JP2018135024A - Flying vehicle for unmanned aircraft transportation and transportation method of unmanned aircraft - Google Patents

Abstract

An object of the present invention is to suitably transport an unmanned aerial vehicle with a simple configuration and start flying. A canister 2 containing an unmanned UAV and having an opening 21 through which the unmanned UAV can be inserted is connected to each of the canister 2 and the unmanned UAV, A drag chute 4 that decelerates the canister 2 by being released from the opening 21 to the outside of the canister 2 when the unmanned transport vehicle 1 is in flight, and the drag chute 4 and each of the canister 2 and the unmanned aerial vehicle UAV. and a decoupling mechanism capable of individually decoupling the connection. After the canister 2 is decelerated, the decoupling mechanism releases the connection between the drag chute 4 and the canister 2 to pull the unmanned aerial vehicle UAV out of the canister 2 through the opening 21, and then disconnects the drag chute 4 and the unmanned aerial vehicle UAV. disconnect from [Selection drawing] Fig. 4

Description

  The present invention relates to a technique for transporting an unmanned aerial vehicle, and in particular, is a technique useful for transporting an unmanned aerial vehicle to a target airspace at high speed and suitably starting a flight.

In general, an unmanned aerial vehicle capable of staying for a certain time does not have a structural strength that can withstand a high dynamic pressure environment in order to reduce weight and the like. For this reason, this type of unmanned aerial vehicle has a relatively slow flight speed and takes time to advance to the target airspace.
On the other hand, an unmanned aerial vehicle capable of high-speed flight can reach the target airspace in a short time, but due to its high weight, the hover time in the target airspace is shortened.
In other words, with the flight performance of the unmanned aircraft itself, it is difficult to achieve both advancing into the target airspace in a short period of time and a fixed time in the target airspace.

To deal with this problem, it is conceivable to apply a structure that protects a payload such as an artificial satellite with a fairing when the rocket is launched (for example, see Patent Document 1).
In other words, unmanned aircraft that can stay for a certain period of time is transported at high speed while being protected by fairing, and when the target airspace is reached, the fairing is divided and separated to expose the unmanned aircraft and then transport the unmanned aircraft You just have to leave the body.

JP 2011-235793 A

  However, when this fairing structure is applied, since the fairing is divided and separated in the atmosphere, unlike the operation with the rocket, the separated fairing may collide with the unmanned aircraft. Further, there is a demerit that the structure becomes complicated because a fairing dividing mechanism is required.

  The present invention has been made in order to solve the above-described problems, and it is an object of the present invention to suitably transport an unmanned aerial vehicle with a simple configuration to start flight.

In order to achieve the above object, the invention according to claim 1 is an unmanned aerial vehicle for transporting an unmanned aerial vehicle,
A housing member for housing the unmanned aerial vehicle and having an opening through which the unmanned aircraft can be inserted;
It is housed in the housing member, connected to each of the housing member and the unmanned aerial vehicle, and released from the opening to the outside of the housing member when the unmanned aerial vehicle is flying. Deceleration means for decelerating the housing member;
Connection release means capable of individually releasing connection between the speed reduction means and each of the housing member and the unmanned aircraft;
With
After the accommodation member is decelerated by the speed reduction means, the connection release means releases the connection between the speed reduction means and the accommodation member and pulls the unmanned aircraft out of the accommodation member from the opening. The connection between the decelerating means and the unmanned aerial vehicle is released.

The invention described in claim 2 is the flying vehicle for unmanned aerial vehicles according to claim 1,
The decelerating means is connected to each of the housing member and the unmanned aerial vehicle so that a deceleration load when the housing member is decelerated does not act on the unmanned aircraft.

The invention described in claim 3 is the flying vehicle for unmanned aerial vehicles according to claim 1 or 2,
The deceleration means is
A drag chute that spreads an umbrella and decelerates the housing member, and is connected to a periphery of the opening of the housing member;
After the accommodation member is decelerated, the accommodation member is lowered and suspended while the opening is directed upward in the vertical direction.

The invention according to claim 4 is the unmanned aerial vehicle flying body according to any one of claims 1 to 3,
A lid member detachably coupled to the housing member while closing the opening;
Separating means for separating the lid member from the housing member and opening the opening;
Is further provided.

The invention according to claim 5 is the flying vehicle for unmanned aerial vehicles according to any one of claims 1 to 4,
The opening is opened in a direction opposite to the flight direction of the housing member.

  The invention according to claim 6 is a method for transporting an unmanned aerial vehicle having the same characteristics as the flying vehicle for unmanned aircraft transportation according to claim 1.

