Flight devices, flight systems and information processing devices

Abstract

The present invention provides a flying device that reliably mounts a protective component on a flying object. The flying device (1) of one embodiment of the present invention comprises: a flying object (unmanned aerial vehicle) (2) having a main body (11) and one or more propellers held on the main body; a plurality of supports (4) mounted on the flying object to support a protective component (3) stretched out to surround the outside of the main body; a support information detection unit (41, 42) to detect support information indicating the support state of the protective component; and an installation determination unit (43) to determine whether the support state of the protective component is appropriate based on the detection value of the support information detection unit.

Description

Technical Field

[0001] The invention relates to a flying device, a flying system and an information processing device. Background Art

[0002] In the past, there are known flying objects such as drones that move freely in the air by the lift generated by the rotation of propellers. Such flying objects may be damaged by the propellers, etc., due to collision with trees or buildings, or contact with the ground when forced to land, etc. caused by the user's operation or the influence of wind. Damage to the propeller may also hinder flight, so a technology for installing a protective component (safety frame) on the flying object (drone) to prevent the propeller, etc. from being damaged or strained when subjected to external impact is proposed (for example, see Patent Document 1).

[0003] Background Art Literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent No. 6376672 Summary of the invention

[0006] [Problems to be solved by the invention]

[0007] However, as far as the prior art including the technology described in Patent Document 1 is concerned, the focus is only on the protection of propellers and the like, and there is still room for improvement in terms of the ease of installation of the protective component on the flying object and the portability of the flying device including the protective component. Specifically, the protective component of Patent Document 1 is composed of a plurality of plastic tubes and a plurality of joints, which are assembled into a shape covering the flying object by fitting the plastic tubes to the joints. The assembly of the protective component of Patent Document 1 is very complicated, and it is not envisaged that it will be disassembled from the flying object after use. If the protective component of Patent Document 1 is loaded and unloaded from the flying object each time it is used, it cannot be guaranteed that the plastic tube is correctly connected, and there is a concern that a portion of the protective component will fall off.

[0008] The present invention has been made in view of the above situation, and an object of the present invention is to provide a flying device, a flying system, and an information processing device in which a protective member is securely mounted on a flying object.

[0009] [Technical means to solve the problem]

[0010] In order to achieve the above-mentioned problem, a flying device in one form of the present invention comprises: a flying body having a main body and one or more propellers retained on the main body; a plurality of supports installed on the flying body for supporting a protective component stretched out to surround the outer side of the main body; a support information detection unit for detecting support information indicating the support state of the protective component; and an installation determination unit for determining whether the support state of the protective component is appropriate based on the support information.

[0011] [Effects of the Invention]

[0012] According to the present invention, it is possible to provide a flying device, a flying system, and an information processing device in which a protective member is reliably mounted on a flying object. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a perspective view showing a configuration example of a flying device according to an embodiment of the present invention.

[0014] Figure 2 yes Figure 1 A schematic top view of a flying device.

[0015] Figure 3 yes Figure 1 A top view of the retaining portion of a support device of a flying device.

[0016] Figure 4 Yes means including Figure 1 A block diagram of a configuration example of a flying system according to an embodiment of the present invention for a flying device.

[0017] Figure 5 Yes means Figure 5 A three-dimensional view of a support device for the installation state of the strain sensor in the flight system.

[0018] Figure 6 Yes means Figure 4 Flowchart of the control sequence of the takeoff control unit in the flight system.

[0019] Figure 7 is with Figure 4 Block diagram of a flight system according to various embodiments.

[0020] Figure 8 Yes means Figure 7 A partially exploded perspective view of a support structure for mounting a strain sensor in a flight system.

[0021] Fig. 9 is with Figure 4 and Figure 7 Block diagram of a flight system according to various embodiments. DETAILED DESCRIPTION

[0022] Hereinafter, the embodiments of the present invention will be described using the accompanying drawings. In addition, in the following description, unless otherwise specified, the plane on which the drone as a flying object lands is referred to as the "landing plane", and in particular, the direction in which the drone takes off when viewed from the landing plane is referred to as the "upward direction", and the opposite direction is referred to as the "downward direction". In addition, the distance from the landing plane to the upward direction is referred to as the "height", and the "vertical direction" is referred to as the direction consistent with the up-down direction.

[0023] Figure 1 It is a perspective view showing a configuration example of a flying device 1 according to an embodiment of the present invention. Figure 2 yes Figure 1 A schematic top view of the flying device 1. Figure 2 In, with Figure 1 In contrast, the flying device 1 is schematically shown, and illustration of a part of the structure is omitted.

[0024] First, the mechanical structure of the flying device 1 will be described.

[0025] like Figure 1 and Figure 2 As shown, the flying device 1 includes: an unmanned aerial vehicle (flying object) 2 ; a protection member 3 stretched to surround the outside of the unmanned aerial vehicle 2 ; and a plurality of supports 4 mounted on the unmanned aerial vehicle 2 to support the protection member 3 .

[0026] The drone 2 can fly independently even if the protection member 3 and the support 4 are removed, and it is also conceivable that they can be sold separately.

[0027] The drone 2 includes a main body 11 that accommodates electronic equipment required for the installation confirmation process of the protection component 3 related to one embodiment of the present invention and other controls of the drone 2, a plurality of arms 12 that extend outward from the main body 11 in a plan view, and a plurality of propellers 13 that are held on the main body 11 via the arms 12. In addition, the drone 2 further includes a foot 14 that contacts the landing plane and a box 15 that accommodates the transported object on the lower side of the main body 11. Here, the so-called "outside" refers to the side away from the main body 11 when the center of gravity or the center of the main body 11 of the drone 2 is set as the starting point in a plan view, and can also be expressed as the radial outside with the starting point as the center of the sphere.

