[go: up one dir, main page]

WO2020178946A1 - Recognition marker and flight vehicle - Google Patents

Recognition marker and flight vehicle Download PDF

Info

Publication number
WO2020178946A1
WO2020178946A1 PCT/JP2019/008395 JP2019008395W WO2020178946A1 WO 2020178946 A1 WO2020178946 A1 WO 2020178946A1 JP 2019008395 W JP2019008395 W JP 2019008395W WO 2020178946 A1 WO2020178946 A1 WO 2020178946A1
Authority
WO
WIPO (PCT)
Prior art keywords
battery
recognition marker
camera
skid
recognition
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2019/008395
Other languages
French (fr)
Japanese (ja)
Inventor
與明 鳥潟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toko Tekko Co ltd
Original Assignee
Toko Tekko Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toko Tekko Co ltd filed Critical Toko Tekko Co ltd
Priority to PCT/JP2019/008395 priority Critical patent/WO2020178946A1/en
Priority to JP2019548347A priority patent/JP6735424B1/en
Publication of WO2020178946A1 publication Critical patent/WO2020178946A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/02—Undercarriages
    • B64C25/08—Undercarriages non-fixed, e.g. jettisonable
    • B64C25/10—Undercarriages non-fixed, e.g. jettisonable retractable, foldable, or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing or receiving articles, liquids, or the like, in flight
    • B64D1/02—Dropping, ejecting, or releasing articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D1/00—Dropping, ejecting, releasing or receiving articles, liquids, or the like, in flight
    • B64D1/02—Dropping, ejecting, or releasing articles
    • B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
    • B64D1/12—Releasing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/02—Arrangements or adaptations of signal or lighting devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/02—Arrangements or adaptations of signal or lighting devices
    • B64D47/04—Arrangements or adaptations of signal or lighting devices the lighting devices being primarily intended to illuminate the way ahead
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
    • B64F1/00—Ground or aircraft-carrier-deck installations
    • B64F1/18—Visual or acoustic landing aids
    • B64F1/20—Arrangement of optical beacons
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K19/00—Record carriers for use with machines and with at least a part designed to carry digital markings
    • G06K19/06—Record carriers for use with machines and with at least a part designed to carry digital markings characterised by the kind of the digital marking, e.g. shape, nature, code
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U60/00—Undercarriages
    • B64U60/40—Undercarriages foldable or retractable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U60/00—Undercarriages
    • B64U60/50—Undercarriages with landing legs