According to the present invention, when the flying vehicle for unmanned aerial vehicles containing an unmanned aerial vehicle in a housing member is flying, the speed reducing means is discharged from the opening to the outside of the housing member, and the housing member is decelerated. The Then, after the housing member is decelerated, the connection between the speed reducing means and the housing member is released and the unmanned aircraft is pulled out of the housing member from the opening, and then the connection between the speed reducing means and the unmanned aircraft is released.
As a result, the unmanned aircraft can be pulled out from the opening through which the speed reduction means is released without dividing the housing member after the unmanned aircraft is safely transported in a state of being protected in the housing member.
Therefore, unlike the case where the fairing structure is applied, the unmanned aircraft can be suitably transported and started to fly with a simple configuration.

It is a figure which shows the flying object for unmanned aircraft transportation in embodiment, Comprising: (a) is a figure which shows the state which accommodated the drag chute in the canister, (b) is a figure which shows the state which discharge | released the drag chute. is there. It is a block diagram which shows the general | schematic control structure of the flying object for unmanned aircraft transportation in embodiment. It is a figure for demonstrating operation | movement of the flying object for unmanned aircraft transportation in embodiment. It is a figure for demonstrating operation | movement of the flying object for unmanned aircraft transportation in embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[Configuration of flying vehicle for unmanned aircraft transport]
First, the configuration of an unmanned aerial vehicle (hereinafter simply referred to as a “transport vehicle”) 1 according to the present embodiment will be described.
FIG. 1 is a view showing a flying vehicle 1 for transportation, in which (a) shows a state in which a drag chute 4 described later is housed in a canister 2, and (b) releases the drag chute 4. It is a figure which shows a state. In FIG. 1, the canister 2 is shown in cross section.

As shown in FIG. 1 (a), the flying vehicle 1 is for high-speed transportation of the drone UAV. The unmanned aerial vehicle UAV is an unmanned aerial vehicle capable of autonomous flight, and is not particularly limited, but is an aircraft capable of flying at a low speed for a fixed time.
Specifically, the flying vehicle 1 includes a canister 2, a lid member 3, and a drag chute (parachute) 4.

The canister 2 is a housing member formed in a substantially conical shape, and the inside thereof is a housing chamber 2a for housing the drone UAV. An unmanned aerial vehicle UAV is accommodated in the accommodation chamber 2a with the wings folded and the front of the aircraft facing the front end side of the canister 2. This canister 2 has a wing corresponding to the flight direction with the tip side as the front side in the flight direction, and has sufficient strength to withstand high-speed flight.
In addition, a rear-facing opening 21 for mainly storing and taking out the unmanned aircraft UAV in the storage chamber 2a is formed on the bottom (rear end) of the canister 2 over substantially the entire bottom. However, the opening 21 may have a size that allows at least the drone UAV to be inserted.
In the following description, the front end side of the canister 2 is “front (front side)” and the bottom side is “rear (rear side) with respect to the direction of the flying vehicle 1 (canister 2). ) ”.

  The lid member 3 closes the opening 21 at the rear end of the canister 2 and rectifies the air flow downstream of the canister 2 during flight. The lid member 3 is coupled to the canister 2 so as to be separable from the canister 2 through a separation mechanism 11 described later.

  The drag chute 4 is a decelerating means for decelerating the flying flying vehicle 1 (canister 2). The drag chute 4 is accommodated in the rear portion of the accommodation chamber 2a in a folded state when not in use, and as shown in FIG. 1B, the canister 2 is opened from the opening 21 by a discharge mechanism 12 described later when used. Released outside, the canopy (umbrella) 41 is widened to decelerate the canister 2.

The drag chute 4 includes a first riser 42 and a second riser 43 that are connected to the canister 2 and the drone UAV. Specifically, the first riser 42 is connected to the canister 2, and the second riser 43 is connected to the drone UAV.
Among these, the first riser 42 is connected to the rear end portion (periphery of the opening 21) of the canister 2. On the other hand, the second riser 43 is connected to the drone UAV through a gripping member 44 connected to the tip (front end) thereof. The holding member 44 normally holds the rear end portion of the drone UAV with an arm or the like. The second riser 43 is longer than the first riser 42 so that the deceleration load by the drag chute 4 acts only on the canister 2 without acting on the drone UAV.
The first riser 42 and the second riser 43 (gripping member 44) are individually disconnected from the canister 2 and the drone UAV by a first connection release mechanism 13 and a second connection release mechanism 14 which will be described later. It has become.

Then, the control structure of the flying vehicle 1 for transportation is demonstrated.
FIG. 2 is a block diagram showing a schematic control configuration of the flying vehicle 1.

  As shown in this figure, the flying vehicle 1 includes a separation mechanism 11, a release mechanism 12, a first connection release mechanism 13, a second connection release mechanism 14, and a control unit 15.