[0028] The electronic equipment housed in the main body 11 includes a computer device that performs the processing of one embodiment of the present invention described below, controls a motor for driving the propeller 13, sends and receives external signals such as a controller operated by an operator of the drone 2 (hereinafter also referred to as a "user"), and processes information based on various sensors such as a camera (not shown) provided in the main body 11.

[0029] The arm 12 is formed in a rod shape along the horizontal direction. One end of the arm 12 is connected to the main body 11, and the propeller 13 is arranged at the other end (hereinafter referred to as the front end). In this embodiment, the six arms 12 extend radially and symmetrically from the main body 11 in a plan view. The intervals between the six arms 12 are equal in the circumferential direction.

[0030] The propeller 13 is held by the main body 11 via the arm 12. Specifically, the propeller 13 is rotatably arranged on the upper surface of the front end of the arm 12. The propeller 13 is mounted on the arm 12 in such a manner that the rotation plane coincides with the horizontal plane. In this embodiment, the propeller 13 is provided on each of the six arms 12. The drone 2 can generate lift for making the flying device 1 including the support 4 fly by rotating the six propellers 13 in total.

[0031] The protection member 3 is a member that protects the drone 2 from external impact by preventing the drone 2 from directly colliding with, for example, a building or a tree when the flying device 1 is flying.

[0032] In the present embodiment, the plurality of protection members 3 are held one by one between the front ends of the adjacent supports 4 , and are thereby arranged in a ring shape that surrounds the drone 2 as a whole in a plan view.

[0033] The protection member 3 only needs to be stretched so as to surround at least the main body 11 , but by being stretched so as to surround the outside of the propeller 13 as in the present embodiment, the propeller 13 can be prevented from directly colliding with a building or the like when the flying device 1 is flying.

[0034] The protective member 3 may be formed of a soft material such as a rope or a wire that cannot maintain its shape by itself, or may be formed of a rigid material such as a rod that does not substantially deform. However, the protective member 3 is preferably formed of a material having rigidity that can be erected between the supports 4, and flexibility and elasticity that can be deformed to a certain extent and easily loaded and unloaded. As such a material having rigidity, flexibility and elasticity, for example, a slender strip-shaped body formed of a composite material such as carbon fiber reinforced plastic (CFRP) can be appropriately used. That is, the protective member 3 is preferably formed into a strip-shaped member having flexibility that can be bent and deformed in the thickness direction and sufficient rigidity in the width direction by forming a material having a certain degree of elastic modulus into a strip-shaped member with a small thickness. In addition, the so-called "strip-shaped member" means that the average width is more than 5 times the average thickness. However, the average width and average thickness are calculated by excluding the structural part used to hold the end by the support and the structural part of the part attached between the supports for other purposes (not present in this embodiment).

[0035] The strip-shaped protective member 3 is preferably supported in a manner such that the thickness direction is substantially perpendicular to the rotation axis of the propeller 13. Thus, when the flying device 1 collides with other objects (including humans or animals) in the radial direction of the propeller 13, the protective member 3 can mitigate the impact by contacting the surface with the other objects, thereby preventing damage to the other objects.

[0036] In addition, since the thickness direction of the protection member 3 is substantially at right angles to the rotation axis of the propeller 13, the protection member 3 is less likely to bend in the direction parallel to the rotation axis of the propeller 13 (vertical direction). In other words, the protection member 3 is less likely to generate bending vibration (longitudinal shake) in the direction parallel to the rotation axis of the propeller 13 than bending vibration (lateral shake) in the direction perpendicular to the rotation axis of the propeller 13 (horizontal direction). Thus, even if the protection member 3, which is held so as not to overlap with the propeller 13 when viewed in the radial direction, generates bending vibration, the component in the direction of the rotation axis of the propeller 13 becomes smaller, and therefore the protection member 3 is less likely to come into contact with the propeller 13.

[0037] The support 4 is a device for supporting the protection member 3 in a stretched state around the drone 2. In the present embodiment, the support 4 is attached to the front end of each of the six arms 12.

[0038] Each support 4 has: a fixing portion 21, which is mounted on the front end of the arm 12 of the drone 2 and extends approximately perpendicular to the rotation axis of the propeller 13; an extension portion 22, which is mounted on the front end of the fixing portion 21 and extends approximately parallel to the rotation axis of the propeller 13; and a holding portion 23, which is mounted on the upper end of the extension portion 22 and holds the ends of the protective member 3 on both sides. In addition, the so-called "approximately perpendicular" means that the relative angle is greater than 85° and less than 95°. In addition, the so-called "approximately parallel" means that the relative angle is less than 5°.

[0039] The fixing portion 21 extends horizontally from the arm portion 12 to the outside in order to support the protection member 3 outside the propeller 13 in a plan view. The fixing portion 21 may be a rod-shaped member, but is preferably a cylindrical member in order to accommodate the control components described below.

[0040] The extension portion 22 extends upward substantially parallel to the rotation axis of the propeller 13, so that the height of the holder 23 can be easily adjusted, and the height of the protection member 3 held by the holder 23 can be easily adjusted. Thus, the protection member 3 can be easily supported at a height that does not contact the propeller 13.

[0041] The extension portion 22 may be formed of a relatively lightweight and sufficiently rigid material, such as resin, aluminum alloy, fiber reinforced plastic, or the like.

[0042] The extension portion 22 is preferably formed in a strip shape, and its thickness direction is parallel to the extension direction of the fixing portion 21, that is, approximately perpendicular to the rotation axis of the propeller 13 and toward the center of the main body 11. Thus, the extension portion 22 is easily elastically deformed by the tension of the protection member 3 so that its front end portion moves toward the main body 11 side, thereby making it easy to detect the tension of the protection member 3.

[0043] The holding portion 23 may be Figure 3 The structure shown is as follows, which comprises: a fixing structure 25 for fixing to the extension portion 22; a pair of retaining structures 26 for retaining the end portions of the protective component 3; and a tension adjustment mechanism 27, which causes the retaining portion 23 to deform when viewed from above and changes the distance between the pair of retaining structures 26, thereby changing the tension of the protective component 3.

