechanism so that the body is directed to the predetermined destination, for example, when the predetermined destination is close.

In the unmanned aerial vehicle according to embodiment 2, and modifications 2 and 3 described above, the remote operation device may be provided as in the case of embodiment 1 described above. Here, the remote operation device is a device used when an operator remotely operates a propulsion mechanism provided in a body. In this case, the remote operation device preferably includes a display unit that displays information detected by the lower condition detection unit. With this configuration, the operator can easily grasp the situation below the body by visually checking the display unit, and as a result, the body can be guided to a safe place.

Further, in embodiment 2 and the 2 nd and 3 rd modifications described above, the case where the present invention is applied to an unmanned aircraft as a flying object, that is, an unmanned aircraft, has been described as an example, but the present invention can be similarly applied to other types of unmanned aircraft or manned aircraft.

< embodiment 2 and a summary of modifications of embodiment 2

The embodiment 2 disclosed above and the modification example based on the embodiment 2 will be summarized as follows.

The flying object according to aspect 2 of the present disclosure includes: a body; a propulsion mechanism provided in the body; a lift force generation member provided to the fuselage so as to be deployable; a deployment device that deploys the lift force generation member; a control unit for controlling the propulsion mechanism; and a drop detection unit that detects a drop of the main body and applies a drop detection signal to the deployment device and the control unit. In the flying object according to claim 2 of the present disclosure, the deployment device is configured to deploy the lift force generating member upon receiving the drop detection signal, and the control unit is configured to determine a target drop position of the fuselage upon receiving the drop detection signal and control the propulsion mechanism so that the fuselage is oriented toward the target drop position.

With this configuration, the lift force generation member can be deployed immediately by the deployment device when the fuselage falls. Thus, the lift force generated by the lift force generation member and the air resistance to the lift force generation member are coupled to each other, and the speed of the body can be reduced, so that the impact on the body at the time of landing can be sufficiently reduced. Further, the control unit controls the operation of the propulsion mechanism, thereby guiding the body to the drop target position. This eliminates the case where the body is blown by a crosswind and enters a flight-restricted area or the like, or is greatly deviated from a drop target point.

In the flying object according to claim 2 of the present disclosure, the propulsion mechanism may be used during normal flight of the flying object.

With this configuration, the above-described propulsion mechanism can be used for both the purpose of guiding the body to the drop target position when the body is dropped and the purpose of normal flight, and it is not necessary to separately provide a propulsion mechanism for the above-described guidance.

In the above-described flying object according to claim 2 of the present disclosure, the propulsion mechanism may include a propulsion mechanism used when the flying object normally flies and a propulsion mechanism used only when the flying object falls, and in this case, the propulsion mechanism that the control unit controls so that the fuselage is directed to the drop target position by receiving the drop detection signal may be a propulsion mechanism used only when the flying object falls.

With this configuration, the body can be guided to the drop target position even when the propulsion mechanism, which operates particularly in normal flight, is damaged.

In the above-described flying object according to claim 2 of the present disclosure, it is preferable that the deployment device deploy the lift force generation member by a propulsive force based on a gas pressure generated by combustion of an explosive.

With this configuration, the lift force generation member can be instantaneously deployed when the fuselage falls.

In the flight vehicle according to claim 2 of the present disclosure, it is preferable that the deployment device is attached to an outer surface of the fuselage.

With this configuration, by attaching the deployment device to the surface of the body, for example, the side surface of the body, the lift force generation member can be deployed in a state where the body is tilted, and the body can be grounded. By inclining the body in this manner, it is possible to avoid various devices provided in the lower part of the body or the like, or a lithium ion battery or the like that may catch fire from being directly impacted when the body touches the ground.

In the flying object according to claim 2 of the present disclosure, the drop detection unit preferably includes at least one of an acceleration sensor, a gyro sensor, an air pressure sensor, a laser sensor, an ultrasonic sensor, and an abnormal vibration detection device that detects abnormal vibration of the propulsion mechanism.

