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WO2021161685A1 - Dispositif de vol et dispositif de parachute - Google Patents

Dispositif de vol et dispositif de parachute Download PDF

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Publication number
WO2021161685A1
WO2021161685A1 PCT/JP2021/000157 JP2021000157W WO2021161685A1 WO 2021161685 A1 WO2021161685 A1 WO 2021161685A1 JP 2021000157 W JP2021000157 W JP 2021000157W WO 2021161685 A1 WO2021161685 A1 WO 2021161685A1
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WO
WIPO (PCT)
Prior art keywords
unit
parachute
flight
injection
control unit
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/JP2021/000157
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English (en)
Japanese (ja)
Inventor
譲 酒本
昌司 下久
佳広 持田
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.)
MinebeaMitsumi Inc
Original Assignee
MinebeaMitsumi Inc
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 MinebeaMitsumi Inc filed Critical MinebeaMitsumi Inc
Publication of WO2021161685A1 publication Critical patent/WO2021161685A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • 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
    • B64D17/00—Parachutes
    • B64D17/62—Deployment
    • B64D17/72—Deployment by explosive or inflatable means
    • 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
    • B64U30/26—Ducted or shrouded rotors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B64U70/80—Vertical take-off or landing, e.g. using rockets
    • B64U70/83—Vertical take-off or landing, e.g. using rockets using parachutes, balloons or the like

Definitions

  • the present invention relates to a flight device and a parachute device, for example, a multi-rotor rotorcraft type flight device capable of remote operation and autonomous flight.
  • the present invention has been made in view of the above-mentioned problems, and an object of the present invention is to quickly and surely parachute even when the effect of airflow when the flight device is flying or falling is not immediately obtained. Is to provide a flight device that can open the umbrella.
  • the flight device includes an aircraft unit, a lift generating unit connected to the aircraft unit to generate lift, a flight control unit that controls the lift generating unit, a parachute, and the like.
  • a parachute accommodating portion provided in the aircraft unit and accommodating the parachute, a plurality of flying objects connected to the parachute, and the flight provided for each of the flying objects to hold and hold the corresponding flying object.
  • the drop control unit is characterized in that the flying object of at least one of the plurality of injection units is preferentially ejected.
  • FIG. It is a figure which shows typically the appearance of the flight apparatus which concerns on Embodiment 1.
  • FIG. It is a figure which shows typically the structure of the parachute apparatus mounted on the flight apparatus which concerns on Embodiment 1.
  • FIG. It is a figure which shows typically the state which the parachute is open.
  • FIG. It is a flowchart which shows the flow of the fall preparation process by the flight apparatus which concerns on Embodiment 1.
  • FIG. It is a flowchart which shows the flow of abnormality detection by the flight apparatus which concerns on Embodiment 1.
  • FIG. It is a figure which shows typically the state in which the parachute of the flight apparatus which concerns on Embodiment 1 is open. It is a functional block diagram of the flight apparatus which concerns on Embodiment 2.
  • FIG. It is a flowchart which shows the flow of the parachute opening control (step S5) which concerns on Embodiment 2.
  • step S5 which concerns on Embodiment 2.
  • step S5 shows typically the state of the airframe unit at the time of injection of a flying object.
  • FIG. shows typically the state of the airframe unit at the time of injection of a flying object.
  • the flight device (1,1A, 1B) includes a body unit (2) and a lift generating unit (3) connected to the body unit to generate lift.
  • a parachute (43), a plurality of injection units (41) provided for each parachute to hold the corresponding parachute and eject the held parachute, and an abnormality during flight are detected.
  • An abnormality detection unit (15) and a drop control unit (16, 16A, 16B) for ejecting the flying object from the injection unit in response to the detection of the abnormality by the abnormality detection unit are provided. It is characterized in that the flying object of at least one of the plurality of ejection portions is preferentially ejected.
  • the fall control unit may preferentially inject the flying object of the injection unit located at the most windward position of the airframe unit.
  • the drop control unit identifies a first injection unit group based on the most windward position of the airframe unit and the position of each injection unit, and the first injection unit.
  • the flying object of the group may be preferentially ejected.
  • the fall control unit may preferentially inject the flying object of the injection unit located at the position farthest from the ground of the airframe unit.
  • the drop control unit identifies a first injection unit group based on the position farthest from the ground of the airframe unit and the position of each injection unit, and the first injection unit.
  • the projectiles of the group may be preferentially ejected.
  • the fall control unit may eject the flying object of the remaining ejecting unit after giving priority to the flying object.
  • the fall control unit may eject the flying object with priority given to the flying object, and then eject the flying object of the remaining ejection unit at different times.
  • the flight device further includes sensor units (12, 28) for detecting the wind direction, and the drop control unit is based on the detection result of the sensor unit and the position of each injection unit.
  • the injection unit group may be specified, and the flying object of the first injection unit group may be emitted first.
  • the flight device further includes sensor units (12, 24, 27) for detecting the inclination of the airframe unit, and the drop control unit is based on the detection result of the sensor unit and the position of each injection unit. Therefore, the first injection unit group may be specified, and the flying object of the first injection unit group may be emitted first.
  • the parachute apparatus (4,4A, 4B) according to a typical embodiment of the present invention is provided on the parachute (400) and the airframe unit (2,2A), and is a parachute accommodating portion for accommodating the parachute. (40), a plurality of projectiles (43) connected to the parachute, and a plurality of ejections provided for each projectile to hold the corresponding projectile and eject the held projectile.
  • FIG. 1 is a diagram schematically showing the appearance of a flight device equipped with the parachute device according to the first embodiment.
  • the flight device 1 shown in FIG. 1 is, for example, a multi-rotor rotorcraft type flight device equipped with three or more rotors, and is a so-called drone.