[0044] The fixing structure 25 may be configured to have a fitting hole 28 for fitting the extension portion 22. The fixing structure 25 may also have an independent fixing screw to prevent the extension portion 22 from falling off, but in the present embodiment, the fixing structure 25 is configured such that when the tension of the protection member 3 is increased by the tension adjustment mechanism 27, the fitting hole 28 is reduced, thereby fastening the extension portion 22.

[0045] The holding structure 26 may be configured to include a slit 29 into which the end of the protection member 3 is inserted, and a fixing screw 30 engaged with the protection member 3 inserted into the slit 29 .

[0046] The tension adjustment mechanism 27 may be configured as follows, and includes: a pair of rods 31 extending outward from each fixing structure 25 in a manner adjacent to each other when viewed from the main body 11; and an adjustment screw 32 that determines the distance between the front ends of the pair of rods 31. The tension adjustment mechanism 27 reduces the distance between the front ends of the pair of rods 31 by tightening the adjustment screw 32, and deforms the entire holding portion 23 with the extension portion 22 as the center so that each fixing structure 25 swings outward when viewed from the main body 11. Thus, the tension of the protective member 3 increases by pulling the holding structure 26 toward the tension adjustment mechanism 27 side.

[0047] The flying device 1 supports the protective member 3 in a manner of surrounding the main body 11 and the propeller 13 by the support 4, thereby preventing the main body 11 and the propeller 13 from directly colliding with buildings or trees when the flying device 1 is flying horizontally. In addition, the support 4 holds the protective member 3 at a height equal to or higher than the propeller 13. Thus, the main body 11 and the propeller 13 can be prevented from being damaged by the foot 14 located below the main body 11 and the propeller 13 during descent, and the main body 11 and the propeller 13 can be effectively prevented from being damaged by the protective member 3 located at a height equal to or higher than the propeller 13 during ascent.

[0048] Next, a control configuration unique to the flying device 1 of the present embodiment will be described.

[0049] Figure 4 It is used to include Figure 1 A block diagram of the structure of the characteristic control in the flight system of the flying device 1. Figure 4 The entire flight system is itself a flight system of one embodiment of the present invention.

[0050] The flying system includes an flying device 1 and an information processing device 5 for remotely controlling the flying device 1 .

[0051] Each support member 4 of the flying device 1 includes a strain sensor 41 for detecting deformation of the extending portion 22 .

[0052] On the other hand, the drone 2 has: a plurality of detection circuits 42, which convert the detection values ​​of the strain sensors 41 into electrical signals respectively; an installation determination unit 43, which determines whether the supporting state of the support device 4 for the protective component 3 is appropriate based on the outputs of the plurality of detection circuits 42 (the detection values ​​of the strain sensors 41); a notification unit 44, which displays information corresponding to the determination result of the installation determination unit 43; a take-off control unit 45, which determines whether the flying device 1 can take off based on the determination result of the installation determination unit 43; and a flying body communication unit 46, which is used to communicate wirelessly with the information processing device 5.

[0053] The strain sensor 41 of the support 4 is integrated with the detection circuit 42 of the drone 2 to form a support information detection unit that detects support information indicating the state of support of the protection member 3 by the support 4 (deformation of the extension portion 22 in this embodiment).

[0054] The information processing device 5 includes a remote communication unit 47 for wirelessly communicating with the flying device 1 , and a remote control unit 48 for performing processing required for remote control of the flying device 1 .

[0055] The strain sensor 41 is attached to the extension portion 22, so it can detect the magnitude of the bending deformation (such as the bending of the upper end portion moving toward the main body portion 11) of the extension portion 22 caused by the tension of the protection component 3. In other words, the greater the tension of the protection component 3, the greater the value detected by the strain sensor 41. Therefore, the tension of the protection component 3 can be indirectly confirmed by the strain sensor 41.

[0056] Strain sensor 41 Figure 5As shown, it is preferably attached to the outer side surface (the surface opposite to the main body 11) or the inner side surface (the surface on the main body 11 side) or both surfaces of the extension part 22. Since the strip-shaped extension part 22 is greatly deformed by the elastic deformation of the extension part 22 corresponding to the tension of the protection member 3, the tension of the protection member 3 can be determined relatively accurately by the strain sensor 41.

[0057] Any sensor that detects strain caused by bending of the extension portion 22 can be used as the strain sensor 41. Examples of sensors that detect such strain include strain gauges whose resistance changes due to strain (self-deformation) and capacitance sensors whose capacitance changes due to strain.

[0058] The detection circuit 42 is a circuit that outputs an electrical signal that changes according to changes in the electrical characteristics of the strain sensor 41. The detection circuit 42 can be configured, for example, by a well-known Wheatstone bridge circuit or the like. Specifically, when the strain sensor 41 is attached to both surfaces of the extension portion 22, a Wheatstone bridge circuit using a half-bridge method can be appropriately used.

[0059] The detection circuits 42 may be disposed in the arm portion 12 or in the main body portion 11. When disposed in the main body portion 11, a plurality of detection circuits 42 may be formed on the same circuit substrate.

[0060] like Figure 5 As shown, at least a portion of the wiring L between the strain sensor 41 and the detection circuit 42 is preferably arranged inside the fixed portion 21. In addition, a connector C that can attach and detach the fixed portion 21 to the arm 12 and electrically connect the strain sensor 41 and the detection circuit 42 may be provided between the strain sensor 41 and the detection circuit 42. In this case, in order to facilitate the connection and separation of the connector C, the wiring L between the connector C and the strain sensor 41 or the detection circuit 42 may be set as a sufficiently long wire so that the connector C can be pulled out from the arm 12 or the fixed portion 21. In addition, the connector C may be mechanically assembled to the arm 12 and the fixed portion 21, so that the strain sensor 41 and the detection circuit 42 are electrically connected by the mechanical connection between the arm 12 and the fixed portion 21.

