JP2021109622A - Multi-copter, multi-copter takeoff/landing auxiliary device, multi-copter landing method and multi-copter takeoff method - Google Patents

Abstract

To provide a measure for allowing a multi-copter to take off and land more safely.SOLUTION: A multi-copter takeoff/landing auxiliary device 30 includes a fulcrum member 32 capable of engaging a linear member 21, where three or more fulcrum members 32 are held in the air while being arranged annularly. A multi-copter 1 includes three or more linear members 21 of which one ends are fitted to the multi-copter 1 and of which other ends are a free end.SELECTED DRAWING: Figure 1

Description

The present invention relates to a multicopter commonly referred to as a "drone". The present invention also relates to a takeoff / landing assist device for a multicopter used when taking off and / or landing a multicopter. Furthermore, the present invention relates to a takeoff method and a landing method of a multicopter.

Multicopters that have multiple propellers and take off and land vertically are known. Initially, multicopters were sold as toys, but they have gradually become more sophisticated and are being used for commercial purposes such as taking aerial photographs and transporting supplies.

Japanese Unexamined Patent Publication No. 2018-129713

Multicopters are generally remotely controlled by radio. Maneuvering a multicopter requires skill. In particular, landing requires skill. If operated by a person unfamiliar with maneuvering, landing may fail and the propeller or the aircraft body may be damaged.
Especially on a windy day, the position and attitude of the multicopter may not be stable, and the aircraft may tilt just before landing and hit the propeller or the like on the ground.

In addition, a multicopter may be landed on board. In this case, the deck to be landed sways due to the waves, and the landing point itself cannot maintain the horizontal state. Therefore, the parallelism cannot be maintained between the deck and the multicopter aircraft, and there is a concern that the landing may fail and the aircraft may collide with the deck.
There is a similar problem when taking off a multicopter.

It is an object of the present invention to pay attention to the above-mentioned problems of the prior art and to provide a measure for safely taking off and landing a multicopter.

A mode for solving the above-mentioned problems is that the multicopter has a fulcrum member to which a linear member can be engaged, and three or more of the fulcrum members are arranged in an annular shape and held in a hollow shape. It is a takeoff / landing assistance device.

The takeoff / landing assist device of the multicopter of this embodiment may be used as an auxiliary device dedicated to takeoff or as an auxiliary device dedicated to landing. Of course, it may be used for both takeoff and landing.
The linear member is a material that can withstand the pulling of strings, ropes, wires, etc., and is a long object that bends easily.

In the above aspect, it is desirable that the fulcrum member has a friction reducing means.

As the friction reducing means, a member such as a pulley or a roller that converts sliding friction into rolling friction can be considered. It is also conceivable to make the fulcrum member from a material with a low friction coefficient.

In each of the above aspects, it is desirable that the fulcrum member is held hollow by the pillar.

Another aspect for solving the same problem is a multicopter characterized by having three or more linear members having one end attached to the multicopter and the other end having free ends.

In the above aspect, it is desirable that the linear member can be stored and can be dropped from the air.

The aspect relating to the method of landing the multicopter is the landing method of the multicopter for landing any of the above-mentioned multicopters, in which the linear member is hung from the multicopter and the linear member is made of any of the above-mentioned linear members. A method for landing a multicopter, which comprises a step of engaging with the fulcrum member of the takeoff / landing assisting device and pulling the linear member to guide the multicopter.

The target multicopter has three or more linear members having one end attached to the multicopter and the other end having a free end. Further, the takeoff / landing assist device has a fulcrum member to which a linear member can be engaged, and three or more of the fulcrum members are arranged in an annular shape and held hollow.
When landing the multicopter, for example, the multicopter is hovered and the linear member is hung down in this state.
For example, an operator takes a linear member on the ground (including the deck, etc.) and engages it with a fulcrum member of a takeoff / landing assist device. Then, for example, the worker manually pulls the linear member.
Here, three or more linear members are projected from the multicopter, and each of these linear members is engaged with the fulcrum member. Further, the fulcrum members are arranged in an annular shape and held hollow. Therefore, when the linear member is pulled, the multicopter is guided into a region having a hollow height and the fulcrum members are arranged in an annular shape.
After that, the rotation speed of each rotor is reduced or the rotation is stopped. For example, after that, by slowly feeding out the linear member, the multicopter descends in the region where the fulcrum members are arranged in an annular shape and reaches the ground.
According to the landing method of this aspect, the multicopter can be safely landed.