With this configuration, the falling of the body can be accurately recognized.

Preferably, the flying object according to claim 2 of the present disclosure further includes a power supply unit configured to supply power for operating the propulsion mechanism, and a power supply source configured to supply power to the deployment device, the control unit, and the drop detection unit separately from the power supply unit.

If it is assumed that the unmanned aerial vehicle is provided with only the power supply unit that supplies power for operating the propulsion mechanism, for example, if the power supply unit consumes all of the power, the unmanned aerial vehicle may not receive the power from the power supply unit and may become inoperable. That is, even if the electric power of the electric power supply unit cannot be supplied any more for some reason, the propulsion mechanism control device can be operated by the electric power of the electric power supply source. Further, the power supply source may be used as a secondary power source of the power supply unit.

In the flying object according to claim 2 of the present disclosure, when the power supply unit is provided, the drop detection unit preferably includes at least one of an acceleration sensor, a gyro sensor, an air pressure sensor, a laser sensor, an ultrasonic sensor, an abnormal vibration detection device that detects abnormal vibration of the propulsion mechanism, and a voltage abnormality detection device that detects voltage abnormality of the power supply unit.

With this configuration, the falling of the body can be accurately recognized.

In the case where the flying object according to claim 2 of the present disclosure further includes a position detection unit that detects position information of the body, it is preferable that the control unit determines the target drop position based on the position information detected by the position detection unit, and controls the propulsion mechanism to direct the body toward the target drop position based on the position information detected by the position detection unit.

With this configuration, the current position of the body can be easily recognized based on the position information of the body detected by the position detection unit, and the drop target position can be determined using the position information. Further, the control unit can appropriately control the propulsion mechanism based on the position information.

In the flight vehicle according to claim 2 of the present disclosure, it is preferable that the position detection unit includes at least one of a GNSS device that acquires the position information using an artificial satellite, a device that acquires the position information using a base station of a mobile phone, a camera that photographs the periphery of the body, a geomagnetic sensor that detects an azimuth angle of the body, and an altitude detection device that detects an altitude of the body.

With this configuration, highly accurate information indicating the position of the body can be obtained.

In the above-described flying object according to claim 2 of the present disclosure, it is preferable that the height detection device includes at least one of an air pressure sensor, a laser sensor, an ultrasonic sensor, an infrared sensor, a millimeter wave radar, and a submillimeter wave radar.

With this configuration, highly accurate information indicating the height of the body can be obtained.

Preferably, the flying object according to claim 2 of the present disclosure further includes a lower condition detection unit that detects a condition below the fuselage.

With this configuration, the situation below the body can be recognized based on the information from the below situation detection unit. This makes it possible to determine whether or not the position at which the body should land is appropriate. In addition, the drop target position can be changed according to the downward situation.

In the above-described flying object according to claim 2 of the present disclosure, it is preferable that the lower condition detection unit includes at least one of a camera, an image sensor, an infrared sensor, a laser sensor, an ultrasonic sensor, a millimeter wave radar, and a submillimeter wave radar.

With this configuration, highly accurate information indicating the state of the lower part of the body can be obtained. This makes it possible to determine the drop target position of the body with high reliability.

Preferably, the flying object according to claim 2 of the present disclosure further includes a determination unit configured to determine the presence or absence of a person at the drop target position based on information detected by the lower condition detection unit.

With this configuration, the presence or absence of a person is determined by the determination unit, so that a collision between the body and the person can be avoided.

The flying object according to claim 2 of the present disclosure may further include a notification unit that generates a warning sound when the determination unit determines that there is a person at the drop target position.

With this configuration, even in a situation where the body should land on the floor in a certain place, the warning sound is generated by the notification unit, and therefore, the person can be retracted from the place. This can avoid the collision of the body with a person.

In the case where the flight vehicle according to claim 2 of the present disclosure may further include a remote operation device for remotely operating the propulsion mechanism, the remote operation device preferably includes a display unit for displaying information detected by the lower condition detection unit.