  • the flight device 1 includes an airframe unit 2, lift (propulsion force) generating units 3_1 to 3_n (n is an integer of 3 or more), a parachute device 4, a notification device 5, and an arm unit 6. There is.
  • the airframe unit 2 is the main body of the flight device 1. As will be described later, the airframe unit 2 houses various functional units for controlling the flight of the flight device 1. Although FIG. 1 shows a columnar airframe unit 2 as an example, the shape of the airframe unit 2 is not particularly limited.
  • the lift generating unit 3 has, for example, a structure in which a propeller 30 and a motor 31 for rotating the propeller 30 are housed in a tubular housing 32.
  • a net for example, a resin material, a metal material (stainless steel, etc.), etc.) for preventing contact with the propeller 30 may be provided in the opening of the tubular housing 32.
  • the arm portion 6 is a structure for connecting the airframe unit 2 and each lift generating portion 3.
  • the arm portion 6 is formed so as to project radially from the airframe unit 2, for example, about the central axis O of the airframe unit 2.
  • a lift generating portion 3 is attached to the tip of each arm portion 6.
  • the notification device 5 is a device for notifying the outside of the flight device 1 of danger.
  • the notification device 5 includes, for example, a light source including an LED (Light Emitting Diode) and a sound generator (amplifier, speaker, etc.).
  • the notification device 5 notifies the outside by light or voice that the flight device 1 is in a dangerous state in response to the detection of the abnormality by the abnormality detection unit 15 described later.
  • the notification device 5 may be exposed to the outside of the airframe unit 2, or is housed inside the airframe unit 2 in a form capable of outputting light generated from a light source, voice generated from a speaker, or the like to the outside. You may.
  • the parachute device 4 is a device for safely dropping the flight device 1 by slowing the fall speed of the flight device 1 when an abnormality occurs in the flight device 1 and there is a risk of falling.
  • the parachute device 4 is provided in the airframe unit 2 of the flight device 1.
  • the parachute device 4 is installed on the upper surface of the airframe unit 2, that is, on the surface of the airframe unit 2 in flight opposite to the ground.
  • FIG. 2 is a diagram schematically showing the configuration of the parachute device 4. The figure shows a side cross section of the parachute device 4.
  • FIG. 3 is a diagram schematically showing a state in which the parachute 400 of the parachute device 4 is open.
  • the parachute device 4 includes a parachute 400, a parachute accommodating unit 40, an injection unit 41, an injection control unit 42, and a flying object 43.
  • the parachute 400 has an umbrella body (canopy) 406 and a chordee 407 connecting the umbrella body 406 and the parachute accommodating portion 40 (parachute attachment portion 404).
  • the umbrella body 406 is connected to the flying body 43 by the connecting rope 46.
  • the connecting rope 46 is connected to the umbrella body 406 on the edge (peripheral) side of the apex of the umbrella body 406. More specifically, the connecting ropes 46 are separated from each other and connected to the peripheral edge of the parachute 400.
  • each connecting rope 46 is the circumference of the peripheral portion of the parachute 400. It is connected to the parachute 400 (umbrella body 406) at equal intervals along the direction.
  • the connecting rope 46 may be connected to somewhere on the peripheral edge of the parachute 400.
  • the position on the peripheral edge of the parachute 400 to which the connecting rope 46 is connected is not particularly limited.
  • the connecting rope 46 is made of, for example, a metal material (for example, stainless steel) or a fiber material (for example, a nylon string).
  • the diameter D of the umbrella body 406 required to drop the flight device 1 at a low speed can be calculated based on the following formula (1).
  • m is the total weight of the flight device 1
  • v is the falling speed of the flight device 1
  • ⁇ is the air density
  • Cd is the drag coefficient.
  • the falling speed v of the flight device 1 is 5 [m / s].
  • the diameter D of the umbrella body 406 required for this is calculated as 14.6 [m] from the equation (1).
  • the parachute 400 is housed in the parachute housing unit 40 in a folded state of the umbrella body 406 before its use.
  • the parachute accommodating unit 40 is a container for accommodating the parachute 400.
  • the parachute accommodating portion 40 is made of, for example, resin.
  • the parachute accommodating portion 40 is set on the upper surface of the airframe unit 2, that is, on the surface opposite to the ground during flight of the flight device 1.
  • the parachute accommodating portion 40 is preferably installed on the upper surface of the airframe unit so that the central axis O of the airframe unit 2 and the central axis P of the parachute accommodating unit 40 overlap.
  • the parachute accommodating portion 40 has, for example, a tubular shape with one end open and the other end bottomed.
  • the parachute accommodating portion 40 has, for example, a cylindrical side wall portion 401 and a bottom portion 402 formed so as to close an opening on one end side of the side wall portion 401.
  • a storage space 403 for accommodating the parachute 400 is defined by the side wall portion 401 and the bottom portion 402.
  • the side wall portion 401 and the bottom portion 402 may be individually formed and joined, or may be integrally formed.
  • the bottom portion 402 is provided with a parachute mounting portion 404 for connecting the parachute accommodating portion 40 and the parachute 400.
  • a parachute mounting portion 404 for connecting the parachute accommodating portion 40 and the parachute 400.
  • the parachute 400 and the parachute accommodating portion 40 are connected.
  • the flying object 43 is a device for discharging the parachute 400 to the outside of the parachute accommodating portion 40 and assisting in opening (deploying) the parachute 400.
  • the projectile 43 obtains thrust, for example, by injecting gas.
  • the projectile 43 is connected to the parachute 400 via the connecting rope 46 as described above.
  • the parachute device 4 includes a plurality of projectiles 43.
  • the parachute device 4 preferably includes three or more projectiles 43.
  • FIG. 1 illustrates a case where the parachute device 4 includes three flying objects. The specific configuration of the flying object 43 will be described later.
  • the injection unit 41 is a device for holding the flying object 43 and ejecting the holding flying object 43.