Definitions

  • the present invention relates to a recognition marker and a flying body for practical application of unmanned flight in civilian fields such as distress search.
  • UAVs Unmanned Aerial Vehicles
  • unmanned exploration helicopters have been studied for military use in the United States and elsewhere.
  • LiPo Lithium Polymer
  • the present invention has been made in consideration of the above-mentioned conventional problems, and an object thereof is to provide a recognition marker more suitable for rescue.
  • the present invention also aims to provide a flying body with high waterproof performance.
  • the present invention also aims to provide a flying body that is stronger against wind pressure.
  • Another object of the present invention is to provide a flying body that can realize various multifunctional functions by remote control.
  • the present invention also aims to provide a flying body that can quickly find a victim.
  • Another object of the present invention is to provide a flying body that can easily drop a searchlight with a lightweight device.
  • Another object of the present invention is to provide a lightweight flying object.
  • the first invention is A recognition marker having a digital recognition code for predetermined information
  • the recognition marker can be heated, The presence of the heated recognition marker can be grasped by an infrared camera,
  • the recognition marker is characterized in that predetermined information of the recognition marker can be read by a visible camera.
  • the second invention is The recognition marker is the recognition marker according to the first aspect of the present invention, which can be heated by an internal or external battery and can be used as a heating appliance at the same time. This allows you to quickly find markers even in the middle of the night.
  • the third invention is A method of using the recognition marker according to the first or second aspect of the present invention, comprising: First, an infrared camera mounted on a flying body searches for the heated recognition marker, and the found recognition marker is irradiated with visible light by a light mounted on the flying body to perform the flight.
  • a method of using a recognition marker characterized in that the predetermined information is read by recognizing a digital recognition code attached to the recognition marker with a visible camera mounted on the body.
  • the fourth invention is A main body having a flight controller provided with a barometric pressure sensor inside, a plurality of hollow arms extending from the main body, a flying body with a motor and a propeller at the ends of these arms,
  • a battery is arranged in the main body, a cable for supplying power from the battery to the motor is passed through the hollow arm,
  • the inside of the case of the battery, the inside of the main body, and the hollow portion of the arm are sealed as one space in order to provide waterproof performance to the outside,
  • the main body is provided with an atmospheric pressure regulating valve or a waterproof breathable sheet portion, and the atmospheric pressure sensor can detect an external atmospheric pressure. This allows flight control while having a waterproof function.
  • the fifth aspect of the present invention is
  • the arm is a foldable type, and a groove for sealing and a sealing material are provided on a joint surface of the foldable portion, which is a flying body according to the fourth aspect of the present invention, in which waterproofness is maintained when the arm is deployed. ..
  • the arm can be folded during storage, which is convenient, and the waterproof property can be maintained during flight.
  • the sixth invention is A fifth aspect of the present invention is an aircraft in which the skid of the aircraft is removable.
  • the seventh invention is It is an aircraft equipped with a propeller, a drive source, a battery, a controller and a skid,
  • the skid is an openable and closable type, and is capable of taking off and landing by being closed so as to be in parallel with the propeller at the time of flight and opening at the time of takeoff and landing.
  • the eighth invention is It is an air vehicle equipped with a propeller, a drive source, a battery, a control unit, a camera and a skid,
  • the battery case and the camera housing case have a spherical or hemispherical shape.
  • the ninth invention is It is an air vehicle equipped with a propeller, a drive source, a battery, a control unit, a camera and a skid, It is a wireless operation type air vehicle that is equipped with a function of dropping materials, a searchlight search function, a compound eye camera function, a gimbal function, and a loud call function at the same time, and can be operated by remote control.
  • one aircraft can perform multiple functions.
  • the tenth invention is It is an air vehicle equipped with a propeller, a drive source, a battery, a control unit, a camera and a skid, It is an air vehicle that has an infrared night-vision camera and an analysis unit that can detect the body temperature of the human body from the sensor output data, and that can search for a victim.
  • the eleventh invention is It is an air vehicle equipped with a propeller, a drive source, a battery, a control unit, a camera and a skid, Searchlight and And a holding means for holding the searchlight,
  • the holding means has a mechanism for holding the searchlight by a resin layer having an electrothermal nichrome wire on the outside or inside, Upon receiving a drop command of the searchlight, the battery applies a current to the electrothermal nichrome wire to generate heat, thereby melting the resin layer, and the searchlight naturally falls due to its own weight. It is a flying object.
  • the searchlight can be dropped without using a motor, which leads to a reduction in the weight of the aircraft.
  • a twelfth aspect of the present invention is an aircraft including a propeller, a drive source, a battery, a controller, a camera, and a skid,
  • the flying body is characterized in that a chemical reaction type warming/warming device for heating the battery is built in the storage case of the battery.
  • a lightweight flying object can be provided.
  • a perspective view of a recognition marker according to an embodiment of the present invention The perspective view of the modification of the recognition marker of embodiment of this invention. 1 is a perspective view of an aircraft according to an embodiment of the present invention as seen from above.
  • Schematic front view of an aircraft according to an embodiment of the present invention (A), (b) Schematic front view of a modified example of the flying object according to the embodiment of the present invention.
  • the recognition marker 1 is a marker having a two-dimensional code 2 printed in the center.
  • the two-dimensional code 2 As the information described in the two-dimensional code 2, the number of persons in distress, water required, food required, heating required, and other distress information are written.
  • the 2D code 2 itself does not make sense to people, the back side of the sentence that says "I need water, I need food, I need a heater, I can go down the mountain on my own" in ordinary sentences. Is added to. It is necessary to make many recognition markers 1 according to the information.
  • a heater 4 is wired inside the recognition marker 1 so that power can be supplied from the built-in battery 3.
  • the battery 3 may be externally attached. By supplying electric power to the heater 4, the temperature of the recognition marker 1 can be raised.
  • the degree of this temperature rise is at least a temperature that can be grasped by an infrared camera. It should be noted that the wiring of the heater 4 for heating is not necessarily required to extend over the entire recognition marker 1, and it is sufficient that it can be grasped by the infrared camera, and therefore it may be provided only at four corners.
  • FIG. 2 shows a modification in which a plurality of two-dimensional codes 2 are printed on one recognition marker 1. It has the advantage of being able to write a lot of information.
  • FIG. 3 to 5 are perspective views of the flying object 5 of the present embodiment.
  • This is an example of an air vehicle 5 such as a drone that uses the recognition marker 1 described above.
  • First, the outline of the flying body 5 will be described.
  • the flight control unit 6 is provided at the top, the battery case 13 is arranged below the flight control unit 6, and the gimbal case 7 is provided below the flight control unit 6.
  • An infrared camera 10 and a visible camera 11 are mounted on a gimbal mechanism in the gimbal case 7 so that the camera can be aimed in a desired direction.
  • a searchlight 8 is installed next to the gimbal case 7 so as to face downward.
  • a speaker 12 is provided next to it, and a rope 9 for dropping materials is suspended.
  • 14 is a skid, which is T-shaped in this example. Further, four arms 15 are provided, a motor 16 is mounted on the tip of each arm 15, and the propeller 17 is driven by the motor 16.
  • the flying object 5 is flown to that location (if the location of the distress is known).
  • several types of the above-mentioned recognition markers 1 are carried by using the rope 9 of the flying body 5 or the like.
  • the visible camera 11 of the flying object 5 is used to image the two-dimensional code 2 of the recognition marker 1, converted into Japanese by the analysis means provided inside the flying object 5, and the communication function is used. Then, inform the fire department about the victims.
  • the image data of the two-dimensional code 2 captured by the visible camera 11 may be directly communicated to the fire station, and the fire station side may decode the two-dimensional code 2.
  • the recognition marker 1 can read the two-dimensional code 2 sufficiently even in a compact size, so that it does not become a baggage and can be easily carried.
  • the victim side appropriately selects and takes out the recognition marker 1 at hand, puts the switch of the battery 3 on, and puts it on the ground in a heated state. For example, it is heated to 38 degrees or more.
  • the air vehicle 5 drives the infrared camera 10 to search. Since the recognition marker 1 is heated to the extent that it can be recognized by the infrared camera 10, the recognition marker 1 can be found.
  • the infrared camera 10 discovers the recognition marker 1, this time the searchlight 8 illuminates the recognition marker 1. Then, this time, the visible camera 11 reads the two-dimensional code 2 of the recognition marker 1 as described above.
  • FIG. 6 is a front view of an aircraft 1 according to another embodiment of the present invention.
  • a motor 16 and a propeller 17 are attached to the tips of a plurality of arms 15 extending from a main body 60, a battery 130 is arranged above or below the main body 60, and power is supplied from the battery 130 to the motor 16.
  • a cable 18 for feeding the wire is passed through the inside of the hollow arm 15.
  • the flight controller (FC) 6 for stable control of the aircraft is located inside the main body 60, and a pressure sensor (not shown) is built in the FC 6 to measure the altitude of the aircraft from atmospheric pressure. ing. Since the FC6 is an electronic device, it cannot be used in an environment where it is exposed to water, but the barometric pressure sensor must be able to properly measure the same atmospheric pressure as the outside air. In a completely sealed aircraft, a difference occurs between the internal pressure and the external pressure. Therefore, in order to eliminate this difference, as shown in FIG. 6, an air pressure adjusting valve 61 or a waterproof breathable sheet is provided in the main body 60, so that the air pressure inside and outside can be kept equal.
  • the camera storage case 101 also has a spherical shape or a hemispherical shape so as to withstand wind pressure from a direction of 360 degrees.
  • the battery case 13 is also preferably spherical.
  • FIG. 7A shows another example of the aircraft 1 according to the embodiment of the present invention. That is, the arm 15 has a folding mechanism in order to enhance portability. In that case, as shown in FIG. 7( b ), the sealing groove 151 and the sealing material 152 are provided on the joint surface so that water does not permeate through the gap between the folded portions, whereby the waterproof property is maintained when the arm 15 is deployed. Is done.
  • FIG. 8B shows another example of the aircraft 1 according to the embodiment of the present invention. That is, in the arm having the folding mechanism of the arm 15 as described above, the skid 14, which is a leg, is longer than that in which the arm 15 is folded downward, and the angle at which the arm 15 is folded is also limited (see FIG. )), there is a problem that the size during transportation becomes large. In order to solve this, as shown in FIG. (b), the skid 14 can be removed, and it can be removed only during transportation and put in the carry bag 20 or the like to enhance portability.
  • FIG. 9 shows another example of the aircraft 1 according to the embodiment of the present invention.
  • the skid 14 is a skid 14 open/close type in order to realize stable flight under strong winds and not to receive wind resistance. The impact can be reduced. When taking off and landing, open it so that you can take off and land.
  • FIG. 10 shows another example of the flying vehicle 1 according to the embodiment of the present invention.
  • the survivor can be searched by comparing the signal from the infrared camera 11 which is also an infrared sensor with the body temperature data.
  • the body temperature is around 38 degrees and radiates an external line, so it is easy to search.
  • Reference numeral 31 is human body temperature data.
  • FIG. 11 shows another example of the flying vehicle 1 according to the embodiment of the present invention.
  • the searchlight 8 can be separated from the flying object 1 and dropped.
  • FIG. (A) is a perspective view thereof
  • FIG. (B) is a schematic cross-sectional view thereof.
  • 81 is a holding means for holding the searchlight 8
  • the holding means 81 and the searchlight 8 are provided with a resin layer 82.
  • a nichrome wire 83 is built in the resin layer 82. Power can be supplied to the nichrome wire 83 from the battery 130.
  • the searchlight 8 naturally falls under its own weight.
  • FIG. 11 shows another example of the flying object 1 according to the embodiment of the present invention.
  • Lithium-ion secondary batteries are widely used as the power source for the aircraft 1, but conventionally, in order to guarantee operation in a low temperature environment, the storage battery itself has a built-in heater for heating / retaining heat.
  • a heat insulating material that blocks cold air for example, a heat insulating material such as foamed urethane is used as a case material inside the battery case 13 that houses the battery 130.
  • a so-called disposable body warmer 131 such as a disposable human body heating means which is heated by a chemical reaction is attached to the inner side of the heat insulating material. This heating system enables the battery 130 to operate at the optimum internal temperature in the lightweight and safe battery heating battery case 13.
  • this aircraft when dropped, it replaces the cushioning material and prevents damage to expensive batteries, reducing the risk of fire due to battery destruction.
  • the flight vehicle of the present invention can realize a recognition marker and a flight vehicle that can make contact with a victim more smoothly, and is useful in fields such as disaster rescue.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Toxicology (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Acoustics & Sound (AREA)
  • General Health & Medical Sciences (AREA)
  • Electromagnetism (AREA)
  • Studio Devices (AREA)
  • Photovoltaic Devices (AREA)
  • Audible And Visible Signals (AREA)

Abstract

Information pertaining to the distress condition of a person in distress is readily communicated to a head station, etc.　A recognition marker (1) is assigned a digital recognition code (2) pertaining to prescribed information, the recognition marker (1) being characterized in that the recognition marker (1) can be warmed, the presence of the warmed recognition marker (1) can be ascertained by an infrared camera, and prescribed information of the recognition marker (1) is read by a visible camera.

Description

認識マーカーおよび飛行体Recognition markers and air vehicles

　本発明は、たとえば、遭難探索などの民生分野における無人飛行などを実用化するための認識マーカーおよび飛行体に関する。 The present invention relates to a recognition marker and a flying body for practical application of unmanned flight in civilian fields such as distress search.

　無人探査ヘリコプターなどのＵＡＶ（Ｕｎｍａｎｎｅｄ　Ａｅｒｉａｌ　Ｖｅｈｉｃｌｅ）は、米国などで軍事利用を目的として研究されてきた。 UAVs (Unmanned Aerial Vehicles) such as unmanned exploration helicopters have been studied for military use in the United States and elsewhere.