With this configuration, the operator can easily grasp the situation below the body by visually checking the display unit.

The above-described flying object according to the 2 nd aspect of the present disclosure may be an unmanned aircraft.

With this configuration, the risk of the unmanned aircraft due to a drop accident can be greatly reduced.

In a control method of a flight object according to claim 2 of the present disclosure, the flight object includes: a body; a propulsion mechanism provided in the body; a lift force generation member provided to the fuselage so as to be deployable; a deployment device that deploys the lift force generation member; a control unit for controlling the propulsion mechanism; and a drop detection unit that detects a drop of the vehicle body, and when a drop detection signal is given to the deployment device and the control unit, the method for controlling the flying object includes: a step in which the deployment device receives the drop detection signal to deploy the lift force generation member; a step in which the control unit determines a target position for the body to be dropped by receiving the drop detection signal; and a step in which the control unit controls the propulsion mechanism so that the body faces the drop target position.

With this configuration, the lift force generation member can be deployed immediately by the deployment device when the fuselage falls. Thus, the lift force generated by the lift force generation member and the air resistance to the lift force generation member are coupled to each other, and the speed of the body can be reduced, so that the impact on the body at the time of landing can be sufficiently reduced. Further, the control unit controls the operation of the propulsion mechanism, thereby guiding the body to the drop target position. This eliminates the case where the body is blown by a crosswind and enters a flight-restricted area or the like, or is greatly deviated from a drop target point.

All the points of the above-described embodiments and their modifications disclosed herein are examples and are not intended to be limiting. The technical scope of the present invention is defined by the claims, and includes all modifications equivalent in meaning and scope to the description of the claims.

Description of the reference numerals

1A, 1B, 1C unmanned aerial vehicle, 1100 paraglider device, 1110 lift generating member, 1111, 1112 control wire, 1113 1 st sling, 1113a, 1113B, 1113C, 1113d rope, 1114 nd sling, 1115 expanding device, 1151 storage container, 1152 cylinder portion, 1153 tube portion, 1153a projectile, 1154 tube portion, 1154a projectile, 1155 tube portion, 1155a projectile, 1180 casing, 1181 piston, 1182 recess, 1183 piston head, 1184 igniter, 1185 casing, 1186 lift generating member, 1187 cap, 1188 pyrotechnic actuator, 1190 expanding device, 1200 aircraft body, 1201 fuselage, 1202 propulsion mechanism, 1203 foot portion, 1300 remote operation device, 1301 display portion, 1420 control portion, 1421 drop detecting portion, 1422 power supply source, 1423 position detecting portion, 1424 drop condition detecting portion, 1425 image analyzing unit, 1426 notification unit, 2100 glider device, 2110 lift force generating member, 2112 1 st suspension wire, 2113 nd suspension wire, 2113a, 2113b, 2113c, 2113d wire, 2114 rd suspension wire, 2115 deployment device, 2151 storage container, 2152 support column, 2153 tube, 2153a projectile, 2154 tube, 2154a projectile, 2155 tube, 2155a projectile, 2160, 2161, 2162, 2163 pyrotechnic actuator, 2180 housing, 2181 piston, 2182 recess, 2183 piston head, 2184 igniter, 2185 housing, 2186 generating member, 2187 cover, 2190 deployment device, aircraft body, 2201 fuselage 2202, propulsion mechanism, 2203 foot, 2204 drive motor, 2420 control unit, 2421 descent detection unit, 2422 power supply source, 2423 position detection unit, 2424 descent detection unit, 2426 image analysis section, 2427 notification section, 3100 paraglider device, 3110 lift force generation member, 3112 st suspension wire, 3113 nd suspension wire, 3114 rd suspension wire, 3115 deployment device, 3116 push-in device when dropped, 3151 storage container, 3200 aircraft body, 3201 fuselage, 3202 push-in mechanism, 3203 foot.