  • the injection unit 41 is provided for each flying object 43.
  • the parachute device 4 according to the present embodiment includes three injection units 41 for separately accommodating the three flying objects 43.
  • the injection portion 41 is formed in a cylindrical shape (for example, a cylindrical shape) having an opening at one end and a bottom at the other end.
  • the injection portion 41 has, for example, a cylindrical side wall portion 411 and a bottom portion 412 that covers one end of the side wall portion 411.
  • the side wall portion 411 and the bottom portion 412 define a storage space for accommodating the flying object 43.
  • the side wall portion 411 and the bottom portion 412 are made of, for example, resin.
  • Each injection unit 41 is provided in the parachute accommodating unit 40. Specifically, as shown in FIG. 2 and the like, in each injection portion 41, the injection port 413, which is an opening formed at the end of the side wall portion 411 opposite to the bottom portion 412, opens the parachute accommodating portion 40. It is joined to the outer peripheral surface of the parachute accommodating portion 40 so as to face one end side.
  • the flying object 43 has a gas generator 45 and a flying object main body 44. As shown in FIG. 2, in the flying object 43, one end side of the flying object main body portion 44 is inserted inside the injection portion 41, and the gas generator 45 faces the bottom portion 412 of the injection portion 41 inside the injection portion 41. It is placed in the state of being.
  • the gas generator 45 is a device that generates gas that is the basis of thrust for injecting the flying object 43 from the injection port 413 of the injection unit 41 to the outside.
  • the gas generator 45 is arranged in an internal space 440 defined by an injection unit 41 and a flying object main body 44.
  • the gas generator 45 includes, for example, an igniter and a gas generator.
  • the gas generator 45 is electrically connected to the injection control unit 42, which will be described later, via a lead wire (conductor) 47.
  • the gas generator 45 ignites the igniting agent in response to the ignition signal output from the injection control unit 42, and chemically reacts the gas generating agent to generate gas.
  • the flying object main body 44 is a component that holds the gas generator 45 and is connected to the connecting rope 46.
  • the flying object main body 44 is formed in a rod shape, for example. More specifically, the flying object main body 44 is formed in a hollow columnar shape, for example.
  • the projectile body portion 44 is engaged with the injection portion 41.
  • the flying object main body 44 holds the gas generator 45 at one end and is connected to the connecting rope 46 at the other end.
  • the flying object main body 44 is made of, for example, resin.
  • the injection control unit 42 is a functional unit that controls to eject the flying object 43 held by each injection unit 41.
  • the injection control unit 42 is, for example, an electronic circuit that outputs an ignition signal from the drop control unit 16 in response to a control signal instructing the parachute 400 to open the umbrella.
  • the ignition signal is input to the ignition unit (not shown) of the gas generator 45 provided in each flying object 43 via the lead wire 47, and the ignition unit emits an ignition charge according to the input ignition signal. Ignite.
  • FIG. 4 is a functional block diagram of the flight device 1 according to the first embodiment.
  • the airframe unit 2 includes a power supply unit 11, a sensor unit 12, a motor drive unit 13_1 to 13_n (n is an integer of 3 or more), a flight control unit 14, an abnormality detection unit 15, and a drop control unit 16.
  • the communication unit 17 and the storage unit 18 are included.
  • the flight control unit 14, the abnormality detection unit 15, and the drop control unit 16 are program processing devices (for example, a program processing device (for example, a CPU: Central Processing Unit) and a storage device such as a memory) including a processor (for example, a CPU: Central Processing Unit) and a storage device such as a memory. It is realized by the program processing by the (microcontroller) and the cooperation with the peripheral circuit (hardware resource).
  • a program processing device for example, a CPU: Central Processing Unit
  • a storage device such as a memory
  • a processor for example, a CPU: Central Processing Unit
  • storage device such as a memory
  • the power supply unit 11 includes a battery 22 and a power supply circuit 23.
  • the battery 22 is, for example, a secondary battery (for example, a lithium ion secondary battery).
  • the power supply circuit 23 is a circuit that generates a power supply voltage based on the output voltage of the battery 22 and supplies it to each hardware constituting the functional unit.
  • the power supply circuit 23 includes, for example, a plurality of regulator circuits, and supplies a power supply voltage of an appropriate magnitude for each of the above hardware.
  • the sensor unit 12 is a functional unit that detects the state of the flight device 1.
  • the sensor unit 12 detects the inclination of the airframe of the flight device 1, the air volume, the wind direction, and the like in the surrounding environment.
  • the sensor unit 12 includes an angular velocity sensor 24, an acceleration sensor 25, a magnetic sensor 26, an angle calculation unit 27, and an air volume sensor 28.
  • the angular velocity sensor 24 is a sensor that detects the angular velocity (rotational velocity).
  • the angular velocity sensor 24 is a 3-axis gyro sensor that detects an angular velocity based on three reference axes of x-axis, y-axis, and z-axis.
  • the acceleration sensor 25 is a sensor that detects acceleration.
  • the acceleration sensor 25 is a three-axis acceleration sensor that detects acceleration based on three reference axes of x-axis, y-axis, and z-axis.
  • the magnetic sensor 26 is a sensor that detects the geomagnetism.
  • the magnetic sensor 26 is a 3-axis geomagnetic sensor (electronic compass) that detects an orientation (absolute direction) based on three reference axes of x-axis, y-axis, and z-axis.
  • the angle calculation unit 27 calculates the inclination of the airframe of the flight device 1 based on the detection results of at least one of the angular velocity sensor 24 and the acceleration sensor 25.
  • the inclination of the airframe of the flight device 1 is the angle of the airframe (airframe unit 2) with respect to the ground (horizontal direction).