　近年では、リチウムイオン電池技術が急速に発展してきており、ＬｉＰｏ（Ｌｉｔｈｉｕｍ　Ｐｏｌｙｍｅｒ）電池などの電池を搭載するＵＡＶ、ドローンが農薬散布作業や物資搬送などの分野で実用化されている。 In recent years, lithium-ion battery technology has been rapidly developing, and UAVs and drones equipped with batteries such as LiPo (Lithium Polymer) batteries have been put to practical use in fields such as pesticide spraying work and material transportation.

　そこで、そのような電池を搭載するＵＡＶが知られている（たとえば、特許文献１参照）。 Therefore, a UAV equipped with such a battery is known (see, for example, Patent Document 1).

特開２０１４－７６６７６号公報JP, 2014-76667, A

　ところで、本発明者は、遭難救助などにふさわしい飛行体の実用化がが望ましいと考えている。 By the way, the present inventor believes that it is desirable to put into practical use an air vehicle suitable for rescue and rescue.

　しかしながら、従来の飛行体では、遭難救助の分野に十分対応しているものではなかった。 However, conventional air vehicles have not been fully compatible with the field of distress rescue.

　本発明は、上述された従来の課題を考慮し、より遭難救助に適した認識マーカーを提供することを目的とする。 The present invention has been made in consideration of the above-mentioned conventional problems, and an object thereof is to provide a recognition marker more suitable for rescue.

　また、本発明は、防水性能の高い飛行体を提供することを目的とする。 The present invention also aims to provide a flying body with high waterproof performance.

　また、本発明は、風圧に対してより強い飛行体を提供することを目的とする。 The present invention also aims to provide a flying body that is stronger against wind pressure.

　また、本発明は、遠隔操作によってさまざまな多機能を実現できる飛行体を提供することを目的とする。 Another object of the present invention is to provide a flying body that can realize various multifunctional functions by remote control.

　また、本発明は、遭難者をいち早く探し出すことのできる飛行体を提供することを目的とする。 The present invention also aims to provide a flying body that can quickly find a victim.

　また、本発明は、軽量な装置によってサーチライトを簡単に投下できる飛行体を提供することを目的とする。 Another object of the present invention is to provide a flying body that can easily drop a searchlight with a lightweight device.

　また、本発明は、軽量な飛行体を提供することを目的とする。 Another object of the present invention is to provide a lightweight flying object.

　第１の本発明は、
　所定の情報に関するディジタル認識コードが付された認識マーカーであって、
　前記認識マーカーは加温可能であり、
　加温された前記認識マーカーは、赤外線カメラによってその存在が把握可能であり、
　可視カメラによって前記認識マーカーの所定情報が読み取れることを特徴とする認識マーカーである。 The first invention is
A recognition marker having a digital recognition code for predetermined information,
The recognition marker can be heated,
The presence of the heated recognition marker can be grasped by an infrared camera,
The recognition marker is characterized in that predetermined information of the recognition marker can be read by a visible camera.

　これによって、災害時に素早く災難している人の情報を取得できる。 With this, you can quickly get information about people who are suffering from a disaster.

　第２の本発明は、
　前記認識マーカーは、内蔵または外付けの電池による加温可能であって、同時に暖房器具としても使用可能である、第１の本発明の認識マーカーである。　
　これによって、夜中にでも素早くマーカーが見つかる。 The second invention is
The recognition marker is the recognition marker according to the first aspect of the present invention, which can be heated by an internal or external battery and can be used as a heating appliance at the same time.
This allows you to quickly find markers even in the middle of the night.

　第３の本発明は、
　第１又は２の本発明の前記認識マーカーの使用方法であって、
　最初に、飛行体に搭載された赤外線カメラによって、加温された前記認識マーカーを探索し、発見した前記認識マーカーに対して、前記飛行体に搭載されたライトで可視光を照射し、前記飛行体に搭載された可視カメラによって、前記認識マーカーに付されたディジタル認識コードを認識することで、前記所定情報を読み取ることを特徴とする、認識マーカーの使用方法である。 The third invention is
A method of using the recognition marker according to the first or second aspect of the present invention, comprising:
First, an infrared camera mounted on a flying body searches for the heated recognition marker, and the found recognition marker is irradiated with visible light by a light mounted on the flying body to perform the flight. A method of using a recognition marker, characterized in that the predetermined information is read by recognizing a digital recognition code attached to the recognition marker with a visible camera mounted on the body.

　これによって、夜中にでも素早くマーカーが見つかり、災難している人の要望を把握できる。　　　　　
　第４の本発明は、
　気圧センサを備えたフライトコントローラを内部に有する本体と、前記本体から延びる複数の中空のアームと、それらのアームの先端にモーターとプロペラのついた飛行体であって、
前記本体にバッテリーが配置され、そのバッテリーから電源を前記モーターに供給するケーブルが、前記中空のアームの内部に通されており、
前記バッテリーのケース内部と前記本体の内部と前記アームの中空部とは、外部に対して防水性能を持たせるために、一つの空間としてシールされており、
前記本体には気圧調整弁又は防水通気性シート部が設けられ、前記気圧センサは外部の気圧を検知出来ることを特徴とする飛行体である。
これによって、防水機能を持ちながら、フライトコントロールが可能である。 This makes it possible to quickly find markers even in the middle of the night and understand the needs of people in disaster.
The fourth invention is
A main body having a flight controller provided with a barometric pressure sensor inside, a plurality of hollow arms extending from the main body, a flying body with a motor and a propeller at the ends of these arms,
A battery is arranged in the main body, a cable for supplying power from the battery to the motor is passed through the hollow arm,
The inside of the case of the battery, the inside of the main body, and the hollow portion of the arm are sealed as one space in order to provide waterproof performance to the outside,
The main body is provided with an atmospheric pressure regulating valve or a waterproof breathable sheet portion, and the atmospheric pressure sensor can detect an external atmospheric pressure.
This allows flight control while having a waterproof function.

　第５の本発明は、
　前記アームは折り畳み式であり、その折り畳み部の接合面にはシール用の溝とシール材が設けられ、前記アームの展開時の防水性が保たれる、第４の本発明の飛行体である。
これによって、収納の際アームを折り畳むことができ便利であるとともに、飛行時に防水性を保持できる。 The fifth aspect of the present invention is
The arm is a foldable type, and a groove for sealing and a sealing material are provided on a joint surface of the foldable portion, which is a flying body according to the fourth aspect of the present invention, in which waterproofness is maintained when the arm is deployed. ..
As a result, the arm can be folded during storage, which is convenient, and the waterproof property can be maintained during flight.

　第６の本発明は、
　前記飛行体のスキッドは取り外し可能となっている、第５の本発明の飛行体である。 The sixth invention is
A fifth aspect of the present invention is an aircraft in which the skid of the aircraft is removable.

　これによって、収納時、アームを折りたたむ際スキッドが邪魔にならず、コンパクトに収納できる。　
　第７の本発明は、
　プロペラと駆動源と電池と制御部とスキッドを備えた飛行体であって、
　前記スキッドは開閉式であり、飛行時には、前記プロペラと平行状態となるように閉じ、離陸時と着陸時には開くことで離着陸できるものであることを特徴とする飛行体である。 As a result, the skid does not get in the way when the arm is folded during storage, and it can be stored compactly.
The seventh invention is
It is an aircraft equipped with a propeller, a drive source, a battery, a controller and a skid,
The skid is an openable and closable type, and is capable of taking off and landing by being closed so as to be in parallel with the propeller at the time of flight and opening at the time of takeoff and landing.

　これによって、飛行時に風の抵抗を軽減できる。 This will reduce wind resistance during flight.

　第８の本発明は、
　プロペラと駆動源と電池と制御部とカメラとスキッドを備えた飛行体であって、
　前記電池のケースと前記カメラの収納ケースの形状は球形又は半球形であることを特徴とする飛行体である。 The eighth invention is
It is an air vehicle equipped with a propeller, a drive source, a battery, a control unit, a camera and a skid,
The battery case and the camera housing case have a spherical or hemispherical shape.

　これによって、風圧に耐えやすい。 This makes it easier to withstand wind pressure.

　第９の本発明は、
　プロペラと駆動源と電池と制御部とカメラとスキッドを備えた飛行体であって、
　資材などの投下機能と、サーチライト探索機能と、複眼カメラ機能と、ジンバル機能と、拡声呼びかけ機能とを同時に機体に搭載し、遠隔操作にて動作可能な無線動作方式の飛行体である。 The ninth invention is
It is an air vehicle equipped with a propeller, a drive source, a battery, a control unit, a camera and a skid,
It is a wireless operation type air vehicle that is equipped with a function of dropping materials, a searchlight search function, a compound eye camera function, a gimbal function, and a loud call function at the same time, and can be operated by remote control.

