JP2017124758A - Landing object device for flying object and method for controlling flying object - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enhance accuracy of a landing position by a relatively simple configuration.SOLUTION: A landing object device for a flying object (landing base 100) on which a flying object (drone 200) lands includes: an inclined part 101 where a center part is set lower than a peripheral part; and a circular flat part 105 with a circular shape in the center part of the inclined part 101, where the circular flat part 105 is formed lower than the peripheral part thereof.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an unmanned flying object landing target device called a drone and a control method for landing such a flying object.

  In recent years, an aircraft that performs unmanned flight using a motor as a driving source and takes off and landing vertically is being used. The battery that supplies power to the motor is charged by, for example, power feeding by electromagnetic induction or the like at the time of landing. In such a case, it is necessary to accurately control the landing position in order to increase the power supply efficiency. As a technique for controlling the landing position, a technique is known in which a landing target device is provided with light emitting elements and marks arranged in a predetermined light emission pattern, and the landing position is calculated by calculating the flight position from a captured image from the flying object. (For example, refer to Patent Documents 1 and 2).

JP 2012-71645 A JP 2012-232654 A

  As described above, in order to control the landing position based on the captured image from the flying object, an imaging system, an image processing system for the captured image, and the like are required, and the configuration is complicated and the manufacturing cost is high. It was.

  An object of the present invention is to make it possible to easily increase the accuracy of a landing position with a relatively simple configuration in view of the above points.

  In order to solve the above-mentioned problems, the present invention uses the circular plane portion formed lower than the inclination of the landing target device of the flying object and the surroundings, and drives the driving device to such an extent that the flying object does not rise. Thus, even if the position of the landing point is not controlled with high accuracy, the landing point can be accurately guided to the position of the center part due to the influence of its own weight after landing.

That is, the first invention is
A landing target device of a flying object for landing a flying object,
While having an inclined part whose central part is set lower than the peripheral part,
A circular circular plane part is provided at the center of the inclined part, and the circular plane part is formed lower than the surrounding part.

The second invention is
A flying object landing apparatus of the first invention,
The inclined portion has an inverted truncated pyramid shape or an inverted truncated cone shape.

The third invention is
A landing target device for a flying object of the first invention or the second invention,
In the central part of the inclined part, it has a flat floor part connected to the lower end of the inclined surface of the inclined part,
The circular flat part is provided on the floor part.

  As a result, it is possible to automatically move the flying object to the position where all the legs of the flying object fall within the circular plane, for example, by the action of its own weight, without accurately controlling the first landing point of the flying object. become.

The fourth invention is:
A method of controlling a flying object having a driving device for driving the flying object upward,
A landing control step of landing the flying object on the landing target device of the first invention from the flight state;
A post-landing drive control step of operating the drive device so as not to generate a higher ascending force than the flying object rises after the flying object has landed;
It is characterized by having.

The fifth invention is:
A method for controlling a flying object according to a fourth invention,
In the drive control step after landing, when it is detected that a predetermined time has elapsed since the landing of the flying object, when the flying object has reached a predetermined position, the flying object is in a horizontal posture. The operation of the drive device is stopped when at least one of these is detected and when a drive stop instruction is issued.

  By these, friction between the leg part of a flying object, etc. and a landing object apparatus can be reduced substantially, and it can make it easier for a flying object to move to a circular plane part.

  According to the present invention, it is possible to easily increase the accuracy of the landing position with a relatively simple configuration.

It is a perspective view which shows the landing object apparatus of a drone. It is a longitudinal cross-sectional view of the principal part of the landing object apparatus. It is explanatory drawing which shows drone landing operation | movement. It is a perspective view which shows the principal part of the other landing object apparatus. It is a perspective view which shows the principal part of other landing object apparatus. It is a top view which shows the board member which comprises other landing object apparatus.

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

(Landing platform 100)
As shown in FIGS. 1 and 2, a landing table 100 that is a landing target device of a drone that is a flying object is a flat inverted square pyramid-shaped inclined portion 101 having a central portion set lower than a peripheral portion. have. More specifically, in the inclined portion 101, four inclined panels 102 having a trapezoidal outer shape are in contact with each other on the oblique sides, and the inclination of, for example, 15 ° or less, preferably about 6 ° is maintained by the support legs 103. It is made to be established.

  At the center of the inclined portion 101, for example, a square flat floor portion 104 having a side of 400 mm is provided. Further, a circular flat surface portion 105 having a diameter lower than the floor portion 104 and slightly larger than the circumscribed circle of the landing leg in the drone, for example, a diameter of 340 mm, is provided at the center portion of the floor portion 104.

(Drone 200 and power transmission unit 300)
For example, as shown in FIG. 3, the drone 200 to be landed on the landing table 100 includes a plurality of (for example, four) motors 201 whose rotating shafts are in the vertical direction, and a propeller 202 that is driven by the motors 201 to generate a rising force. And, for example, four landing legs 203 that come into contact with the ground when landing. A power receiving coil 204 is provided below the drone 200. The power receiving coil 204 is fed by electromagnetic induction or the like so as to face the power transmission coil 301 of the power transmission unit 300 provided below the center of the landing table 100 when the drone 200 has landed on the landing table 100. The battery is not charged.

(Landing motion)
When manual landing operation or automatic landing control is performed by a control device (not shown), the drone 200 decreases on the rotation speed of the motor 201 and gradually descends, and landed on the landing table 100. At this time, if all of the four landing legs 203 are located in the circular flat surface portion 105, the drone 200 maintains a horizontal posture.