An aspect of the method for taking off the multicopter is the takeoff method of the multicopter for taking off any of the above-mentioned multicopters, wherein the linear member of the multicopter is the above-mentioned takeoff / landing assist device. It is a takeoff method of a multicopter, which comprises a step of engaging with a fulcrum member, pulling the linear member, and lifting the multicopter in a hollow in a region surrounded by the fulcrum member.

When taking off the multicopter, the multicopter is placed on the ground in an area surrounded by the fulcrum member of the takeoff / landing assist device, and the linear member is engaged with the fulcrum member of the takeoff / landing assist device. Then, for example, the worker manually pulls the linear member.
Three or more linear members are projected from the multicopter, and each of these linear members is engaged with a fulcrum member. Further, the fulcrum members are arranged in an annular shape and held hollow. Therefore, when the linear member is pulled, the multicopter is lifted off the ground to a hollow height.
After that, each rotor is driven to generate lift to fly the multicopter.
According to the takeoff method of this aspect, the multicopter can be safely taken off.

According to the present invention, the multicopter can be taken off and landed more safely.

It is a perspective view of the multicopter and the takeoff / landing assist device of the multicopter which shows the process at the time of taking off the multicopter of embodiment of this invention. (A) is a plan view of a multicopter and a takeoff / landing assisting device of the multicopter showing the steps following FIG. 1, and (b) is a front view thereof. It is a front view of the multicopter and the takeoff / landing assist device of the multicopter which shows the process following FIG. It is a front view of the multicopter and the takeoff / landing assist device of the multicopter which shows the process following FIG. It is a front view of the multicopter and the takeoff / landing assist device of the multicopter which shows the process at the time of taking off the multicopter of embodiment of this invention. It is a front view of the multicopter and the takeoff / landing assist device of the multicopter which shows the process following FIG. It is a front view of the multicopter and the takeoff / landing assist device of the multicopter which shows the process following FIG. It is a front view of the multicopter and the takeoff / landing assist device of the multicopter showing the process following FIG. 7. It is a front view of the multicopter and the takeoff / landing assist device of the multicopter which shows the process following FIG.

Hereinafter, embodiments of the present invention will be further described.
The multicopter 1 of the present embodiment is a drone provided with eight rotor blades 2 and is remotely controlled by radio. The multicopter 1 floats in the air by rotating the rotary blade 2 to generate lift due to the downdraft, similarly to the known one. Further, by making the rotation speed of each rotor 2 different, it moves in the direction having the horizontal component. That is, by making the number of rotations of each rotor 2 different, it is possible to make various movements such as moving in the lateral direction, moving in the oblique vertical direction, and changing its own posture.
The number of rotary blades 2 is not limited to eight, and may be three or more.

The multicopter 1 of the present embodiment has a main body 3 and eight rotor blades 2.
The main body portion 3 has an annular support frame portion 10, a rib portion 11, a device mounting portion 13, and a leg portion 15.
The support frame portion 10 is a portion made of resin or the like and formed into an endless annular shape. In the present embodiment, the planar shape of the support frame portion 10 is circular as shown in FIG.
The rib portion 11 extends radially outward from the annular support frame portion 10.

The device mounting portion 13 is located at the center of a circle surrounded by the support frame portion 10, and is connected to the support frame portion 10 by a branch line member 16. The branch line member 16 used in the present embodiment is, for example, a wire or a string. Further, the branch line member 16 may be a thin bar made of metal, resin or the like. That is, the branch line member 16 may be one that cannot maintain its shape like a wire, or may be a member that can maintain its shape like a bar.
The leg portion 15 has a leg member 17 that hangs down below the support frame portion 10. In the present embodiment, the leg portion 15 has four leg members 17 arranged at equal intervals.
In the multicopter 1 of the present embodiment, a storage battery and a control device (not shown) are mounted on the central device mounting portion 13.

In the multicopter 1 of the present embodiment, as shown in FIG. 1, the rotary blade 2 is attached to the annular support frame portion 10 via the rib portion 11. That is, in the multicopter 1 of the present embodiment, the rotary blade 2 is indirectly attached to the support frame portion 10 via the short rib portion 11.
The rotor blade 2 is directly attached to the output shaft of the motor 20 as is known.
In the present embodiment, the motor 20 is fixed to the upper part of the rib portion 11 protruding from the support frame portion 10 by a mounting member (not shown). That is, each of the eight motors 20 is fixed to the annular support frame portion 10 via the rib portion 11 so that the rotation shaft has a predetermined angle and posture with respect to the annular support frame portion 10.