　これによって、一台の飛行体で多機能を発揮できる。 With this, one aircraft can perform multiple functions.

　第１０の本発明は、
　プロペラと駆動源と電池と制御部とカメラとスキッドを備えた飛行体であって、
　赤外暗視カメラを有し、そのセンサ出力データから人体の体温を検知できる解析部を備え、遭難者を探索可能な飛行体である。 The tenth invention is
It is an air vehicle equipped with a propeller, a drive source, a battery, a control unit, a camera and a skid,
It is an air vehicle that has an infrared night-vision camera and an analysis unit that can detect the body temperature of the human body from the sensor output data, and that can search for a victim.

　これによって、夜中でも遭難者をいち早く発見できる。 With this, you can quickly find the victims even at night.

　第１１の本発明は、
　プロペラと駆動源と電池と制御部とカメラとスキッドを備えた飛行体であって、
　サーチライトと、
　そのサーチライトを保持する保持手段とを備え、
　前記保持手段は、外部又は内部に電熱ニクロム線を有する樹脂層によって前記サーチライトを保持する機構を有し、
　前記サーチライトの投下指令を受けると、前記電池は前記電熱ニクロム線に電流を印加して発熱させることによって、前記樹脂層を溶融し、前記サーチライトは自重によって自然落下する、ことを特徴とする飛行体である。 The eleventh invention is
It is an air vehicle equipped with a propeller, a drive source, a battery, a control unit, a camera and a skid,
Searchlight and
And a holding means for holding the searchlight,
The holding means has a mechanism for holding the searchlight by a resin layer having an electrothermal nichrome wire on the outside or inside,
Upon receiving a drop command of the searchlight, the battery applies a current to the electrothermal nichrome wire to generate heat, thereby melting the resin layer, and the searchlight naturally falls due to its own weight. It is a flying object.

　これによって、モータなどを用いることなくサーチライトを投下できるので、飛行体の軽量化につながる。 With this, the searchlight can be dropped without using a motor, which leads to a reduction in the weight of the aircraft.

　第１２の本発明は、プロペラと駆動源と電池と制御部とカメラとスキッドを備えた飛行体であって、
　前記電池の収納ケースには、前記電池を加温するための化学反応式加温・保温器具が内蔵されている、ことを特徴とする飛行体である。 A twelfth aspect of the present invention is an aircraft including a propeller, a drive source, a battery, a controller, a camera, and a skid,
The flying body is characterized in that a chemical reaction type warming/warming device for heating the battery is built in the storage case of the battery.

　これによって、電池の電力で加温・保温する場合に比べて、電池の消耗を防ぐことができる。　落下時のクッション材ともなり高価な電池が守られる。 This makes it possible to prevent battery consumption compared to the case of heating and keeping warm with the power of the battery.　It also serves as a cushioning material when dropped, protecting expensive batteries.

　本発明により、より遭難救助に適した飛行体などに利用可能な認識マーカーを提供することができる。 According to the present invention, it is possible to provide a recognition marker that can be used for an aircraft or the like that is more suitable for rescue.

　また、本発明により、防水性能の高い飛行体を提供することができる。 Further, according to the present invention, it is possible to provide an air vehicle having high waterproof performance.

　また、本発明により、風圧に対してより強い飛行体を提供することができる。 Further, according to the present invention, it is possible to provide an air vehicle that is stronger against wind pressure.

　また、本発明により、遠隔操作によってさまざまな多機能を実現できる。 Further, according to the present invention, various multifunctional functions can be realized by remote control.

　また、本発明により、遭難者をいち早く探し出すことのできる飛行体を提供することができる。 Also, according to the present invention, it is possible to provide an air vehicle that can quickly find a victim.

　また、本発明により、軽量な装置によってサーチライトを簡単に投下できる飛行体を提供することができる。 Also, according to the present invention, it is possible to provide a flying body that can easily drop a searchlight with a lightweight device.

　また、本発明により、軽量な飛行体を提供することができる。 Further, according to the present invention, a lightweight flying object can be provided.

本発明における実施の形態の認識マーカーの斜視図A perspective view of a recognition marker according to an embodiment of the present invention 本発明における実施の形態の認識マーカーの変形例の斜視図The perspective view of the modification of the recognition marker of embodiment of this invention. 本発明における実施の形態の飛行体の上から見下ろした斜視図1 is a perspective view of an aircraft according to an embodiment of the present invention as seen from above. 図３の飛行体を下から見上げた斜視図A perspective view of the flying object of FIG. 3 as seen from below. 図３の飛行体を下から見上げた別の斜視図Another perspective view of the flying body of FIG. 3 looking up from below. 本発明における実施の形態の飛行体の略示正面図Schematic front view of an aircraft according to an embodiment of the present invention （ａ）、（ｂ）本発明における実施の形態の飛行体の変形例の略示正面図(A), (b) Schematic front view of a modified example of the flying object according to the embodiment of the present invention. （ａ）、（ｂ）本発明における実施の形態の飛行体の収納時の様子を示す略示正面図(A), (b) A schematic front view showing a state during storage of an aircraft according to an embodiment of the present invention 本発明における実施の形態の飛行体の別の変形例を示す略示正面図Schematic front view showing another modified example of the aircraft of the embodiment of the present invention 本発明における実施の形態の飛行隊の制御部を中心とするブロック図Block diagram centering on a control unit of an air squadron according to an embodiment of the present invention （ａ）、（ｂ）本発明における実施の形態の飛行隊のサーチライト中心とする図面(A), (b) Drawing centered on the searchlight of the flight corps of the embodiment of the present invention. 本発明における実施の形態の飛行体の電池を示す略示断面図Schematic cross-sectional view showing a battery of an aircraft according to an embodiment of the present invention

　以下、図面を参照しながら、本発明における実施の形態について詳細に説明する。 Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

　図１を参照しながら、本実施の形態の飛行体に利用される認識マーカーについて説明する。 A description will be given of the recognition marker used for the flying object of the present embodiment with reference to FIG.

　図１において、本発明における実施の形態の認識マーカー１は、中央に２次元コード２が印刷されたマーカーである。この２次元コード２に記載する情報としては、遭難者が何人いるか、水が必要か、食料が必要か、暖房が必要か、など遭難情報が書き込まれている。なお、２次元コード２自体は人は意味が分からないので、普通の文章で「水が必要とか、食料がいるとか、暖房器具が必要とか、大丈夫自力で下山できる」とか書かれた文章を裏面に付記してある。この認識マーカー１はそれらの情報に応じて何枚も作っておくことが必要である。 In FIG. 1, the recognition marker 1 according to the embodiment of the present invention is a marker having a two-dimensional code 2 printed in the center. As the information described in the two-dimensional code 2, the number of persons in distress, water required, food required, heating required, and other distress information are written. In addition, since the 2D code 2 itself does not make sense to people, the back side of the sentence that says "I need water, I need food, I need a heater, I can go down the mountain on my own" in ordinary sentences. Is added to. It is necessary to make many recognition markers 1 according to the information.

　さらに、この認識マーカー１の内部にはヒータ４が配線されており、内蔵された電池３から電力が供給できるものである。なお、この電池３は外付けのものでもよい。このヒータ４に電力が供給されることにより、認識マーカー１の温度を上昇させることができる。 Furthermore, a heater 4 is wired inside the recognition marker 1 so that power can be supplied from the built-in battery 3. The battery 3 may be externally attached. By supplying electric power to the heater 4, the temperature of the recognition marker 1 can be raised.

　この温度上昇の程度は、少なくとも赤外線カメラで把握できる程度の温度である。なお、加温するためのヒータ４の配線は、必ずしも認識マーカー１の全体に及ぶ必要は無く、赤外線カメラで把握できさえすればよいので４隅だけでもよい。 The degree of this temperature rise is at least a temperature that can be grasped by an infrared camera. It should be noted that the wiring of the heater 4 for heating is not necessarily required to extend over the entire recognition marker 1, and it is sufficient that it can be grasped by the infrared camera, and therefore it may be provided only at four corners.