[0061] The installation determination unit 43 determines whether the supporting state of the protection component 3 by the support device 4 is appropriate based on the support information, that is, the detection value of the strain sensor 41 (the output of the detection circuit 42). Specifically, the installation determination unit 43 can be configured as follows: when the detection value (the magnitude of the strain) of the strain sensor 41 corresponding to the tension of the protection component 3 does not reach a preset lower limit value, it is determined that the tension of the protection component 3 performed by the support device 4 is inappropriate. In addition, the installation determination unit 43 can be configured in a manner that determines that the supporting state of the protection component 3 is inappropriate even when the detection value of the strain sensor 41 exceeds a preset upper limit value. Furthermore, the installation determination unit 43 can also consider the mutual relationship between the detection values ​​of a plurality of strain sensors 41 to determine whether the supporting state of the protection component 3 is appropriate.

[0062] The installation determination unit 43 may be configured as an analog circuit including a comparator, etc., or may be configured to perform digital conversion on the output of the detection circuit 42 and perform calculation processing through a microprocessor. The installation determination unit 43 may be configured on the same circuit substrate as a part or all of the detection circuit 42 or the takeoff control unit 45. The installation determination unit 43 is preferably accommodated in the main body 11. In addition, the installation determination unit 43 may be implemented as a function of a control device that performs other controls on the drone 2. In other words, the installation determination unit 43 may be implemented by adding a subroutine, a subprogram, etc. to the program of the computer that constitutes the control device of the drone 2. Therefore, the installation determination unit 43 is functionally distinguished and does not need to be a physically independent component.

[0063] Figure 6 This is a flowchart showing the control procedure of the takeoff control unit 45 according to the present embodiment.

[0064] The takeoff control unit 45 first obtains the output of the detection circuit 42 (the detection value of the strain sensor 41) as the support information in step S1. Secondly, in step S2, it is confirmed whether all the detection values ​​are above the first threshold value set in advance. When it is confirmed in step S2 that the detection values ​​of all the strain sensors 41 are above the first threshold value, it proceeds to step S3 to confirm whether the difference between the maximum value and the minimum value of the detection value of the strain sensor 41 is below the second threshold value set in advance. When the difference between the maximum value and the minimum value of the detection value of the strain sensor 41 is below the second threshold value in step S3, it proceeds to step S4 to determine that the support state of all the supports 4 for the protection component 3 is appropriate. When the detection value of any strain sensor 41 does not reach the first threshold value in step S2, and when the difference between the maximum value and the minimum value of the detection value of the strain sensor 41 exceeds the threshold value in step S3, it proceeds to step S5 to determine that the support state of the support device 4 for the protection component 3 is inappropriate.

[0065] When the difference between the maximum and minimum detection values ​​of the strain sensor 41 is large, it is considered that abnormal vibration may occur in the protective component 3, or the load may be concentrated on a specific support device 4, which is an inappropriate support state that may damage the function of the protective component 3 during flight.

[0066] The notification unit 44 can be set to any structure that can convey information to the user, such as a display light, a display panel, a speaker, etc. As an example, the notification unit 44 can be set to have an LED (Light Emitting Diode) whose lighting state changes according to the determination result of the installation determination unit 43. The lighting of the LED of the notification unit 44 can be performed only before takeoff or after takeoff. In addition, the so-called change in the lighting state of the LED refers to, for example, the transition between lighting and extinguishing, the change in the lighting time or extinguishing time during flashing, the color change of the three-color light-emitting LED, etc., and there is no special limitation as long as the user can confirm the state change. The LED of the notification unit 44 can be used as a display light to inform the position and direction of the drone 2 during flight.

[0067] The notification unit 44 preferably notifies in a manner that can distinguish that the supporting state of the protection component 3 is an inappropriate supporting tool 4. Specifically, the notification unit 44 can be configured as follows: it includes a plurality of LEDs arranged at positions corresponding to each supporting tool (for example, each arm 12 or a position of the main body 11 adjacent to the arm 12), so that the lighting state of the LEDs corresponding to the supporting tool 4 with an inappropriate supporting state is different. In addition, the notification unit 44 can also include a display panel to display the supporting tool 4 with an inappropriate supporting state through text or images. In addition, the notification unit 44 can also be configured as follows, that is, it includes a speaker to notify the supporting tool 4 with an inappropriate supporting state through a voice message or the like.

[0068] The notification unit 44 may be configured to display information corresponding to the determination result of the takeoff control unit 45 described below, that is, to display whether the takeoff is permitted or not.

[0069] The takeoff control unit 45 may be configured to allow the flying device 1 to take off only when all the mounting determination units 43 determine that the supporting state of each support 4 for the protection component 3 is appropriate. In other words, the takeoff control unit 45 determines that the takeoff is allowed on the condition that the supporting state of all the support 4 for the protection component 3 is appropriate. In addition, as a condition for allowing takeoff, other conditions may be set, such as the remaining battery level or the GPS (Global Positioning System) reception state.

[0070] The takeoff control unit 45 may be provided in the main body 11. The takeoff control unit 45 may be realized as a function of a control device that performs other controls on the drone 2. That is, the takeoff control unit 45 may be realized by adding a subroutine, a subprogram, etc. to a program of a computer that constitutes the control device of the drone 2. Therefore, the takeoff control unit 45 is functionally distinguished and does not need to be a physically independent component.

[0071] The flying body communication unit 46 and the long-distance communication unit 47 are transceivers for wireless communication. The frequency and output of radio waves (including light) transmitted and received by the flying body communication unit 46 and the long-distance communication unit 47 and the communication method can be appropriately selected according to the purpose of use of the flying device 1.

[0072] The remote control unit 48 is a device that instructs the flying device 1 on the flight path, flight speed, camera shooting, and other operations. The remote control unit may be constituted by a programmable computer.