  On the other hand, when all or a part of the four landing legs 203 are located on the inclined panel 102 or the floor portion 104, the drone 200 is inclined. In this case, when the motor 201 rotates at a rotation speed that does not generate a higher ascending force than the drone 200 floats, the drone 200 gradually moves toward the central portion of the inclined portion 101 due to the influence of vibration or the like due to the rotation of the motor 201. Eventually, the four landing legs 203 move so that all of the landing legs 203 are located in the circular flat surface portion 105 and become a horizontal posture. As a result, the power receiving coil 204 and the power transmitting coil 301 are accurately opposed to each other, and power can be supplied with high efficiency. In addition, the power receiving coil 204 and the power transmitting coil 301 can be easily downsized.

  The rotation of the motor 201 has reached a predetermined position, for example, when it is detected that a predetermined time has elapsed since the drone 200 landed, or the drone 200 was accurately positioned at the center of the landing table 100 Is detected, when it is detected that the drone 200 is in a horizontal posture, when a drive stop instruction is issued by a manual operation, or when a plurality of conditions are satisfied.

  As described above, the landing base 100 is provided with the inclined portion 101 whose central portion is set low, and further provided with the circular flat portion 105 formed lower than the surroundings, so that the position of the first landing point is obtained. Even if it is not controlled with high accuracy, it can be accurately guided to the position of the central portion by the influence of its own weight. Further, by rotating the motor 201 so that the drone 200 does not rise, the friction between the landing platform 100 and the landing leg 203 of the drone 200 can be reduced substantially. Even if the permissible angle with respect to the inclination of the drone 200 just before (for example, the inclination angle at which the propeller 202 does not contact the landing table 100) is increased, the drone 200 can be quickly and easily brought to the center.

(Modification)
The shape of the landing table is not limited to the inverted quadrangular pyramid shape as described above, and may be various polygons such as a hexagon as long as an inclined portion is formed. Further, for example, as shown in FIG. A landing table 400 having a truncated cone-shaped inclined portion 401 may be formed.

  In the case of having the inverted frustoconical inclined portion 401, the flat portion connected to the lower end of the inclined portion 401 is formed lower than the surrounding portion corresponding to the circular flat portion 105 of the landing table 100. A round circular flat portion 405 can be formed. Note that the circular flat surface portion 405 may correspond to the floor portion 104 of the landing table 100, and a lower circular flat surface portion corresponding to the circular flat surface portion 105 of the landing table 100 may be provided therein.

(Other matters)
In order to move the drone 200 more easily when landing on the inclined portion 101, a ball caster, a wheel, a roller, or the like may be provided on the landing leg 203 so as to make rolling contact with the landing table 100. .

  The purpose of bringing the drone 200 to an accurate position is not limited to the power supply by the power receiving coil 204 and the power transmitting coil 301, and may be various purposes such as improving the efficiency of data communication.

  Further, the landing table 100 and the landing table 400 as described above may be formed integrally, formed by assembling separate inclined panels 102 or the like, or a plate member having a fan-shaped developed shape is conical. It may be formed by being rounded. Further, a band-shaped member in which a plurality of inclined panels 102 are continuous may be bent to form an inverted quadrangular pyramid shape. Further, as shown in FIGS. 5 and 6, long and narrow fan-shaped plate members 502 are joined and rounded (or the plate members 502 are rounded and joined to each other) to form an inverted frustoconical shape. The inclined portion 501 may be formed, and the circular flat portion 505 may be formed at the center portion. Further, when a landing table having the inclined portion 501 as described above is transported, a fan-shaped member with a continuous plate member 502 is folded in a shape unit such as the plate member 502, or slide-stored. In addition, the inclined portion 501 having an inverted frustoconical shape may be formed by being expanded and rolled in use or by being slide-deployed.

  Further, the lower end of the inclined panel 102 and the outer peripheral portion of the circular flat portion 105 are not limited to being connected via the flat floor portion 104 but may be connected with a smooth inclined surface. In the case where the flat floor portion 104 is provided, it is generally preferable that the floor portion 104 is small in terms of easy movement of the flying object to the circular flat surface portion 105.

  Further, the shape of the circular flat surface portion 105 or the like is not a precise circular shape, but is a substantial circular shape so that the accuracy of the position where the flying object is accommodated is within an allowable range regardless of the orientation of the flying object in the horizontal plane. I just need it.

DESCRIPTION OF SYMBOLS 100 landing base 101 inclined part 102 inclined panel 103 support leg 104 floor part 105 circular plane part 200 drone 201 motor 202 propeller 203 landing leg 204 receiving coil 300 power transmission unit 301 power transmission coil 400 landing base 401 inclined part 405 circular plane part 501 inclined part 502 Plate member 505 Circular plane part

Claims (5)

A landing target device of a flying object for landing a flying object,
While having an inclined part whose central part is set lower than the peripheral part,
A flying object landing target device having a circular circular flat portion at a central portion of the inclined portion, wherein the circular flat portion is formed lower than a peripheral portion thereof. A landing object apparatus for a flying object according to claim 1,
The flying object landing target device, wherein the inclined portion has an inverted truncated pyramid shape or an inverted truncated cone shape. A landing object apparatus for a flying object according to claim 1 or claim 2,
In the central part of the inclined part, it has a flat floor part connected to the lower end of the inclined surface of the inclined part,
The flying object landing target device, wherein the circular flat surface portion is provided on the floor portion. A method of controlling a flying object having a driving device for driving the flying object upward,
A landing control step of landing the flying object on the landing target device of claim 1 from a flight state;
A post-landing drive control step of operating the drive device so as not to generate a higher ascending force than the flying object rises after the flying object has landed;
A control method for an aircraft, comprising: The method of controlling a flying object according to claim 4,
In the drive control step after landing, when it is detected that a predetermined time has elapsed since the landing of the flying object, when the flying object has reached a predetermined position, the flying object is in a horizontal posture. When the vehicle is detected and / or when a drive stop instruction is issued, the operation of the drive device is stopped.

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