　さらには、人体を温めることのできる程度まで上昇させることができるようになっていてもよい。冬に遭難した場合など有効であるからである。 Furthermore, you may be able to raise it to the extent that it can warm the human body. This is because it is effective in the case of distress in winter.

　この認識マーカーの読み取りにより通信手段が途絶えた遭難者との連絡が可能となる。 -By reading this recognition marker, it becomes possible to contact a victim who has lost communication.

　図２は一枚の認識マーカー１の中に、２次元コード２が複数個印刷された変形例である。情報量がたくさん書きこめる長所がある。 FIG. 2 shows a modification in which a plurality of two-dimensional codes 2 are printed on one recognition marker 1. It has the advantage of being able to write a lot of information.

　次に、夜中に遭難者が出た時の認識マーカー１の使い方を説明する。 Next, we will explain how to use the recognition marker 1 when a victim appears in the middle of the night.

　図３乃至図５は本実施の形態の飛行体５の斜視図である。上述した認識マーカー１を用いるドローンなどの飛行体５の一例である。まず、この飛行体５の概略を説明する。 3 to 5 are perspective views of the flying object 5 of the present embodiment. This is an example of an air vehicle 5 such as a drone that uses the recognition marker 1 described above. First, the outline of the flying body 5 will be described.

　図３乃至図５において、最上部には飛行制御部６が設けられ、その下に電池ケース１３が配置され、その下にジンバルケース７が設けられている。このジンバルケース７内のジンバル機構に赤外カメラ１０と可視カメラ１１が搭載され、所望の方向にカメラを向けることができるようになっている。また、ジンバルケース７の横にはサーチライト８が下方に向けて設置されている。 3 to 5, the flight control unit 6 is provided at the top, the battery case 13 is arranged below the flight control unit 6, and the gimbal case 7 is provided below the flight control unit 6. An infrared camera 10 and a visible camera 11 are mounted on a gimbal mechanism in the gimbal case 7 so that the camera can be aimed in a desired direction. A searchlight 8 is installed next to the gimbal case 7 so as to face downward.

　さらに、その横にはスピーカー１２が設けられ、また、資材投下用のロープ９が吊り下げられている。 Furthermore, a speaker 12 is provided next to it, and a rope 9 for dropping materials is suspended.

　他方、１４は、スキッドであって、本例ではＴ字型をしている。さらに、４本のアーム１５が設けられ、それぞれのアーム１５の先端にはモータ１６が搭載され、そのモータ１６によってプロペラ１７が駆動されるようになっている。 On the other hand, 14 is a skid, which is T-shaped in this example. Further, four arms 15 are provided, a motor 16 is mounted on the tip of each arm 15, and the propeller 17 is driven by the motor 16.

　このように、４種類の機能（投下機能/サーチライト探索機能/複眼カメラ機能/ジンバル機能/拡声呼びかけ機能）を同時に機体に搭載して遠隔操作にて動作可能な無線動作方式を可能としている。 In this way, four types of functions (drop-down function/searchlight search function/compound-eye camera function/gimbal function/loud call function) are installed on the aircraft at the same time, enabling a wireless operation system that can be operated by remote control.

　次に、使用方法を説明する。 Next, explain how to use it.

　今、登山者から遭難者が出たという知らせが消防署に届いたとする。そこで、飛行体５をその場所に飛ばす（遭難場所が分かっている場合）。その飛ばす場合、飛行体５のロープ９などを利用して、上記認識マーカー１を何種類か運ぶ。 Now, let's say that the mountaineer has reached the fire department with the news that a person has been distressed. Therefore, the flying object 5 is flown to that location (if the location of the distress is known). When flying, several types of the above-mentioned recognition markers 1 are carried by using the rope 9 of the flying body 5 or the like.

　現場に到着したら、その認識マーカー１を遭難者に向けて投下する。遭難者はその何種類の認識マーカー１の中から、遭難者が何人であるとか、水が必要とか、食料がいるとか、暖房器具が必要とか、大丈夫自力で下山できるとか書かれた認識マーカー１を選び、地面に置く。 When arriving at the scene, drop the recognition marker 1 toward the victim. From the number of types of recognition markers 1 that victims have, it is written that the number of victims, the number of people who need water, the need for food, the need for heating equipment, and the ability to descend by themselves are all right. And place it on the ground.

　そこで、飛行体５の可視カメラ１１を利用して、その認識マーカー１の２次元コード２を撮像し、飛行体５の内部に設けられている解析手段で日本文に変換し、通信機能を利用して、消防署に遭難者の情報を伝える。あるいは、可視カメラ１１で撮像した２次元コード２の画像データをそのまま消防署へ通信し、消防署側で、その２次元コード２を解読してもよい。 Therefore, the visible camera 11 of the flying object 5 is used to image the two-dimensional code 2 of the recognition marker 1, converted into Japanese by the analysis means provided inside the flying object 5, and the communication function is used. Then, inform the fire department about the victims. Alternatively, the image data of the two-dimensional code 2 captured by the visible camera 11 may be directly communicated to the fire station, and the fire station side may decode the two-dimensional code 2.

　また、上述した場合は遭難者が認識マーカー１をもっていなかった場合について飛行体１が運ぶ場合について述べたが、もともと登山する時に、この認識マーカー１を持っていたとする。あるいは山小屋に備え付けてあったとする。なお、可視カメラ１１のズーム機能が６００倍など高精度なものだと、認識マーカー１はコンパクトなサイズでも十分２次元コード２が読み取れるので荷物にはならず、手軽に持ち運べる。 Also, in the above case, the case where the air vehicle 1 carries the case where the victim did not have the recognition marker 1 was described, but it is assumed that the victim originally had this recognition marker 1 when climbing a mountain. Or suppose it was installed in a hut. If the zoom function of the visible camera 11 is as high as 600 times, the recognition marker 1 can read the two-dimensional code 2 sufficiently even in a compact size, so that it does not become a baggage and can be easily carried.

　そのような場合は、遭難者の遭難場所がわからない場合でも次に述べるように有効に遭難者を探索することができる。 In such a case, even if the victim's distress location is unknown, the victim can be effectively searched as described below.

　すなわち、夜中に遭難連絡が入ると遭難した山へ飛行体１を飛ばす。他方、遭難者側は手元にある認識マーカー１を適宜選択して取り出し、電池３のスイッチをいれて加温した状態で地面に置く。例えば３８度以上に加温しておく。 That is, when a distress report comes in the middle of the night, the flight object 1 is flown to the distressed mountain. On the other hand, the victim side appropriately selects and takes out the recognition marker 1 at hand, puts the switch of the battery 3 on, and puts it on the ground in a heated state. For example, it is heated to 38 degrees or more.

　一方、飛行体５は遭難した場所らしいところへ到達したら、上記赤外線カメラ１０を駆動させ探索する。認識マーカー１は赤外線カメラ１０で認識できる程度に加温されているので、その認識マーカー１を見つけることができる。 On the other hand, when the air vehicle 5 reaches a place that seems to have been in distress, it drives the infrared camera 10 to search. Since the recognition marker 1 is heated to the extent that it can be recognized by the infrared camera 10, the recognition marker 1 can be found.

　赤外線カメラ１０で認識マーカー１を発見すると、今度は上記サーチライト８で認識マーカー１を照らす。その上で、今度は可視カメラ１１で認識マーカー１の２次元コード２を上述のようにして読み取る。 When the infrared camera 10 discovers the recognition marker 1, this time the searchlight 8 illuminates the recognition marker 1. Then, this time, the visible camera 11 reads the two-dimensional code 2 of the recognition marker 1 as described above.

　このようにして夜中でも容易に遭難者を発見し、遭難状況を把握できる。 In this way, you can easily find the victim and understand the situation of the accident even at night.