The multicopter 1 of the present embodiment has three ropes (linear members) 21 as a unique configuration.
One end of the rope 21 is connected to the main body 3 of the multicopter 1. Specifically, it is connected to the support frame portion 10 of the main body portion 3. As described above, the support frame portion 10 has a circular ring shape, and the three ropes 21 are attached at equal intervals.
The other ends of the three ropes 21 are free ends.

The mounting structure and accessories of the rope 21 are arbitrary, but it is desirable that the multicopter 1 is equipped with a reel so that the rope 21 can be wound and unwound. For example, if a structure having a reel is adopted, a linear member such as a rope 21 can be accommodated on the multicopter 1 side by winding the reel.
Further, by feeding out the rope 21 from the reel, the rope 21 can be dropped from the air.

A box with a lid may be mounted on the multicopter 1, and the rope 21 may be housed in the box. According to this configuration, the rope 21 can be dropped from the air by opening the lid in the air.
It is also recommended that the multicopter 1 have a detaching means for detaching the rope 21. Also, by tying the rope 21 to the main body 3 with a special tying method and operating the rope 21 from the ground. The rope 21 may come off.

Next, the takeoff / landing assist device 30 of the multicopter will be described. In addition, hereinafter, it may be simply abbreviated as takeoff and landing assist device 30.
As shown in FIG. 1, the takeoff and landing assist device 30 has three upright pillars 31. As shown in FIG. 2A, the pillars 31 are arranged in an annular shape and at equal intervals so as to draw an equilateral triangle in a plan view. The heights of the pillars 31 are all the same.
A pulley (friction reducing means) 32 is attached to the top of each pillar 31. The pulley (friction reducing means) 32 functions as a fulcrum member.

The pulley 32 is held hollow by the pillar 31. Further, since each pillar 31 is installed in an annular shape, the three pulleys 32 are arranged in an annular shape. When the takeoff and landing assisting device 30 is viewed in a plan view as shown in FIG. 2A, there is a region A surrounded by the pulley 32 which is a fulcrum member.
The region A surrounded by the pulleys 32 as the fulcrum members includes a plane including the three pulleys 32, a lower region B below the plane, and an upper region C above the plane.
In the present embodiment, the lower region B is a space surrounded by three pillars 31, and the upper region C is a space extending upward.

The takeoff and landing assistance device 30 may be a fixed type such as a pillar 31 embedded in the ground or fixed to the deck of a ship. Further, the pillar 31 may be foldable or foldable. Further, the three pillars 31 may be attached to a common base member and may be portable. The takeoff and landing assistance device 30 may be an assembly type.

Next, the procedure for taking off the multicopter 1 will be described.
When taking off the multicopter 1, the multicopter 1 is placed on the ground surface which is the lower region B of the region A surrounded by the pulley 32 which is a fulcrum member as shown in FIG. Desirably, the multicopter 1 is installed at equidistant positions from the three pillars 31.
Then, as shown in FIG. 2B, each of the three ropes 21 is engaged with the pulley 32 of one pillar 31.

Subsequently, three ropes are pulled by three workers at the same speed, and the multicopter 1 is pulled up into the hollow as shown in FIG.
Desirably, the multicopter 1 is pulled up to the height of the pulley 32, as shown in FIG.

In this state, the motor 20 is started to rotate the rotary blade 2 to generate lift.
As a result, an ascending force is generated in the multicopter 1. The operator sequentially pays out the rope 21 as the multicopter 1 rises. Then, when the multicopter 1 reaches a certain altitude, the rope 21 is released. If the multicopter 1 has a function of winding up the rope 21, the rope 21 is wound up and stored.
If there is a disconnecting means for disconnecting the rope 21 on the multicopter 1 side, the rope 21 is disconnected as shown in FIG.
As a result, the multicopter 1 is freed from the restrictions of the rope 21 and can fly freely.