  • the angle calculation unit 27 may calculate the angle of the aircraft with respect to the ground based on the detection result of the angular velocity sensor 24, or the angle of the aircraft with respect to the ground based on the detection results of the angular velocity sensor 24 and the acceleration sensor 25. May be calculated.
  • a known calculation formula may be used as a method of calculating the angle using the detection results of the angular velocity sensor 24 and the acceleration sensor 25 .
  • the angle calculation unit 27 may correct the angle calculated based on the detection result of at least one of the angular velocity sensor 24 and the acceleration sensor 25 based on the detection result of the magnetic sensor 26.
  • the angle calculation unit 27 is realized by program processing by a microcontroller, for example, like the flight control unit 14 and the like.
  • the air volume sensor 28 is a sensor that detects the air volume and the wind direction.
  • the sensor unit 12 may include, for example, a barometric pressure sensor, an ultrasonic sensor, a GPS receiver, a camera, and the like, in addition to the various sensors described above.
  • the communication unit 17 is a functional unit for communicating with the external device 9.
  • the external device 9 is a transmitter, a server, or the like that controls the operation of the flight device 1 and monitors the state of the flight device 1.
  • the communication unit 17 is composed of, for example, an antenna, an RF (Radio Frequency) circuit, and the like. Communication between the communication unit 17 and the external device 9 is realized, for example, by wireless communication in the ISM band (2.4 GHz band).
  • the communication unit 17 receives the operation information of the flight device 1 transmitted from the external device 9 and outputs it to the flight control unit 14, and also transmits various measurement data and the like measured by the sensor unit 12 to the external device 9. Further, when the abnormality detection unit 15 detects an abnormality in the flight device 1, the communication unit 17 transmits information indicating that the abnormality has occurred in the flight device 1 to the external device 9. Further, when the flight device 1 falls to the ground, the communication unit 17 transmits information indicating that the flight device 1 has fallen to the external device 9. Further, the communication unit 17 transmits to the external device 9 information indicating that the control for opening the parachute 400 is executed when the parachute 400 is opened.
  • the motor drive units 13_1 to 13_n are functional units provided for each lift generating unit 3 and driving the motor 31 to be driven in response to an instruction from the flight control unit 14.
  • motor drive unit 13 when each motor drive unit 13_1 to 13_n is not particularly distinguished, it is simply referred to as "motor drive unit 13".
  • the motor drive unit 13 drives the motor 31 so that the motor 31 rotates at the rotation speed instructed by the flight control unit 14.
  • the motor drive unit 13 is an ESC (Electronic Speed Controller).
  • the flight control unit 14 is a functional unit that comprehensively controls each functional unit of the flight device 1.
  • the flight control unit 14 controls the lift generation unit 3 so that the flight device 1 flies stably.
  • the flight control unit 14 has the aircraft based on the operation information (instructions such as ascent / descent, forward / backward, etc.) received from the external device 9 received by the communication unit 17 and the detection result of the sensor unit 12.
  • An appropriate rotation speed of the motor 31 of each lift generating unit 3 is calculated so as to fly in a desired direction in a stable state, and the calculated rotation speed is instructed to each motor driving unit 13.
  • the flight control unit 14 is a motor 31 of each lift generating unit 3 so that the airframe becomes horizontal based on the detection result of the angular velocity sensor 24 when the attitude of the airframe is disturbed by an external influence such as wind. Appropriate rotation speeds are calculated, and the calculated rotation speeds are instructed to each motor drive unit 13.
  • the flight control unit 14 determines the appropriate rotation speed of the motor 31 of each lift generating unit 3 based on the detection result of the acceleration sensor 25. It is calculated, and the calculated rotation speed is instructed to each motor drive unit 13.
  • flight control unit 14 controls the communication unit 17 to realize the transmission and reception of various data described above with the external device 9.
  • the storage unit 18 is a functional unit for storing various programs, parameters, etc. for controlling the operation of the flight device 1.
  • the storage unit 18 is composed of a flash memory, a non-volatile memory such as a ROM, a RAM, and the like.
  • the parameters stored in the storage unit 18 are, for example, a remaining capacity threshold value 180, a tilt threshold value 181, a failure motor number threshold value 182, a fall determination threshold value 183, and an upwind determination threshold value 184, which will be described later.
  • the abnormality detection unit 15 is a functional unit that detects an abnormality during flight. Specifically, the abnormality detection unit 15 monitors the detection result of the sensor unit 12, the state of the battery 22, and the operating state of the lift generating unit 3, and determines whether or not the flight device 1 is in an abnormal state. ..
  • the abnormal state means a state in which autonomous flight of the flight device 1 may become impossible (including a state in which autonomous flight is impossible).
  • the lift generating unit 3 has failed (the number of the failed lift generating units 3 has exceeded the failure motor number threshold value 182), the remaining capacity of the battery 22 has dropped below a predetermined threshold value, and the airframe (airframe unit).
  • a state in which at least one of 2) being abnormally tilted and the aircraft being dropped is called an abnormal state.
  • the abnormality detecting unit 15 detects a failure of the lift generating unit 3 (motor), the abnormality detecting unit 15 determines that the flight device 1 is in an abnormal state.
  • the failure of the lift generating unit 3 means, for example, that the motor 31 does not rotate at the rotation speed specified by the flight control unit 14, the propeller 30 does not rotate, the propeller 30 is damaged, and the like.
  • the abnormality detection unit 15 counts the number of failed lift generating units 3 (motors 31), and when the number of failed motors reaches the faulted motor number threshold value 182 or more, the flight device 1 is in an abnormal state. Is determined.
  • the failed motor number threshold value 182 is a reference value regarding the number of failed lift generating units 3 (motors 31) for determining whether or not the flight device 1 is in an abnormal state.
  • the fault motor number threshold value 182 is stored in the storage unit 18 in advance, for example.