　なお、冬の遭難の場合は、上記電池３によって人体を温めることのできる程度に温度上昇させ、認識マーカー１を暖房器具代わりにすることが出来便利である。
次に、図６は本発明の別の実施の形態の飛行体１の正面図である。この飛行体１は、本体６０から延びる複数のアーム１５の先端にモーター１６とプロペラ１７が取り付けられており、本体６０の上部、もしくは下部にバッテリー１３０を配置し、そのバッテリー１３０から電源をモーター１６に供給するケーブル１８を中空のアーム１５の内部を通している。
防水性能を持たせるためにはバッテリーケース１３と本体６０、アーム１５の中空部を一つの空間としてシールする必要がある。
しかしながら、機体を安定して制御するためのフライトコントローラー（FC）６は本体６０の内部に配置されて、FC６内部には機体の高度を気圧から測定するために気圧センサー（図示省略）が内蔵されている。
FC６は電子機器のため、水が掛かるような環境では用いることが出来ないが、気圧センサーは適切に外気と同じ気圧を測定できなければならない。完全にシールされた機体では内部の気圧と外部の気圧には差異が発生する。
そこで、この差異を解消するために、図６のように本体６０に気圧調整弁６１か、防水通気性シートを設けることで内部と外部の気圧を等しく保つことが出来る。 In the case of a winter distress, the temperature of the human body can be raised by the battery 3 so that the human body can be warmed, and the recognition marker 1 can be used as a heating device, which is convenient.
Next, FIG. 6 is a front view of an aircraft 1 according to another embodiment of the present invention. In this flying body 1, a motor 16 and a propeller 17 are attached to the tips of a plurality of arms 15 extending from a main body 60, a battery 130 is arranged above or below the main body 60, and power is supplied from the battery 130 to the motor 16. A cable 18 for feeding the wire is passed through the inside of the hollow arm 15.
In order to have waterproof performance, it is necessary to seal the battery case 13, the main body 60, and the hollow portion of the arm 15 as one space.
However, the flight controller (FC) 6 for stable control of the aircraft is located inside the main body 60, and a pressure sensor (not shown) is built in the FC 6 to measure the altitude of the aircraft from atmospheric pressure. ing.
Since the FC6 is an electronic device, it cannot be used in an environment where it is exposed to water, but the barometric pressure sensor must be able to properly measure the same atmospheric pressure as the outside air. In a completely sealed aircraft, a difference occurs between the internal pressure and the external pressure.
Therefore, in order to eliminate this difference, as shown in FIG. 6, an air pressure adjusting valve 61 or a waterproof breathable sheet is provided in the main body 60, so that the air pressure inside and outside can be kept equal.

　なお、図６に示すように、カメラ収納ケース１０１も360度の方向からの風圧に耐えるように球形、あるいは半球形をしている。なお、電池ケース１３も球状であることが望ましい。
図７（ａ）は本発明の実施の形態の飛行体１の別の例を示す。すなわち、可搬性を高めるためにアーム１５を折りたたみ機構を有するものとする。その場合、折り畳み部分の隙間から水が浸透しないように、図７（ｂ）に示すとおり、接合面にシール用の溝１５１とシール材１５２をいれることでアーム１５の展開時に防水性が保たれる。 As shown in FIG. 6, the camera storage case 101 also has a spherical shape or a hemispherical shape so as to withstand wind pressure from a direction of 360 degrees. The battery case 13 is also preferably spherical.
FIG. 7A shows another example of the aircraft 1 according to the embodiment of the present invention. That is, the arm 15 has a folding mechanism in order to enhance portability. In that case, as shown in FIG. 7( b ), the sealing groove 151 and the sealing material 152 are provided on the joint surface so that water does not permeate through the gap between the folded portions, whereby the waterproof property is maintained when the arm 15 is deployed. Is done.

　図８（ｂ）は本発明の実施の形態の飛行体１の別の例を示す。すなわち、上記のようなアーム１５の折りたたみ機構を有するものにおいては、脚にあたるスキッド１４がアーム１５を下部に折りたたんだものより長くなり、さらにアーム１５を折りたたむ角度も制限してしまうため（図（ａ）参照）、運搬時のサイズが大きくなってしまう問題がある。
図（ｂ）に示すように、これを解決するために、スキッド１４を取り外し可能として、運搬時のみ外してキャリーバック２０等にいれることで可搬性を高めることができる。 FIG. 8B shows another example of the aircraft 1 according to the embodiment of the present invention. That is, in the arm having the folding mechanism of the arm 15 as described above, the skid 14, which is a leg, is longer than that in which the arm 15 is folded downward, and the angle at which the arm 15 is folded is also limited (see FIG. )), there is a problem that the size during transportation becomes large.
In order to solve this, as shown in FIG. (b), the skid 14 can be removed, and it can be removed only during transportation and put in the carry bag 20 or the like to enhance portability.

　図９は本発明の実施の形態の飛行体１の別の例を示す。図において、スキッド１４は、強風下での安定的な飛行の実現を図り、風の抵抗を受けないようにするためスキッド１４開閉式として、飛行時はプロペラ１７とほぼ水平にすることにより風力の影響を軽減できる。
離着陸のときは開いて離着陸できるようにする。 FIG. 9 shows another example of the aircraft 1 according to the embodiment of the present invention. In the figure, the skid 14 is a skid 14 open/close type in order to realize stable flight under strong winds and not to receive wind resistance. The impact can be reduced.
When taking off and landing, open it so that you can take off and land.

　図１０は、本発明の実施の形態の飛行体１の別の例を示す。本例では制御部に演算解析部３０を設け、遭難者を夜間捜索する場合、赤外線センサでもある赤外線カメラ１１からの信号を体温データと比較して、生存者を探すことができる。人は生存している場合体温が３８度程度であり製外線を放射しているので探索しやすい。３１は人の体温データである。 FIG. 10 shows another example of the flying vehicle 1 according to the embodiment of the present invention. In this example, when the arithmetic analysis unit 30 is provided in the control unit and the victim is searched at night, the survivor can be searched by comparing the signal from the infrared camera 11 which is also an infrared sensor with the body temperature data. When a person is alive, the body temperature is around 38 degrees and radiates an external line, so it is easy to search. Reference numeral 31 is human body temperature data.

　図１１は、本発明の実施の形態の飛行体１の別の例を示す。本例では、サーチライト８を飛行体１から切り離し投下することができる。図（ａ）はその斜視図、図（ｂ）はその略示断面図である。図（ａ）、図（ｂ）において、８１はサーチライト８を保持する保持手段であり、その保持手段８１とサーチライト８とは樹脂層８２が設けられている。その樹脂層８２内にはニクロム線８３が内蔵されている。このニクロム線８３には電池１３０から電源が供給できるようになっている。 FIG. 11 shows another example of the flying vehicle 1 according to the embodiment of the present invention. In this example, the searchlight 8 can be separated from the flying object 1 and dropped. FIG. (A) is a perspective view thereof, and FIG. (B) is a schematic cross-sectional view thereof. In FIGS. (a) and (b), 81 is a holding means for holding the searchlight 8, and the holding means 81 and the searchlight 8 are provided with a resin layer 82. A nichrome wire 83 is built in the resin layer 82. Power can be supplied to the nichrome wire 83 from the battery 130.

　そこで、遭難者発見の際、サーチライト８を投下したい場合には、電源をニクロム線８３へ流し、樹脂層８２を溶解させる。その結果、サーチライト８は自重で自然落下していく。 Therefore, if you want to drop the searchlight 8 when finding a victim, the power is supplied to the nichrome wire 83 to melt the resin layer 82. As a result, the searchlight 8 naturally falls under its own weight.

　このような構造を採用しているので、例えばモーター駆動などの方策を用いないため軽量化に寄与し機体の耐風性能の強化に寄与する。 Since this structure is adopted, measures such as motor drive are not used, which contributes to weight reduction and strengthens the wind resistance of the aircraft.

　図１１は、本発明の実施の形態の飛行体１の別の例を示す。飛行体１の動力源には広くリチウムイオン2次電池が用いられているが、低温環境下での動作保証をするために従来は蓄電池そのものに加温/保温用のヒーターを内蔵していた。 FIG. 11 shows another example of the flying object 1 according to the embodiment of the present invention. Lithium-ion secondary batteries are widely used as the power source for the aircraft 1, but conventionally, in order to guarantee operation in a low temperature environment, the storage battery itself has a built-in heater for heating / retaining heat.