[0073] The remote control unit 48 may be configured to make an emergency landing of the flying device 1 when receiving a determination result from the mounting determination unit 43 that the supporting state of the supporting device 4 for the protection member 3 is inappropriate.

[0074] The information processing device 5 including the remote communication unit 47 and the remote control unit 48 may be configured by introducing a dedicated program into a commercially available computer device having a communication function, such as a smartphone, a tablet computer, or a personal computer.

[0075] The information processing device 5 may be configured to display the determination result of the installation determination unit 43 and the determination result of the take-off control unit 45. The determination result of the installation determination unit 43 is preferably configured to display the support 4 that specifies that the support state of the protection component 3 is determined to be inappropriate. Therefore, the drone 2 preferably uses the flying body communication unit 46 and the remote communication unit 47 to send at least one of the determination result of the installation determination unit 43 and the determination result of the take-off control unit 45 to the information processing device 5. Thus, even if the user is in a place far away from the flying device 1, he can confirm whether the support state of the protection component 3 is inappropriate through the information processing device 5.

[0076] The installation determination unit 43 can use the detection value (support information) of the strain sensor 41 to confirm whether the protection component 3 is properly supported by the support 4. Therefore, the flying device 1 can reliably install the protection component 3 on the drone 2 when in use. In particular, the strain generated by the tension of the protection component 3 is detected by the strain sensor 41 to ensure the appropriate tension of the protection component 3, so that the protection component 3 can properly exert its impact absorption capacity. In addition, since each support 4 of the flying device 1 has a strain sensor 41, it can ensure that the plurality of protection components 3 are properly supported.

[0077] In addition, the flying device 1 can allow the user to easily check whether the supporting state of the protection member 3 is appropriate by including the notification unit 44. In addition, since the flying device 1 includes the takeoff control unit 45, even if the user neglects to check whether the supporting state of the protection member 3 is appropriate, the flying device 1 can be prevented from flying with the supporting state of the protection member 3 being inappropriate.

[0078] Next, Figure 4 The flying system of the present embodiment includes a flying device 1a and an information processing device 5a. The mechanical structure of the flying device 1a of the present embodiment is similar to Figure 1 The mechanical structure of the flying device 1 is the same as that of the flying device 1, and only the control structure is different. Therefore, in the following description, the same reference numerals are attached to the same components as the components described previously, and the repeated description is omitted.

[0079] Figure 7 This is a block diagram showing a structure for performing characteristic control in the flight system of this embodiment.

[0080] Each support 4 of the flying device 1a includes: a strain sensor 41a for detecting deformation of the holding portion 23 as support information; a detection circuit 42a for converting the detection value of the strain sensor 41a into an electrical signal; an installation determination unit 43a for determining whether the support state of the support 4 for the protection component 3 is appropriate based on the output of the detection circuit 42a (the detection value of the strain sensor 41a); and a notification unit 44a for displaying information corresponding to the determination result of the installation determination unit 43a. The detection circuit 42a and the installation determination unit 43a are preferably arranged inside the fixing portion 21 of the support 4 for protection.

[0081] The drone 2 includes a flying body communication unit 46 for wirelessly communicating with the information processing device 5 a and transmitting the determination result of the attachment determination unit 43 a of each support 4 .

[0082] The information processing device 5a includes: a remote communication unit 47 for wirelessly communicating with the flying device 1a; a takeoff control unit 45a for determining whether the flying device 1a can take off based on the determination result of the installation determination unit 43a; and a remote control unit 48 for performing other processing required for remote control of the flying device 1a.

[0083] The strain sensor 41a is as follows Figure 8 As shown, the strain sensor 41a is attached to the surface of the main body 11 side of the holding portion 23. The pair of terminals 49 of the strain sensor 41a are arranged on the inner surface of the fitting hole 28. In addition, two wirings 50 are attached to the extension portion 22 so as to be electrically contacted with the terminals 49 when the holding portion 23 is mounted on the extension portion 22. In order to ensure electrical connection, the contact portion between the terminal 49 and the wiring 50 is preferably configured so that the conductor on the plane is exposed.

[0084] When the holding portion 23 applies (increases) tension to the protection member 3 through the tension adjustment mechanism 27, the surface of the holding portion 23 on which the strain sensor 41a is attached is deformed in a convex shape toward the main body 11. The strain sensor 41a detects the deformation of the holding portion 23. Therefore, based on the detection value of the strain sensor 41a of the present embodiment, it is also possible to determine whether the support 4 properly supports the protection member 3 in a state where an appropriate tension is applied.

[0085] Although the detection circuit 42a is designed to be disposed in the support 4, it can be electrically configured to be Figure 4 The detection circuit 42 has the same circuit configuration.

[0086] The mounting determination unit 43a determines that the supporting state of the support 4 for the protection member 3 is inappropriate when the detection value of each strain sensor 41a does not reach the preset lower limit value or exceeds the preset upper limit value. The mounting determination unit 43a can be composed of an analog circuit or a circuit having a microprocessor, and can be formed on the same circuit board as the detection circuit 42a.

[0087] The notification part 44a is provided on the support 4, but has the same Figure 4 The same function as the notification unit 44 of the support 4 can be easily performed. Thus, the wiring of the installation determination unit 43a provided in the support 4 can be easily performed. In addition, by providing the notification unit 44a in the support 4, the user can more easily determine that the supporting state of the protection component 3 is an inappropriate support 4.

[0088] The takeoff control unit 45a can be realized integrally with the remote control unit 48 by a program of a computer device or the like constituting an information processing device.

[0089] The wiring between the installation determination unit 43 and the flying body communication unit 46 is as follows: Figure 8As shown, in addition to the signal line Ls for transmitting and receiving signals between the flying body communication unit 46 and the mounting determination unit 43 , it is preferable to include a power line Lp for supplying power from the flying body communication unit 46 to the mounting determination unit 43 .