  • the abnormality detection unit 15 detects that the remaining capacity of the battery 22 is lower than a predetermined threshold value (hereinafter, also referred to as “remaining capacity threshold value”) 180, the flight device 1 is in an abnormal state. judge.
  • a predetermined threshold value hereinafter, also referred to as “remaining capacity threshold value”
  • the remaining capacity threshold value 180 may be set to a capacity value such that the motor cannot rotate at the rotation speed specified by the flight control unit 14, for example.
  • the remaining capacity threshold value 180 is stored in the storage unit 18 in advance, for example.
  • the abnormality detection unit 15 detects an abnormal inclination of the flight device 1 (airframe)
  • the abnormality detection unit 15 determines that the flight device 1 is abnormal. For example, in the abnormality detection unit 15, the flight device 1 is abnormal when the angle calculated by the angle calculation unit 27 exceeds a predetermined threshold value (hereinafter, also referred to as “tilt threshold value”) 181 for a predetermined period of time. Determined to be in a state.
  • a predetermined threshold value hereinafter, also referred to as “tilt threshold value”
  • the angle (pitch angle) when the flight device 1 moves in the front-rear direction and the angle (roll angle) when the flight device 1 moves in the left-right direction are acquired in advance by an experiment.
  • the inclination threshold value 181 may be set to a value larger than the angle obtained by the experiment.
  • the inclination threshold value 181 is stored in the storage unit 18 in advance, for example.
  • the abnormality detection unit 15 detects that the aircraft (airframe unit 2) of the flight device 1 is in a falling state, the abnormality detection unit 15 determines that the flight device 1 is abnormal. For example, the abnormality detection unit 15 has determined that the vertical downward acceleration of the airframe unit 2 exceeds a predetermined threshold value (hereinafter, also referred to as “fall determination threshold value”) 183 based on the detection result of the acceleration sensor 25. In this case, it is determined that the flight device 1 is abnormal.
  • a predetermined threshold value hereinafter, also referred to as “fall determination threshold value”
  • the fall control unit (parachute control unit) 16 is a functional unit for controlling the fall of the flight device 1. Specifically, when the abnormality detection unit 15 detects that the flight device 1 is in an abnormal state, the drop control unit 16 executes a fall preparation process for safely dropping the flight device 1.
  • the fall control unit 16 executes the following process as the fall preparation process.
  • the drop control unit 16 controls the notification device 5 in response to the detection of the abnormality by the abnormality detection unit 15 to notify the outside that it is in a dangerous state. Further, the drop control unit 16 controls each motor drive unit 13 in response to the detection of the abnormality by the abnormality detection unit 15, and stops the rotation of each motor 31.
  • the fall control unit 16 outputs a control signal instructing the opening of the parachute to the parachute device 4 (injection control unit 42) in response to the detection of the abnormality by the abnormality detection unit 15, and the parachute. Open the 400.
  • the fall control unit 16 controls the parachute opening to eject the plurality of flying objects 43 at different times.
  • the drop control unit 16 preferentially ejects the flying object 43 of at least one injection unit 41 out of the plurality of injection units 41.
  • the fall control unit 16 preferentially ejects the flying object 43 of the ejection unit 41 arranged at the most windward position of the airframe unit 2 as a parachute opening control.
  • the drop control unit 16 identifies the first injection unit group based on the most upwind position of the airframe unit 2 and the position of each injection unit 41, and the flight of the first injection unit group. Priority is given to the body 43 to eject.
  • the drop control unit 16 preferentially ejects the flying object 43 of the first ejection unit group, and then ejects the flying object 43 of the remaining ejection unit 41. At this time, for example, the drop control unit 16 further prioritizes (shifts the time) among the projectiles 43 of the remaining injection units 41 to inject.
  • FIG. 5 is a flowchart showing the flow of the fall preparation process by the flight device 1 according to the first embodiment.
  • FIG. 6 is a flowchart showing a flow of abnormality detection by the flight device 1 according to the first embodiment.
  • the drop control unit 16 determines whether or not an abnormal state has been detected by the abnormality detection unit 15 (step S1).
  • the abnormality detection unit 15 detects whether or not the flight device 1 is in a state where autonomous flight may become impossible.
  • the abnormality detection unit 15 first receives an instruction signal instructing the opening of the parachute, which is transmitted in response to, for example, an operation of the external device 9 by the user, by the flight device 1. It is determined whether or not it has been done (step S101).
  • the abnormality detection unit 15 determines that the flight device 1 is in an abnormal state (step S106). As a result, when the user visually discovers an abnormality in the flight device 1, the flight device 1 can be instructed to open the parachute 400.
  • the abnormality detection unit 15 determines whether or not the number of the failed lift generating units 3 exceeds the failed motor number threshold value 182. (Step S102). When the number of failed lift generating units 3 exceeds the failed motor number threshold value 182 (step S102: YES), the abnormality detecting unit 15 determines that the flight device 1 is in an abnormal state (step S106).
  • step S102 When the number of failed lift generating units 3 does not exceed the failed motor number threshold value 182 (step S102: NO), the abnormality detecting unit 15 has the inclination of the flight device 1 (airframe unit 2) exceeding the tilt threshold value 181. It is determined whether or not the state of being in the state has continued for a predetermined period (step S103). When the state in which the inclination of the flight device 1 exceeds the inclination threshold value 181 continues for a predetermined period (step S103: YES), the abnormality detection unit 15 determines that the flight device 1 is in an abnormal state (step S106).
  • the abnormality detection unit 15 determines whether the flight device 1 (airframe unit 2) is in the falling state. (Step S104). When it is determined that the flight device 1 is in the falling state (step S104: YES), the abnormality detection unit 15 determines that the flight device 1 is in the abnormal state (step S106).
  • step S104 determines whether or not the remaining capacity of the battery 22 is below the remaining capacity threshold value 180 (step S105).
  • step S105 determines that the flight device 1 is in an abnormal state (step S106).