　しかし、そのため重量が大きくなる問題があった。そこで、電池１３０を収納する電池ケース１３の内側には寒気を遮断する断熱材例えば発砲ウレタンなどの断熱材をケース素材として用いる。そのさらに内側に化学反応で加温される使い捨て人体用加温手段などのいわゆる使い捨てカイロ１３１を断熱材の内側に貼り付ける。この加温システムにより軽量で安全な電池加温電池ケース１３で最適な内部温度で電池１３０が動作することが可能となる。 However, there was a problem that the weight increased because of that. Therefore, a heat insulating material that blocks cold air, for example, a heat insulating material such as foamed urethane is used as a case material inside the battery case 13 that houses the battery 130. Further, a so-called disposable body warmer 131 such as a disposable human body heating means which is heated by a chemical reaction is attached to the inner side of the heat insulating material. This heating system enables the battery 130 to operate at the optimum internal temperature in the lightweight and safe battery heating battery case 13.

　さらに、この機体の落下時はクッション材の代わりとなり高価な電池の損傷を防ぎ電池破壊による火災のリスクも軽減する。 Furthermore, when this aircraft is dropped, it replaces the cushioning material and prevents damage to expensive batteries, reducing the risk of fire due to battery destruction.

　本発明における飛行体は、遭難者との連絡がよりスムーズにできる認識マーカや飛行体を実現することができ、遭難救助などの分野に有用である。 The flight vehicle of the present invention can realize a recognition marker and a flight vehicle that can make contact with a victim more smoothly, and is useful in fields such as disaster rescue.

　１　認識マーカー
　２　２次元コード
　３　電池
　４　ヒータ
  1 Recognition marker 2 2 dimensional code 3 Battery 4 Heater

Claims (12)

所定の情報に関するディジタル認識コードが付された認識マーカーであって、
　前記認識マーカーは加温可能であり、
　加温された前記認識マーカーは、赤外線カメラによってその存在が把握可能であり、
　可視カメラによって前記認識マーカーの所定情報が読み取れることを特徴とする認識マーカー。 A recognition marker having a digital recognition code for predetermined information,
The recognition marker can be heated,
The presence of the heated recognition marker can be grasped by an infrared camera,
A recognition marker, wherein predetermined information of the recognition marker can be read by a visible camera. 前記認識マーカーは、内蔵または外付けの電池による加温可能であって、同時に暖房器具としても使用可能である、請求項１記載の認識マーカー。　 The recognition marker according to claim 1, wherein the recognition marker can be heated by an internal or external battery and can be used as a heating device at the same time. ‥ 請求項１又は２記載の前記認識マーカーの使用方法であって、
　最初に、飛行体に搭載された赤外線カメラによって、加温された前記認識マーカーを探索し、発見した前記認識マーカーに対して、前記飛行体に搭載されたライトで可視光を照射し、前記飛行体に搭載された可視カメラによって、前記認識マーカーに付されたディジタル認識コードを認識することで、前記所定情報を読み取ることを特徴とする、認識マーカーの使用方法。 A method of using the recognition marker according to claim 1 or 2, wherein
First, an infrared camera mounted on a flying body searches for the heated recognition marker, and the found recognition marker is irradiated with visible light by a light mounted on the flying body to perform the flight. A method of using a recognition marker, characterized in that the predetermined information is read by recognizing a digital recognition code attached to the recognition marker with a visible camera mounted on the body. 気圧センサを備えたフライトコントローラを内部に有する本体と、前記本体から延びる複数の中空のアームと、それらのアームの先端にモーターとプロペラのついた飛行体であって、
前記本体にバッテリーが配置され、そのバッテリーから電源を前記モーターに供給するケーブルが、前記中空のアームの内部に通されており、
前記バッテリーのケース内部と前記本体の内部と前記アームの中空部とは、外部に対して防水性能を持たせるために、一つの空間としてシールされており、
前記本体には気圧調整弁又は防水通気性シート部が設けられ、前記気圧センサは外部の気圧を検知出来ることを特徴とする飛行体。 A main body having a flight controller provided with an atmospheric pressure sensor inside, a plurality of hollow arms extending from the main body, a flying body with a motor and a propeller at the tips of these arms,
A battery is arranged in the main body, a cable for supplying power from the battery to the motor is passed through the hollow arm,
The inside of the case of the battery, the inside of the main body, and the hollow portion of the arm are sealed as one space in order to provide waterproofness to the outside,
An air vehicle, wherein the main body is provided with an air pressure control valve or a waterproof breathable sheet portion, and the air pressure sensor can detect an external air pressure. 前記アームは折り畳み式であり、その折り畳み部の接合面にはシール用の溝とシール材が設けられ、前記アームの展開時の防水性が保たれる、請求項４記載の飛行体。 The flying object according to claim 4, wherein the arm is a foldable type, and a groove for sealing and a sealing material are provided on a joint surface of the folded portion to maintain waterproofness when the arm is deployed. 前記飛行体のスキッドは取り外し可能となっている、請求項５記載の飛行体。 The flying object according to claim 5, wherein the skid of the flying object is removable. プロペラと駆動源と電池と制御部とスキッドを備えた飛行体であって、
　前記スキッドは開閉式であり、飛行時には、前記プロペラと平行状態となるように閉じ、離陸時と着陸時には開くことで離着陸できるものであることを特徴とする飛行体。 It is an aircraft equipped with a propeller, a drive source, a battery, a controller and a skid,
An aircraft that is openable and closable, and can be taken off and landed by closing the skid so that it is parallel to the propeller during flight and opening it during takeoff and landing. プロペラと駆動源と電池と制御部とカメラとスキッドを備えた飛行体であって、
　前記電池のケースと前記カメラの収納ケースの形状は球形又は半球形であることを特徴とする飛行体。 It is an air vehicle equipped with a propeller, a drive source, a battery, a control unit, a camera and a skid,
The flying body, wherein the case of the battery and the case of the camera are spherical or hemispherical. プロペラと駆動源と電池と制御部とカメラとスキッドを備えた飛行体であって、
　資材などの投下機能と、サーチライト探索機能と、複眼カメラ機能と、ジンバル機能と、拡声呼びかけ機能とを同時に機体に搭載し、遠隔操作にて動作可能な無線動作方式の飛行体。 It is an air vehicle equipped with a propeller, a drive source, a battery, a control unit, a camera and a skid,
A wireless operation-type aircraft that is equipped with a function for dropping materials, a searchlight search function, a compound-eye camera function, a gimbal function, and a loud call function at the same time and can be operated remotely. プロペラと駆動源と電池と制御部とカメラとスキッドを備えた飛行体であって、
　赤外暗視カメラを有し、そのセンサ出力データから人体の体温を検知できる解析部を備え、遭難者を探索可能な飛行体。 It is an air vehicle equipped with a propeller, a drive source, a battery, a control unit, a camera and a skid,
An aircraft that has an infrared night-vision camera and an analysis unit that can detect the body temperature of the human body from the sensor output data, and can search for a victim. プロペラと駆動源と電池と制御部とカメラとスキッドを備えた飛行体であって、
　サーチライトと、
　そのサーチライトを保持する保持手段とを備え、
　前記保持手段は、外部又は内部に電熱ニクロム線を有する樹脂層によって前記サーチライトを保持する機構を有し、
　前記サーチライトの投下指令を受けると、前記電池は前記電熱ニクロム線に電流を印加して発熱させることによって、前記樹脂層を溶融し、前記サーチライトは自重によって自然落下する、ことを特徴とする飛行体。 It is an air vehicle equipped with a propeller, a drive source, a battery, a control unit, a camera and a skid,
Searchlight and
And a holding means for holding the searchlight,
The holding means has a mechanism for holding the searchlight by a resin layer having an electrothermal nichrome wire on the outside or inside,
Upon receiving a drop command of the searchlight, the battery applies a current to the electrothermal nichrome wire to generate heat, thereby melting the resin layer, and the searchlight naturally falls due to its own weight. Aircraft. プロペラと駆動源と電池と制御部とカメラとスキッドを備えた飛行体であって、
　前記電池の収納ケースには、前記電池を加温するための化学反応式加温・保温器具が内蔵されている、ことを特徴とする飛行体。
 
 
  It is an air vehicle equipped with a propeller, a drive source, a battery, a control unit, a camera and a skid,
A flying body characterized in that a chemical reaction type warming/warming device for heating the battery is built in the battery storage case.