[0090] In this embodiment, the information processing device 5a has a takeoff control unit 45a. Therefore, the drone 2 wirelessly transmits the determination result of the installation determination unit 43a to the information processing device 5a. Thus, when the supporting state of the protection component 3 is inappropriate, the flight of the flying device 1a can be prohibited in the information processing device 5a.

[0091] Next, Figure 4 and Figure 7 The different flight systems are explained. Fig. 9 The flying system of the present invention comprises a flying device 1b and an information processing device 5b according to an embodiment of the present invention. The mechanical structure of the flying device 1b according to the present embodiment is Figure 1 The mechanical structure of the flying device 1 is the same, only the control structure is different.

[0092] Fig. 9 This is a block diagram showing a structure for performing characteristic control in the flight system of this embodiment.

[0093] Each support member 4 of the flying device 1 b includes a strain sensor 41 that detects deformation of the holding portion 23 as support information.

[0094] The drone 2 includes: a plurality of detection circuits 42 for converting the detection values ​​(support information) of the strain sensors 41 of the respective supports 4 into electrical signals; and an air vehicle communication unit 46 for wirelessly communicating with the information processing device 5b.

[0095] The information processing device 5b includes: a remote communication unit 47 for wirelessly communicating with the flying device 1b; an installation determination unit 43b for comprehensively determining whether the supporting state of the support device 4 for the protective component 3 is appropriate based on the outputs of multiple detection circuits 42 (the detection values ​​of the strain sensor 41); a notification unit 44b for displaying information corresponding to the determination result of the installation determination unit 43b; a takeoff control unit 45b for determining whether the flying device 1b can take off based on the determination result of the installation determination unit 43b; and a remote control unit 48 for performing other processing required for remote control of the flying device 1b.

[0096] Strain sensor 41 and Figure 5 The strain sensor 41 is similar to the strain sensor 41 , and detects the bending deformation of the extension portion 22 of the support 4 caused by the tension of the protection component 3 .

[0097] The detection circuit 42 can be set to Figure 4 The detection circuit 42 has the same structure.

[0098] about Fig. 9 The information processing device 5b in the flight system is an information processing device of one embodiment of the present invention. In the information processing device 5b, the remote communication unit 47 functions as a support information acquisition unit that acquires support information (detection value of the strain sensor 41) indicating the support state of each support 4 on the protection member 3.

[0099] The installation determination unit 43b and the take-off control unit 45b of this embodiment are provided in the information processing device 5b. The installation determination unit 43b and the take-off control unit 45b can be realized as a part of the function of the program of the computer device etc. constituting the information processing device 5b. Therefore, the installation determination unit 43b determines whether the supporting state of the support 4 for the protection component 3 is appropriate based on the output value (detection value of the strain sensor 41) of the detection circuit 42 input via the flying body communication unit 46 and the remote communication unit 47. Fig. 9 The processing performed by the installation determination unit 43b and the takeoff control unit 45b of the information processing device 5b can be the same as Figure 4 The processing performed by the installation determination unit 43 and the takeoff control unit 45 of the flying device 1 is the same.

[0100] The notification unit 44b may be formed by a display panel or a speaker of a computer device or the like constituting the information processing device 5b. The notification unit 44b preferably displays a display in a manner that can identify that the support of the protection member 3 is an inappropriate support 4, and displays the judgment result of the takeoff control unit 45b.

[0101] The information processing device 5 b of this embodiment can prohibit the flying device 1 b from flying when the supporting state of the protective component 3 is inappropriate, thereby ensuring that the protective component 3 is securely mounted on the flying device 1 b through the supporting device 4 .

[0102] As mentioned above, although three embodiments of the present invention have been described, the present invention is not limited to the above embodiments, and modifications, improvements, etc. within the scope that can achieve the object of the present invention are included in the present invention.

[0103] The flying device of each embodiment of the present invention may not include a dedicated protection member, but may use a protection member prepared separately by the user. As general-purpose items that can be used as protection members, various ropes, wires, resin bands or metal bands for packing and bundling, etc. can be listed.

[0104] In the flying device of each embodiment of the present invention, the strain sensor may be configured in a manner to detect the deformation of other parts of the support. In addition, the strain sensor may not be provided in all the support. In other words, as long as at least one strain sensor is configured in a manner that can detect the deformation of any support, the supporting state of the entire ring-shaped connected protection component can be inferred. As a specific example, Figure 8 The strain sensor is used as Figure 4 and Fig. 9 The strain sensor in the embodiment of the present invention may be used Figure 5 The strain sensor is used as Figure 7 A strain sensor in an embodiment of the present invention.

[0105] In the flying device of each embodiment of the present invention, the support state detection unit may also obtain the support information through a sensor other than the strain sensor, such as a distance sensor that measures the distance between the main body and the front end of the support. In addition, in the flying device of each embodiment of the present invention, the support state detection unit may also detect the state change of the sensor provided on the protective member as the support information. In addition, in the flying device of each embodiment of the present invention, the support state detection unit may also detect the support information using a binary method.

[0106] The flying device of each embodiment of the present invention can also be configured in a manner that wireless signals are transmitted between the flying body and the support. That is, the flying device of the invention can be provided with a battery in the support, and a wireless transmitter can be provided to replace the connector in the above embodiment. In addition, the flying device of the invention can also be configured in a manner that wireless power is supplied from the flying body to the support.

[0107] In the flying device according to each embodiment of the present invention, the support tool can apply tension to the protection member by changing the distance between the front end portion and the main body portion.

[0108] In the flying device according to each embodiment of the present invention, the number of the supports is not limited to six, and may be any number greater than three.

[0109] In the flying device of each embodiment of the present invention, the protection component may also be an annular component supported by a plurality of supports. In this case, the plurality of supports may be provided with a mechanism that can support the protection component movably in the longitudinal direction of the protection component, and any one or more of them can apply tension to the protection component. In this case, the holding portion that does not fix the protection component may have an annular body, a guide groove, a pulley, etc. that guides the protection component.