  • step S105: NO determines that the remaining capacity is not less than the remaining capacity threshold value 180 (step S105: NO).
  • step S1 NO
  • the drop control unit 16 does not start the fall preparation process and continues to fly. While controlling the device 1 to fly stably, the abnormality detection unit 15 monitors the presence or absence of detection of an abnormality.
  • step S1 when the abnormality detection unit 15 determines that the flight device 1 is in an abnormal state (step S1: YES), the fall control unit 16 starts the fall preparation process (step S2). For example, when the airframe (airframe unit 2) of the flight device 1 is tilted beyond the tilt threshold value 181 due to a strong wind for a predetermined period of time, the abnormality detection unit 15 sends a signal to the drop control unit 16 indicating that an abnormality has been detected. Notice. The fall control unit 16 determines that the flight device 1 may fall when it receives the signal, and starts the fall control process.
  • the fall control unit 16 controls the notification device 5 to notify the outside that the flight device 1 is in a dangerous state (step S3).
  • the drop control unit 16 drives a light source constituting the notification device 5 to generate blinking light.
  • the drop control unit 16 drives a voice generator constituting the notification device 5 to output a warning sound and an announcement prompting evacuation.
  • step S4 the drop control unit 16 stops the motor 31 (step S4). Specifically, the drop control unit 16 instructs each motor drive unit 13_1 to 13_n to stop the motor 31. As a result, the motor 31 of the flight device 1 is stopped, and the rotation of the propeller 30 is stopped.
  • the instructions to the motor drive units 13_1 to 13_n may be given directly from the drop control unit 16 to the motor drive units 13_1 to 13_n, or from the drop control unit 16 via the flight control unit 14 to the motor drive units 13_1 to 13_n. You may go indirectly to.
  • FIG. 7 is a flowchart showing the flow of the parachute opening control (step S5).
  • 8A to 8D are diagrams for explaining the injection procedure of the flying object 43 when the parachute device 4 includes a plurality of injection units 41.
  • step S5 first, the drop control unit 16 selects a first injection unit group including at least one injection unit 41 arranged at the most windward position of the airframe unit 2 (S501). For example, the drop control unit 16 first determines the most windward position of the airframe unit 2 based on the coordinate information of each position in the airframe unit 2 stored in the storage unit 18 and the wind direction detected by the air volume sensor 28. Identify. Next, the fall control unit 16 is the most of the aircraft unit 2 based on the coordinate information of the identified windward position of the aircraft unit 2 and the coordinate information of each injection unit 41 stored in the storage unit 18. The distance between the position on the windward side and the position of each injection unit 41 is calculated, and the injection unit 41 whose distance is equal to or less than the windward determination threshold value of 184 is specified as the first injection unit group.
  • the drop control unit 16 when the parachute device 4 includes three injection units 41, when the drop control unit 16 specifies that the position a is the coordinate closest to the windward side in the airframe unit 2.
  • the injection unit group A including the injection unit 41_1 whose distance to the position a is shorter than the windward determination threshold value is defined as the first injection unit group.
  • the injection unit 41_1 and the injection unit 16 whose distance to the position b is shorter than the windward determination threshold value when the drop control unit 16 identifies that the position b is the coordinate closest to the windward side in the airframe unit 2, the injection unit 41_1 and the injection unit 16 whose distance to the position b is shorter than the windward determination threshold value.
  • the injection unit group B including the unit 41_2 is defined as the first injection unit group.
  • the parachute device 4 includes 4 to 6 injection units 41, similarly, from the positions a and b which are the coordinates closest to the windward side in the airframe unit 2.
  • the first group of ejection parts is specified based on the distance of.
  • the drop control unit 16 ejects the projectile 43 from the first ejection unit group specified in step S501 (step S502). Specifically, the drop control unit 16 outputs a control signal instructing the injection control unit 42 to inject the flying object 43 from the specified first injection unit group, and the injection control unit 42 outputs the ignition signal to the injection control unit 42. By outputting to the ejection group of 1, the projectile 43 is ejected.
  • the drop control unit 16 ejects the flying objects of the remaining ejection units 41 (second ejection unit group) that have not ejected the flying objects 43 (step S503).
  • the remaining injection units are ejected as the second injection unit group.
  • the projectiles 41_3 to 41_7 are ejected.
  • the drop control unit 16 may simultaneously inject all the injection units 41_3 to 41_7 of the second injection unit group, or may inject the injection units 41 of the second injection unit group at different times. May be good.
  • the drop control unit 16 may simultaneously inject all the projectiles 43 of the injection units 41_3 to 41_7 as the second injection unit group, or the projectiles 43 of the injection units 41_3 to 41_7 may be staggered. May be provided and injected one by one in order.
  • the drop control unit 16 starts from the first ejection unit group, and the second ejection unit 16 is clockwise or counterclockwise when viewed from the upper surface side of the airframe unit 2.
  • the group of projectiles 43 may be ejected in sequence.
  • the projectile 43 may be ejected in the order closest to the windward position specified in step S501 of the second ejection unit group. For example, in FIG.
  • the projectiles of the ejection sections 41_3 and 41_7 closest to the windward side of the second ejection group are simultaneously ejected, and then Of the remaining ejection portions 41, the projectiles of the ejection portions 41_4 and 41_6 closest to the windward may be ejected at the same time, and finally the projectiles 43 of the ejection portions 41_5 may be ejected.
  • the drop control unit 16 ejects the flying object 43 of the second ejection unit group
  • the drop control unit 16 identifies and identifies the ejection unit 41 closest to the windward side among the ejection units 41 that have not ejected the flying object 43.
  • the process of ejecting the projectile 43 from the ejection unit 41 may be repeatedly executed.
  • FIG. 9 is a diagram schematically showing a state in which the parachute 400 is opened when the flying object 43 is ejected by dividing it into a first ejection unit group and a second ejection unit group.