According to the method of the present embodiment, the rotation of the rotary blade 2 is started in a state where the multicopter 1 is lifted in the air, so that the rotary blade 2 hits the floor or the ground even if the floor surface shakes, for example, on a ship. There is no.
Further, if the rotary blade 2 is rotated with the rope 21 taut, the rotary blade 2 does not collide with the rope 21 even if the floor surface is shaken.
Therefore, the multicopter 1 can be taken off smoothly.

Next, the procedure for landing the multicopter 1 will be described.
The procedure for landing the multicopter 1 is generally the reverse of that for takeoff.
That is, the rope 21 is hung from the multicopter 1, the rope 21 is engaged with the pulley 32 which is a fulcrum member of the takeoff and landing assist device 30, and the rope 21 is pulled to guide the multicopter 1 to the region A surrounded by the pulley 32.
Specifically, the multicopter 1 is made to fly in the vicinity of the takeoff and landing assist device 30. More preferably, the multicopter 1 is hovered in or near the upper region C of the region A surrounded by the pulley 32 as the fulcrum member.

Then, the rope 21 is hung from the multicopter 1. The worker receives the rope 21 as shown in FIG.
Then, as shown in FIG. 7, each of the three ropes 21 is engaged with the pulley 32 of one pillar 31.
The worker pulls the rope 21 following this. The multicopter 1 is guided by the rope 21 and moves to the center of the region surrounded by the three pulleys 32 at substantially the same height as the three pulleys 32 as shown in FIG.
In this state, the rotation of the motor 20 is stopped. After that, each rope 21 is loosened while maintaining a balance, and the multicopter 1 is landed on the ground as shown in FIG.
According to the landing method of the present embodiment, the multicopter 1 can be smoothly landed without colliding even on a windy day or when the landing point is shaking such as on a ship. can.

In the embodiment described above, the fulcrum members are provided on the three pillars 31 and the three ropes 21 are engaged with each other. However, the number of the fulcrum members and the ropes 21 is arbitrary and may be 4 or more. Further, the number of fulcrum members and the number of ropes 21 may be different.

In the embodiment described above, the rope 21 is pulled or pulled out by human power, but the rope 21 may be operated by a power such as a winch.

Although the takeoff / landing assist device 30 described above was used for the takeoff / landing of the multicopter 1, it may be used only at the time of takeoff or only at the time of landing.

The multicopter 1 of the embodiment described above includes an annular support frame portion 10, and a rope 21 is attached to the support frame portion 10.
The frame structure of the multicopter is not limited to the above, and may be branched or block-shaped. Further, the rope 21 may be connected to the legs 15 and the like.
It is desirable that the ropes 21 are attached to the multicopter 1 as far apart as possible so that the ropes 21 can move up and down while keeping the posture of the multicopter 1 in parallel, but a plurality of ropes 21 may be connected to the same point.
Further, the ropes 21 are preferably connected at equal intervals, for example, at intervals of 120 degrees, but they do not necessarily have to be even.

1 Multicopter 2 Rotor blade 3 Main body 21 Rope (linear member)
31 Pillar 30 Multicopter takeoff / landing assistance device 32 Pulley (friction reduction means fulcrum member)

Claims (7)

A takeoff / landing assist device for a multicopter, wherein there is a fulcrum member to which a linear member can be engaged, and three or more of the fulcrum members are arranged in an annular shape and held in a hollow shape. The takeoff / landing assist device for a multicopter according to claim 1, wherein the fulcrum member has a friction reducing means. The takeoff / landing assist device for a multicopter according to claim 1 or 2, wherein the fulcrum member is held hollow by a pillar. A multicopter characterized in that one end is attached to a multicopter and the other end has three or more linear members having free ends. The multicopter according to claim 4, wherein the linear member can be stored and can be dropped from the air. A method for landing a multicopter according to claim 4 or 5, wherein the multicopter is landed.
The linear member is hung from the multicopter, the linear member is engaged with the fulcrum member of the takeoff / landing assist device of the multicopter according to any one of claims 1 to 3, and the linear member is pulled. A method for landing a multicopter, which comprises a step of inducing the multicopter. The method for taking off a multicopter according to claim 4 or 5, wherein the multicopter is taken off.
The linear member of the multicopter is engaged with the fulcrum member of the takeoff / landing assist device of the multicopter according to any one of claims 1 to 3, and the linear member is pulled to bring the multicopter to the fulcrum. A method for taking off a multicopter, which comprises a process of lifting into a hollow area surrounded by members.

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