[0110] The flying device of each embodiment of the present invention may further include a mechanism for adjusting the tension of the protection member without moving the front end of the support, for example, a mechanism for adjusting the tension by moving the end of the protection member in the tensioning direction.

[0111] The flying device of each embodiment of the present invention can also three-dimensionally hold the protective component by a plurality of supports. For example, by providing supports extending in the vertical direction in addition to the supports extending outward from the flying body, and by stretching the protective component between the front ends of these supports, the protective component can also be supported in a manner that surrounds at least the main body of the flying body when viewed from the side.

[0112] Furthermore, for example, in the above-described embodiment, an unmanned aerial vehicle is exemplified as the flying object, but the flying object is not particularly limited to an unmanned aerial vehicle, and may include a manned aircraft, as long as it is a flying object.

[0113] As described above, each embodiment of the present invention achieves advantageous effects through the following configurations.

[0114] A flying device (e.g., flying device 1, 1a) according to an embodiment of the present invention comprises: a flying body (e.g., drone 2) having a main body (e.g., main body 11) and one or more propellers (e.g., propeller 13) held on the main body; a plurality of supports (e.g., supports 4) mounted on the flying body to support a protective component (e.g., protective component 3) stretched to surround the outer side of the main body; a support information detection unit (e.g., strain sensors 41, 41a and detection circuits 42, 42a) to detect support information indicating a support state of the protective component; and an installation determination unit (e.g., installation determination unit 43, 43a) to determine whether the support state of the protective component is appropriate based on the detection value of the support information detection unit. According to this configuration, the flying device can confirm the support state of the support by the support information detection unit, and thus can determine whether the support is in a state where the protective component is properly held by the support in the installation determination unit. Therefore, the flying device can reliably install the protective component on the flying body when the flying device is used.

[0115] In the flying device of one embodiment of the present invention, the support information detection unit may also include a strain sensor (e.g., strain sensor 41, 41a) for detecting the deformation of the support caused by the tension of the protection component. In this way, the strain generated by the tension of the protection component is detected by the strain sensor, and the appropriate tension of the protection component is ensured, so that the protection component can appropriately exert its impact absorption capacity.

[0116] In the flying device of one embodiment of the present invention, the support has: a fixed portion (e.g., fixed portion 21) mounted on the flying body and extending substantially perpendicular to the rotation axis of the propeller; and an extension portion (e.g., extension portion 22) mounted on the front end of the fixed portion and extending substantially parallel to the rotation axis of the propeller; and the strain sensor may also be disposed on the extension portion. Thus, the deformation amount of the extension portion that is bent and deformed according to the tension of the protective member can be measured by the strain sensor, so that the appropriate supporting state of the protective member can be determined more accurately.

[0117] In the flying device according to one embodiment of the present invention, the strain sensor may be disposed on each of the plurality of supports, thereby ensuring that all the supports support the protection member while applying appropriate tension.

[0118] In the flying device of one embodiment of the present invention, the installation determination unit may also determine that the supporting state of the protection component is inappropriate when the difference between the maximum value and the minimum value of the detection value of the support information detection unit exceeds a preset threshold value. This can prevent stress concentration or abnormal vibration caused by uneven support of the protection component by multiple supports, thereby preventing the protection of the protection component from being incomplete.

[0119] In the flying device according to one embodiment of the present invention, the mounting determination unit may be disposed on the support, thereby ensuring that the plurality of protective components are properly mounted.

[0120] Regarding the flying device of one embodiment of the present invention, the flying object or the supporting device may further include a notifying unit (eg, notifying unit 44, 44a) for notifying information corresponding to the determination result of the installation determination unit. Thus, the user can easily grasp the supporting state of the protective component.

[0121] In the flying device of one embodiment of the present invention, the notification unit may also notify in a manner capable of distinguishing that the supporting state of the protection component among the plurality of supports is an inappropriate support, thereby enabling the user to distinguish that the supporting state of the protection component is an inappropriate support and easily correct it to an appropriate supporting state.

[0122] The flying device of one embodiment of the present invention may further include a takeoff control unit (e.g., takeoff control unit 45, 45a) for determining whether the flying device can take off based on the determination result of the installation determination unit. Thus, even if the user neglects to check whether the supporting state of the protection member is appropriate, the flying device can be prevented from taking off with the supporting state of the protection member being inappropriate.

[0123] The flight system of one embodiment of the present invention comprises the flight device (e.g., the flight device 1), and an information processing device (e.g., the information processing device 5) that wirelessly communicates with the flight device to control the flight of the flight device, and the flight object sends the determination result of the takeoff control unit (e.g., the takeoff control unit 45) to the information processing device. According to this configuration, when the takeoff control unit prohibits the flight of the flight device, the information processing device can confirm this intention.

[0124] The flying system of one embodiment of the present invention comprises the flying device (e.g., flying device 1), and an information processing device (e.g., information processing device 5) that wirelessly communicates with the flying device and controls the flight of the flying device, and the flying body sends the determination result of the installation determination unit to the information processing device. According to this configuration, when the supporting state of the protection component is inappropriate, the flying device can be prohibited from flying when the supporting state of the protection component is inappropriate in the information processing device, so that the protection of the flying body can be ensured.

[0125] The flying system of one embodiment of the present invention comprises the flying device and an information processing device (e.g., information processing device 5a) that wirelessly communicates with the flying device (e.g., flying device 1a) to control the flight of the flying device, the flying body sends the determination result of the installation determination unit to the information processing device, and the information processing device has a take-off control unit (e.g., take-off control unit 45a) that determines whether the flying device can take off based on the determination result of the installation determination unit. According to this configuration, the flying device can be prohibited from flying in the information processing device when the supporting state of the protection component is inappropriate, so that the protection of the flying body can be ensured.