  • FIG. 10 is a diagram schematically showing a flight device 1 in a state where the parachute 400 is open.
  • the windward peripheral edge of the released parachute 400 is the leeward peripheral edge by ejecting the projectile 43 preferentially from the windward first ejection group. Since the position is higher than the portion, the parachute 400 can easily catch the wind, and the parachute 400 can be opened reliably and quickly. After all the projectiles 43 have been ejected, the parachute 400 opens as shown in FIG. As a result, the flight device 1 slowly falls toward the ground.
  • the fall control unit 16 notifies the external device 9 that the flight device 1 has fallen via the communication unit 17 (step S6).
  • the notification to the external device 9 may be performed at any timing as long as it is after the start of the drop control process (step S2). For example, it may be performed after the flight device 1 has landed, or immediately after the start of the fall control process (step S2).
  • the fall control unit 16 may also notify the external device 9 of the position information of the fall location acquired by the GPS receiver. According to the procedure described above, the fall control process of the flight device 1 is performed.
  • the flight device 1 when the parachute is ejected, preferentially ejects the flying object 43 of at least one of the plurality of ejection units 41. According to this, it is possible to control the parachute to open the umbrella appropriately according to the flight environment.
  • the flying object 43 of the injection unit 41 arranged at the most windward position of the airframe unit 2 is preferentially ejected.
  • the first injection unit group is specified based on the most windward position of the airframe unit 2 and the position of each injection unit 41, and the projectile 43 of the first injection unit group is prioritized. And eject. According to this, the released parachute 400 becomes easy to catch the wind, and the parachute 400 can be opened reliably and quickly.
  • FIG. 11 is a functional block diagram of the flight device 1A according to the second embodiment.
  • the flight device 1A according to the second embodiment preferentially ejects a flying object 43 arranged at the position farthest from the ground of the airframe unit 2A when the flight device 1A falls as a parachute opening control. It is different from the flight device 1 according to the first embodiment, and is the same as the flight device 1 according to the first embodiment in other respects.
  • the overall flow of the fall preparation process by the flight device 1A according to the second embodiment is the same as that of the flight device 1 according to the first embodiment, and the content of the parachute opening control (step S5) is different.
  • the parachute opening control (step S5A) by the flight device 1 according to the second embodiment will be described in detail.
  • FIG. 12 is a flowchart showing the flow of the parachute opening control (step S5A) by the flight device 1A according to the second embodiment.
  • step S5A first, based on the detection result of the sensor unit 12, the drop control unit 16A is arranged at least one of the injection units 41 in which the flying object 43 is not ejected at the position farthest from the ground of the airframe unit 2.
  • a first group of injection units including one injection unit 41 is specified (step S501A).
  • the drop control unit 16A selects the aircraft from all the injection units 41 based on the coordinate information of each injection unit 41 stored in the storage unit 18A and the angle calculated by the angle calculation unit 27.
  • the injection unit 41 located at the position farthest from the ground of the unit 2 is specified and used as the first injection unit group.
  • the drop control unit 16A ejects the projectile 43 from the first ejection unit group specified in step S501A (step S502A). Specifically, the drop control unit 16 outputs a control signal instructing the injection control unit 42 to inject the flying object 43 from the specified first injection unit group, and the injection control unit 42 outputs the ignition signal to the injection control unit 42. By outputting to the ejection group of 1, the projectile 43 is ejected.
  • the drop control unit 16A ejects the flying objects of the remaining ejection units 41 (second ejection unit group) that have not ejected the flying objects 43 (step S503A). At this time, the drop control unit 16A may simultaneously inject all the injection units 41 of the second injection unit group, or may inject the injection units 41 of the second injection unit group at different times. .. When each projectile 43 is ejected with a time lag, the drop control unit 16A starts from the first ejection unit group and ejects the second projectile in the order of clockwise or counterclockwise when viewed from the upper surface side of the airframe unit 2A. The projectiles 43 of the group may be sequentially ejected.
  • the drop control unit 16A is arranged at the position farthest from the ground of the airframe unit 2A among the injection units 41 that have not ejected the flying object 43 when the flying object 43 of the second ejection unit group is ejected.
  • the process of specifying the injection unit 41 and injecting the flying object 43 from the specified injection unit 41 may be repeatedly executed.
  • the flight device 1A preferentially ejects the flying object 43 of the ejection unit 41 arranged at the position farthest from the ground of the airframe unit 2A. According to this, it is possible to bring the aircraft of the flight device 1A closer to the horizontal state before the parachute 400 is completely opened, so that the attitude of the flight device 1A during the fall is stable and the fall speed of the flight device 1A is reduced. It can be made more lenient.
  • the drop control unit 16A is an injection unit arranged at the position farthest from the ground of the airframe unit 2A among the injection units 41 that do not emit the flying object 43 based on the detection result of the sensor unit 12. 41 is selected, and the projectile 43 of the selected injection unit 41 is first ejected.
  • FIG. 13A due to the reaction when the first projectile 43 is launched, a force F in the direction opposite to the injection direction S of the projectile 43 is applied to the farthest side of the airframe unit 2 from the ground. ..
  • FIG. 13B the airframe unit 2 can be brought into a state closer to horizontal.
  • the parachute 400 towed by the projectile 43 can be launched in a direction more perpendicular to the ground, so that the parachute 400 is towed by the second projectile 43.
  • the parachute 400 can easily catch air, and the parachute 400 can be opened faster.
  • the force applied to the airframe unit 2 in the direction toward the ground can be reduced, and the fall time of the flight device 1A can be lengthened, so that the safety of the flight device 1A when it falls can be further improved. It will be possible.
  • the injection control unit 42 is provided in the parachute device 4
  • the present invention is not limited to this.
  • the injection control unit 42 may be provided in the flight device 1.