The separation mechanism 11 is a mechanism that separates the lid member 3 from the canister 2.
The release mechanism 12 is a mechanism for releasing the drag chute 4 from the inside of the storage chamber 2 a of the canister 2 through the opening 21.
The first connection release mechanism 13 is a mechanism that disconnects the first riser 42 from the canister 2 and releases the connection between the drag chute 4 and the canister 2.
The second connection release mechanism 14 is a mechanism for releasing the connection between the drag chute 4 (second riser 43) and the unmanned aircraft UAV by releasing the grip of the unmanned aircraft UAV by the grip member 44.
Conventionally known techniques can be applied to these various mechanisms. For example, explosives, explosion bolts, separation nuts, and the like can be applied to the separation mechanism 11, the first connection release mechanism 13, and the second connection release mechanism 14. Further, a structure in which the drag chute 4 is pulled out by the lid member 3 separated from the canister 2 or a gas injection structure can be applied to the release mechanism 12.

The control unit 15 controls the operation of the various mechanisms. Specifically, the control unit 15 is, for example, a sequencer provided with a timer, and individually operates the various mechanisms in a predetermined order as will be described later.
Instead of the control unit 15, the flight control unit (not shown) of the unmanned aerial vehicle UAV in the accommodation chamber 2a may control the operations of the various mechanisms. Further, when a mechanism capable of mechanically controlling the operation timing is applied as the various mechanisms, the mechanism does not need to be controlled by the control unit 15.

[Operation of flying vehicle for unmanned aircraft transport]
Next, the operation of the flying vehicle 1 when the drone UAV is transported at high speed will be described.
FIG. 3 and FIG. 4 are diagrams for explaining the operation of the flying vehicle 1.

  As shown in FIG. 3A, first, the flying vehicle 1 is started to fly (fly) at a high speed by being put into a predetermined flight trajectory by, for example, an aircraft AP flying at a high speed.

  Then, after the transportation flying object 1 reaches a predetermined deceleration point, the control unit 15 operates the separation mechanism 11 to separate the lid member 3 from the canister 2 as shown in FIG. Let me. As a result, the opening 21 at the rear end of the canister 2 opens rearward.

After opening the opening 21, the control unit 15 operates the release mechanism 12 to release the drag chute 4 from the opening 21 to the rear of the canister 2 as shown in FIG.
Then, as shown in FIG. 3 (d), the drag chute 4 spreads the canopy 41 and decelerates the flying vehicle 1 (canister 2). When the canister 2 is sufficiently decelerated, the canister 2 is suspended from the drag chute 4 with the rear end opening 21 facing upward (vertically upward) as shown in FIG. It descends while being done.
At this time, since the second riser 43 that connects the drag chute 4 to the drone UAV is provided longer than the first riser 42 that connects to the canister 2, the drag chute 4 moves the canister 2. The deceleration load at the time of decelerating does not act on the drone UAV, but favorably acts only on the canister 2.
In the present embodiment, “deceleration of the flying vehicle 1 (canister 2) by the drag chute 4” refers to speed reduction in the flight direction after being thrown by the aircraft AP, and does not include those during subsequent descent. I will do it.

Thereafter, as shown in FIG. 4B, the control unit 15 operates the first connection release mechanism 13 to release the connection between the first riser 42 of the drag chute 4 and the canister 2.
Then, while the canister 2 loses support and falls freely downward, the drone UAV is suspended from the drag chute 4 by the second riser 43, so the drone UAV is pulled out of the canister 2 from the opening 21. .

Then, after the drone UAV is pulled out of the canister 2 and exposed, the control unit 15 operates the second connection release mechanism 14 as shown in FIG. The connection between the gripping member 44) and the drone UAV is released.
Thereby, the drone UAV becomes in a state where it can fly independently, and the autonomous wing is started by expanding the folded wing.

[effect]
As described above, according to the present embodiment, the drag chute 4 is released from the opening 21 to the outside of the canister 2 when the flying vehicle 1 containing the unmanned aircraft UAV is flying in the canister 2. The canister 2 is decelerated. Then, after the canister 2 is decelerated, the connection between the drag chute 4 and the canister 2 is released and the unmanned aircraft UAV is pulled out of the canister 2 from the opening 21, and then the drag chute 4 and the unmanned aircraft UAV are connected. Is released.
As a result, the drone UAV can be pulled out from the opening 21 through which the drag chute 4 is released without dividing the canister 2 after safely transporting the drone UAV in the canister 2.
Therefore, unlike the case where the fairing structure is applied, the unmanned aircraft UAV can be suitably transported and started to fly with a simple configuration. As a result, the unmanned aerial vehicle UAV capable of staying for a certain time can be transported to the target airspace at high speed.