PCT/JP2019/008395 2019-03-04 2019-03-04 Recognition marker and flight vehicle Ceased WO2020178946A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/JP2019/008395 WO2020178946A1 (en) 2019-03-04 2019-03-04 Recognition marker and flight vehicle
JP2019548347A JP6735424B1 (en) 2019-03-04 2019-03-04 Recognition markers and air vehicles

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2019/008395 WO2020178946A1 (en) 2019-03-04 2019-03-04 Recognition marker and flight vehicle

Publications (1)

Publication Number Publication Date
WO2020178946A1 true WO2020178946A1 (en) 2020-09-10

Family

ID=71892356

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2019/008395 Ceased WO2020178946A1 (en) 2019-03-04 2019-03-04 Recognition marker and flight vehicle

Country Status (2)

Country Link
JP (1) JP6735424B1 (en)
WO (1) WO2020178946A1 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115610655A (en) * 2022-11-09 2023-01-17 山东省水利勘测设计院有限公司 A UAV aerial survey system for complex geological conditions
CN116062178A (en) * 2022-12-30 2023-05-05 广西祥云亿航智能科技有限公司 Unmanned aerial vehicle takes off and returns to navigate containing box
US12179938B2 (en) 2022-06-09 2024-12-31 Honeywell International Inc. Active landing marker

Citations (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006281830A (en) * 2005-03-31 2006-10-19 Yamaha Motor Co Ltd Camera viewpoint display system
JP2013080663A (en) * 2011-10-05 2013-05-02 Sumitomo Electric Ind Ltd Emergency molten salt battery pack and usage thereof and emergency power supply device
CN204341394U (en) * 2014-12-24 2015-05-20 马鞍山市靓马航空科技有限公司 The many rotor wing unmanned aerial vehicles of a kind of multifunction emergency rescue
JP5874940B1 (en) * 2014-08-06 2016-03-02 八洲電業株式会社 Aircraft and battery unit storage system
WO2017033976A1 (en) * 2015-08-25 2017-03-02 日本電気株式会社 Aerial vehicle control device, aerial vehicle control method, and computer-readable recording medium
JP2017506188A (en) * 2014-11-26 2017-03-02 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ Landing device and aircraft using this landing device
JP2017058937A (en) * 2015-09-16 2017-03-23 株式会社デンソーウェーブ Air delivery system
CN206050046U (en) * 2016-08-17 2017-03-29 中国南方电网有限责任公司超高压输电公司广州局 A kind of many rotor waterproof unmanned planes
JP2017074821A (en) * 2015-10-13 2017-04-20 独立行政法人国立高等専門学校機構 Drowning rescue device
CN206422189U (en) * 2016-10-31 2017-08-18 深圳市大疆创新科技有限公司 Battery and unmanned plane
JP2017538611A (en) * 2015-09-11 2017-12-28 エスゼット ディージェイアイ オスモ テクノロジー カンパニー リミテッドＳＺ ＤＪＩ Ｏｓｍｏ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．， Ｌｔｄ． Unmanned aerial vehicle
WO2018016017A1 (en) * 2016-07-20 2018-01-25 株式会社プロドローン Unmanned aerial vehicle and moving body capturing system
CN207482187U (en) * 2017-07-10 2018-06-12 上海扩博智能技术有限公司 A kind of folding machine arm configuration of multi-rotor aerocraft
US20180329431A1 (en) * 2017-05-12 2018-11-15 Chunghwa Picture Tubes, Ltd. Thermal image positioning system and positioning method thereof
JP2019501074A (en) * 2015-12-25 2019-01-17 北京臻迪机器人有限公司 Aircraft outer shell and body and aircraft

Patent Citations (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006281830A (en) * 2005-03-31 2006-10-19 Yamaha Motor Co Ltd Camera viewpoint display system
JP2013080663A (en) * 2011-10-05 2013-05-02 Sumitomo Electric Ind Ltd Emergency molten salt battery pack and usage thereof and emergency power supply device
JP5874940B1 (en) * 2014-08-06 2016-03-02 八洲電業株式会社 Aircraft and battery unit storage system
JP2017506188A (en) * 2014-11-26 2017-03-02 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ Landing device and aircraft using this landing device
CN204341394U (en) * 2014-12-24 2015-05-20 马鞍山市靓马航空科技有限公司 The many rotor wing unmanned aerial vehicles of a kind of multifunction emergency rescue
WO2017033976A1 (en) * 2015-08-25 2017-03-02 日本電気株式会社 Aerial vehicle control device, aerial vehicle control method, and computer-readable recording medium
JP2017538611A (en) * 2015-09-11 2017-12-28 エスゼット ディージェイアイ オスモ テクノロジー カンパニー リミテッドＳＺ ＤＪＩ Ｏｓｍｏ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．， Ｌｔｄ． Unmanned aerial vehicle
JP2017058937A (en) * 2015-09-16 2017-03-23 株式会社デンソーウェーブ Air delivery system
JP2017074821A (en) * 2015-10-13 2017-04-20 独立行政法人国立高等専門学校機構 Drowning rescue device
JP2019501074A (en) * 2015-12-25 2019-01-17 北京臻迪机器人有限公司 Aircraft outer shell and body and aircraft
WO2018016017A1 (en) * 2016-07-20 2018-01-25 株式会社プロドローン Unmanned aerial vehicle and moving body capturing system
CN206050046U (en) * 2016-08-17 2017-03-29 中国南方电网有限责任公司超高压输电公司广州局 A kind of many rotor waterproof unmanned planes
CN206422189U (en) * 2016-10-31 2017-08-18 深圳市大疆创新科技有限公司 Battery and unmanned plane
US20180329431A1 (en) * 2017-05-12 2018-11-15 Chunghwa Picture Tubes, Ltd. Thermal image positioning system and positioning method thereof
CN207482187U (en) * 2017-07-10 2018-06-12 上海扩博智能技术有限公司 A kind of folding machine arm configuration of multi-rotor aerocraft

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12179938B2 (en) 2022-06-09 2024-12-31 Honeywell International Inc. Active landing marker
CN115610655A (en) * 2022-11-09 2023-01-17 山东省水利勘测设计院有限公司 A UAV aerial survey system for complex geological conditions
CN116062178A (en) * 2022-12-30 2023-05-05 广西祥云亿航智能科技有限公司 Unmanned aerial vehicle takes off and returns to navigate containing box

Also Published As

Publication number Publication date
JP6735424B1 (en) 2020-08-05
JPWO2020178946A1 (en) 2021-03-11

Similar Documents

Publication Publication Date Title
US11851209B2 (en) Pod cover system for a vertical take-off and landing (VTOL) unmanned aerial vehicle (UAV)
US20200055613A1 (en) Systems, methods, and devices for improving safety and functionality of craft having one or more rotors
US10358196B2 (en) Unmanned aerial vehicle system and methods for use
US10710715B2 (en) Unmanned supply delivery aircraft
JP6735424B1 (en) Recognition markers and air vehicles
US9033281B1 (en) Remote controlled aerial reconnaissance vehicle
US9527596B1 (en) Remote controlled aerial reconnaissance vehicle
KR101720565B1 (en) Unmanned Aerial Vehicle System For Broadcasting Distress Research And Emergency Guide
KR101968577B1 (en) A Multi-purpose drone for forest disaster
Imdoukh et al. Semi-autonomous indoor firefighting UAV
WO2009153588A1 (en) Compact unmanned aerial vehicle
CN110740932A (en) Systems, methods, and apparatus to improve safety and functionality of aircraft having or more rotors
CN106945827B (en) A Floating Body Throwing Amphibious Quadrotor UAV
CN207748022U (en) A kind of patrol device for driving away with unmanned plane
US11591087B2 (en) Unmanned aerial vehicle with ducted rotors
US20100282897A1 (en) Unmanned Aerial Surveillance Device
WO2024021186A1 (en) Electric flying lifebuoy
AU2016203538A1 (en) "Aerobuoy". A flying personal flotation device.
CN105549494A (en) Automobile and unmanned aerial vehicle connecting device
Liardon et al. Lake imaging and monitoring aerial drone
CN206125411U (en) A drone that can land on any terrain
KR102373707B1 (en) Water rescue drone and method for controlling the same
Verma et al. Unmanned Aerial Vehicle for disaster response and relief operations: helping hands from air
WO2020250240A1 (en) A flying shell for portable electronic device
CN107813931A (en) A kind of patrol device with unmanned plane

Legal Events

Date Code Title Description
ENP Entry into the national phase

Ref document number: 2019548347

Country of ref document: JP

Kind code of ref document: A

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 19918270

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 19918270

Country of ref document: EP

Kind code of ref document: A1