  • the parachute device 4B may include an abnormality state detection mechanism including a sensor unit 12B, an abnormality detection unit 15B, and a drop control unit 16B.
  • the sensor unit 12B, the abnormality detection unit 15B, and the drop control unit 16B have the same functions as the sensor unit 12, the abnormality detection unit 15, and the drop control unit 16, respectively. According to this, the parachute device 4B itself can detect the abnormal state and eject the projectile 43.
  • the airframe unit 2 may or may not have an abnormal state detection mechanism including a sensor unit 12, an abnormality detecting unit 15, and a drop control unit 16. Since the aircraft unit 2 and the parachute device 4B each have an abnormal state detection mechanism, even if one of the abnormal state detection mechanisms cannot detect the abnormal state for some reason, the other abnormal state detection mechanism can be used. It is possible to detect an abnormal state and open the parachute 400 more reliably.
  • the parachute accommodating portion 40 may have a space for accommodating the parachute 400 inside, and may be, for example, a hollow polygonal column (for example, a square column).
  • the injection unit 41 may have a structure in which the flying object 43 is housed and the flying body 43 can be ejected.
  • the space may be cylindrical.
  • a flight control unit 14 or the like as a functional unit for controlling flight in a normal state and an abnormality detection as a functional unit for performing fall control when an abnormality occurs The case where the unit 15, the drop control unit 16, and the storage unit 18 operate by supplying power from the same battery 22 has been illustrated, but the present invention is not limited to this.
  • a battery for a functional unit for controlling flight in a normal state and a battery for a functional unit for controlling a fall when an abnormality occurs may be prepared separately. According to this, even when an abnormality occurs in the battery for the functional unit for controlling the flight in the normal state and the power supply cannot be performed, the drop control process can be executed.
  • the functional unit for performing drop control when an abnormality occurs may be configured so that power supply from the above-mentioned two batteries can be selected. According to this, even if an abnormality occurs in one battery, power can be supplied from the other battery, so that the drop control process can be reliably executed.
  • a shock absorbing member such as an airbag may be provided on the lower surface of the airframe unit 2. According to this, it is possible to further improve the safety of the flight device 1 when it falls.
  • Parachute accommodating unit 41 ... injection unit, 42 ... injection control unit, 43 ... flying object, 44 ... flying object main body, 45 ... gas generator, 46 ... connecting cord, 47 ... lead wire, 180 ... remaining capacity threshold, 181 ... Tilt threshold, 182 ... Failure motor number threshold, 183 ... Fall judgment threshold, 184 ... Upwind judgment threshold, 400 ... Parachute, 401 ... Side wall, 402 ... Bottom, 403 ... Accommodation space, 404 ... Parachute mounting part, 406 ... Umbrella (canopy), 407 ... hanging rope, 411 ... side wall, 412 ... bottom, 413 ... outlet, 440 ... internal space.

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  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
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Abstract

La présente invention concerne un dispositif de vol dans lequel il est possible de déployer rapidement et de manière fiable un parachute même dans le cas où l'efficacité du courant d'air ne peut pas être utilisée instantanément pendant le vol ou pendant le plongeon.　Le dispositif de vol (1) de la présente invention comporte : une unité de génération de portance (3) qui est reliée à une unité de fuselage (2) et qui est destinée à générer une portance; une partie de commande de vol (14) qui commande l'unité de génération de portance (3); une unité de logement de parachute (40) qui est disposée sur l'unité de fuselage (2) et qui loge un parachute (400) à l'intérieur de celle-ci; de multiples projectiles (43) qui sont reliés au parachute (400); de multiples éjecteurs (41) qui sont disposés sur les projectiles (43) respectifs et qui sont destinés à éjecter les projectiles (43) retenus; et une partie de détection d'anomalie (15) pour détecter une anomalie pendant le vol; et une partie de commande de plongeon (16) qui, lors de la détection d'une anomalie par la partie de détection d'anomalie (15), amène les projectiles (43) à être éjectés à partir des éjecteurs (41). La partie de commande de plongeon (16) éjecte de manière préférentielle un projectile (43) maintenu dans au moins l'un des multiples éjecteurs (41).
PCT/JP2021/000157 2020-02-10 2021-01-06 Dispositif de vol et dispositif de parachute Ceased WO2021161685A1 (fr)

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JP2020-020714 2020-02-10
JP2020020714A JP7237028B2 (ja) 2020-02-10 2020-02-10 飛行装置、およびバラシュート装置

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Cited By (1)

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US20220348337A1 (en) * 2019-07-24 2022-11-03 Minebea Mitsumi Inc. Parachute device, flight device, and flying body ejection mechanism

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KR102571871B1 (ko) * 2021-11-15 2023-08-29 노서은 비상 착륙 가능한 멀티로터 드론
JP2024082051A (ja) 2022-12-07 2024-06-19 日本電気株式会社 検知装置

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JP2018193055A (ja) * 2017-05-16 2018-12-06 日本化薬株式会社 パラシュートまたはパラグライダー展開装置およびこれを備えた飛行体
US20190016468A1 (en) * 2016-08-26 2019-01-17 Kitty Hawk Corporation Rocket-based inverted parachute deployment system

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US20190016468A1 (en) * 2016-08-26 2019-01-17 Kitty Hawk Corporation Rocket-based inverted parachute deployment system
JP2018193055A (ja) * 2017-05-16 2018-12-06 日本化薬株式会社 パラシュートまたはパラグライダー展開装置およびこれを備えた飛行体

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220348337A1 (en) * 2019-07-24 2022-11-03 Minebea Mitsumi Inc. Parachute device, flight device, and flying body ejection mechanism
US11772803B2 (en) * 2019-07-24 2023-10-03 Minebea Mitsumi Inc. Parachute device, flight device, and flying body ejection mechanism

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