The drag chute 4 is connected to each of the canister 2 and the unmanned aircraft UAV so that the deceleration load when the canister 2 is decelerated does not act on the unmanned aircraft UAV.
Therefore, the drone UAV can be transported more safely.

The drag chute 4 has the first riser 42 connected to the periphery of the opening 21 in the canister 2, and after the canister 2 is decelerated, the canister 2 is suspended with the opening 21 facing upward. Descent while supporting.
Thereby, when the connection of the first riser 42 is released, the canister 2 freely falls downward, while the drone UAV is suspended by the drag chute 4 by the second riser 43 so that the drone UAV is opened. 21 is pulled out of the canister 2.
Therefore, the drone UAV can be suitably pulled out of the canister 2 from the opening 21 without having to provide a mechanism only for taking out the drone UAV out of the canister 2.

[Modification]
The embodiments to which the present invention can be applied are not limited to the above-described embodiments, and can be appropriately changed without departing from the spirit of the present invention.

  For example, in the embodiment described above, the opening 21 is provided at the rear end (rearward) of the canister 2, but the opening 21 can be inserted through the drone UAV and the drag chute 4 can be inserted. As long as it is made to discharge | release, you may be provided in parts other than a rear-end part among the canisters 2.

  Further, in the above embodiment, when the connection between the drag chute 4 and the canister 2 is released, the drone UAV is pulled out of the canister 2 from the opening 21 by the drag chute 4. However, it is sufficient that the flying vehicle 1 is configured so that the unmanned aircraft UAV is also taken out from the opening 21 through which the drag chute 4 is released, and includes a mechanism for pushing the unmanned aircraft UAV out of the canister 2, for example. It may be.

  Further, the speed reduction means according to the present invention is not limited to a drag chute (parachute) as long as it is discharged from the opening to the outside of the housing member (canister 2) and decelerates the housing member.

1 Flying vehicle for unmanned aerial vehicles 2 Canister (container)
21 Opening 3 Lid member 4 Drag chute (deceleration means)
42 first riser 43 second riser 44 gripping member 11 separation mechanism (separation means)
12 Release mechanism 13 First connection release mechanism (connection release means)
14 Second connection release mechanism (connection release means)
15 Control unit UAV drone

Claims (6)

An unmanned aerial vehicle for transporting unmanned aerial vehicles,
A housing member for housing the unmanned aerial vehicle and having an opening through which the unmanned aircraft can be inserted;
It is housed in the housing member, connected to each of the housing member and the unmanned aerial vehicle, and released from the opening to the outside of the housing member when the unmanned aerial vehicle is flying. Deceleration means for decelerating the housing member;
Connection release means capable of individually releasing connection between the speed reduction means and each of the housing member and the unmanned aircraft;
With
After the accommodation member is decelerated by the speed reduction means, the connection release means releases the connection between the speed reduction means and the accommodation member and pulls the unmanned aircraft out of the accommodation member from the opening. An unmanned aerial vehicle for flying the unmanned aerial vehicle, wherein the connection between the deceleration means and the unmanned aerial vehicle is released.   The said deceleration means is connected with each of the said accommodation member and the said unmanned aircraft so that the deceleration load when decelerating the said accommodation member does not act on the said unmanned aircraft. A flying vehicle for transporting drones. The deceleration means is
A drag chute that spreads an umbrella and decelerates the housing member, and is connected to a periphery of the opening of the housing member;
The flying for unmanned aerial vehicles according to claim 1 or 2, wherein after the housing member is decelerated, the housing member is lowered while being suspended in a state where the opening portion is directed upward in the vertical direction. body. A lid member detachably coupled to the housing member while closing the opening;
Separating means for separating the lid member from the housing member and opening the opening;
The flying object for unmanned aerial vehicles transportation according to any one of claims 1 to 3, further comprising:   The flying body for unmanned aerial vehicles transportation according to any one of claims 1 to 4, wherein the opening is opened in the direction opposite to the flight direction of the housing member. An unmanned aerial vehicle transport method for transporting an unmanned aerial vehicle to an unmanned aerial vehicle.
The flying vehicle for unmanned aircraft transportation is
A housing member for housing the unmanned aerial vehicle and having an opening through which the unmanned aircraft can be inserted;
It is housed in the housing member, connected to each of the housing member and the unmanned aerial vehicle, and released from the opening to the outside of the housing member when the unmanned aerial vehicle is flying. Deceleration means for decelerating the housing member;
Connection release means capable of individually releasing connection between the speed reduction means and each of the housing member and the unmanned aircraft;
With
After the deceleration means decelerates the storage member, the connection release means releases the connection between the reduction means and the storage member and pulls the unmanned aircraft out of the storage member from the opening. A method of transporting an unmanned aerial vehicle, wherein the connection between the speed reduction means and the unmanned aerial vehicle is released.

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