[0126] A flight system according to another embodiment of the present invention comprises a flight device (e.g., a flight device 1b), and an information processing device (e.g., an information processing device 5b) that wirelessly communicates with the flight device to control the flight of the flight device; and the flight device comprises: a flight body (e.g., a drone 2) having a main body and one or more propellers held on the main body; a plurality of supports (e.g., supports 4) mounted on the flight body to support a protective component stretched out to surround the outer side of the main body; and a support information detection unit (e.g., a strain sensor 41 and a detection circuit 42) that detects support information indicating a support state of the protective component; and the information processing unit comprises an installation determination unit (e.g., an installation determination unit 43b) that determines whether the support state of the protective component is appropriate based on the support information. According to this configuration, it is possible to determine whether the support state of the protective component is appropriate in the information processing unit, so that the protective component can be reliably installed on the flight body when the flight device is used.

[0127] An information processing device (e.g., information processing device 5b) according to an embodiment of the present invention controls a flying device (e.g., flying device 1b), the flying device comprising: a flying body having a main body and one or more propellers held on the main body; and a plurality of supports mounted on the flying body to support a protective member stretched out to surround the outer side of the main body; the information processing device comprises: a support information acquisition unit (e.g., remote communication unit 47) to acquire support information indicating the support state of the protective member; and an installation determination unit (e.g., installation determination unit 43b) to determine whether the support state of the protective member is appropriate based on the support information acquired by the support information acquisition unit. According to this configuration, the support state of the protective member can be confirmed, so that the protective member can be reliably installed on the flying body when the flying device is flown.

[0128] [Explanation of Symbols]

[0129] 1.1a,1b Flying device

[0130] 2 UAV (flying object)

[0131] 3 Protective components

[0132] 4 Support

[0133] 5.5a.5b Information processing device

[0134] 21 Fixed part

[0135] 22 Extension

[0136] 23. Maintaining part

[0137] 41, 41a Strain sensor

[0138] 42, 42a Detection circuit

[0139] 43, 43a, 43b Installation determination unit

[0140] 44, 44a, 44b Reporting Department

[0141] 45, 45a, 45b Takeoff control unit

Claims

1. A flying device comprising: A flying object having a main body and one or more propellers held on the main body; A plurality of supports, mounted on the flying body, for supporting a protective member stretched out to surround the outer side of the main body; a support information detection unit, configured to detect support information indicating a support state of the protection component; and a mounting determination unit that determines whether a supporting state of the protection component is appropriate based on the supporting information; The support information detection unit includes a plurality of strain sensors respectively arranged on the plurality of supports and detecting deformation of the supports caused by tension applied to the protection member; The mounting determination unit determines that the supporting state of the protection member is inappropriate when a difference between a maximum value and a minimum value of the detection value of the support information detection unit exceeds a preset threshold value.

2. The flying device according to claim 1, wherein the support has: A fixing portion, mounted on the flying body, extending substantially perpendicularly to the rotation axis of the propeller; and an extension portion, mounted on a front end portion of the fixing portion, and extending substantially parallel to a rotation axis of the propeller; and The strain sensor is disposed on the extending portion. 3 . The flying device according to claim 1 , wherein the mounting determination unit is disposed on the support device. 4 . The flying device according to claim 1 , further comprising a notification unit for notifying information corresponding to a determination result of the mounting determination unit. 5 . The flying device according to claim 4 , wherein the notification unit performs notification in a manner capable of discriminating a support device among the plurality of supports that supports the protection member in an inappropriate state. 6 . The flying device according to claim 1 , further comprising a takeoff control unit for determining whether the flying device can take off based on a determination result of the mounting determination unit.

7. A flying system comprising the flying device according to claim 6, and an information processing device that wirelessly communicates with the flying device to control the flight of the flying device. The flying object transmits the determination result of the takeoff control unit to the information processing device.

8. A flying system comprising the flying device according to claim 1 or 2, and an information processing device that wirelessly communicates with the flying device to control the flight of the flying device. The flying object transmits the determination result of the mounting determination unit to the information processing device.

9. A flying system comprising the flying device according to claim 1 or 2, and an information processing device that wirelessly communicates with the flying device to control the flight of the flying device. The flying object sends the determination result of the installation determination unit to the information processing device, The information processing device includes a takeoff control unit that determines whether the flying device can take off based on a determination result of the mounting determination unit.

10. A flying system comprising a flying device and an information processing device for wirelessly communicating with the flying device to control the flight of the flying device. The flying device has: A flying object having a main body and one or more propellers held on the main body; a plurality of supports mounted on the flying body and supporting a protective member stretched out to surround the outer side of the main body; and a support information detection unit, which detects support information indicating a support state of the protection component; and The information processing device includes a mounting determination unit that determines whether a supporting state of the protection member is appropriate based on the supporting information; The support information detection unit includes a plurality of strain sensors respectively arranged on the plurality of supports and detecting deformation of the supports caused by tension applied to the protection member; The mounting determination unit determines that the supporting state of the protection member is inappropriate when a difference between a maximum value and a minimum value of the detection value of the support information detection unit exceeds a preset threshold value.

11. An information processing device for controlling a flying device, the flying device comprising: a flying body having a main body and one or more propellers held on the main body; a plurality of supports mounted on the flying body for supporting a protective member stretched out to surround the outer side of the main body; a support information detection unit for detecting support information indicating a support state of the protective member; and the information processing device comprising: a support information acquisition unit, which acquires the support information detected by the support information detection unit; and a mounting determination unit that determines whether a supporting state of the protection component is appropriate based on the supporting information acquired by the supporting information acquisition unit; The support information detection unit includes a plurality of strain sensors respectively arranged on the plurality of supports and detecting deformation of the supports caused by tension applied to the protection member; The mounting determination unit determines that the supporting state of the protection member is inappropriate when a difference between a maximum value and a minimum value of the detection value of the support information detection unit exceeds a preset threshold value.

Images