Flying object and method for controlling flying object

Abstract

The flying body includes: a communication device; the receiver obtains the current position; a flight controller that controls flight and is capable of transmitting information of a current position using the communication device; a plurality of driving devices for respectively driving different propulsion mechanisms among the plurality of propulsion mechanisms; a distributor that distributes the supplied power to each of the plurality of drive devices; a power supply module that supplies power from the battery to the communication device, the receiver, and the flight controller via a first power path, and supplies power to the distributor via a second power path; and a disconnection device that, when an abnormality has occurred, disconnects the supply of power to the distributor from the power supply module via the second power path.

Description

Technical Field

[0001] The invention relates to a flying object and a method for controlling the flying object. Background Art

[0002] Conventionally, various manned aircraft and various unmanned aircraft are known as flying objects.

[0003] For example, U.S. Patent Application Publication No. 2017 / 0106986A1 (Patent Document 1) discloses an unmanned aircraft equipped with a parachute. If the unmanned aircraft of Patent Document 1 detects a fall, the parachute is deployed and the power supply to the motor that rotates the propeller is stopped. In detail, in the unmanned aircraft of Patent Document 1, the power supply and the motor that rotates the propeller are directly connected by wiring. If the unmanned aircraft of Patent Document 1 detects a fall, the above-mentioned connection between the power supply and the motor is physically cut off. As a result, the power supply to the motor is stopped.

[0004] International Publication No. 2019 / 216204A1 (Patent Document 2) discloses a current circuit breaker for use in an unmanned aircraft equipped with a parachute. The current circuit breaker circuit breaker disconnects the supply of current to the electric equipment of the unmanned aircraft. This prevents the parachute from being deployed improperly when the unmanned aircraft falls (during a fall). Furthermore, it prevents the propeller from contacting a person in motion after the fall.

[0005] International Publication No. 2017 / 030034A1 (Patent Document 3) discloses an unmanned aircraft that can charge a battery by a power generation device during flight in order to extend the flight distance. If the unmanned aircraft detects the fall of the unmanned aircraft, the charging of the battery from the power generation device is stopped. This prevents the expansion of the accident disaster after the fall of the unmanned aircraft.

[0006] Prior art literature

[0007] Patent Literature

[0008] Patent Document 1: U.S. Patent Application Publication No. 2017 / 0106986A1 Patent Document 2: International Publication No. 2019 / 216204A1

[0009] Patent Document 3: International Publication No. 2017 / 030034A1 Summary of the invention

[0010] Problems to be solved by the invention

[0011] The unmanned aircraft of Patent Document 1 is equipped with an electronic speed controller (ESC) for driving the above-mentioned motor. Specifically, the electronic speed controller is a motor driver (amplifier) ​​that controls the rotation speed of the motor by allowing current to flow into the motor. The flight speed of the unmanned aircraft is controlled by the electronic speed controller. Therefore, even if the connection between the power supply and the motor is cut off as described above, the current flows from the power supply to the motor via the electronic speed controller. Therefore, in the unmanned aircraft of Patent Document 1, the rotation of the propeller cannot actually be stopped by the above-mentioned cut-off.

[0012] When the unmanned aircraft with a current interrupter device in Patent Document 2 falls, the current supply to the electric equipment of the unmanned aircraft is interrupted by the current interrupter device. Therefore, when the unmanned aircraft falls (landing by parachute), the unmanned aircraft cannot calculate the current position and communicate with external equipment on the ground. Therefore, the external equipment on the ground cannot determine the current position of the unmanned aircraft.

[0013] Even if the unmanned aircraft of Patent Document 3 detects the fall of the unmanned aircraft, the battery continues to supply power to the motor that rotates the propeller. In other words, the propulsion mechanism (propeller and motor) of the unmanned aircraft continues to operate.

[0014] The present disclosure is made in view of the above-mentioned problems, and its purpose is to provide a flying body and a control method for the flying body, which can stop all propulsion mechanisms by disconnecting one power path when a predetermined abnormality occurs, and can also send current position information to an external device after disconnecting the power path.

[0015] Means used to solve problems

[0016] According to a technical solution disclosed in the present invention, an aircraft body comprises: a battery; a plurality of propulsion mechanisms; a communication device for wirelessly communicating with an external device; a receiver for obtaining a current position of the aircraft body by receiving radio waves transmitted from a plurality of positioning satellites; a flight controller for controlling the flight of the aircraft body and being able to transmit information on the current position using the communication device; a plurality of drive devices each of which is communicatively connected to the flight controller and respectively drives different propulsion mechanisms among the plurality of propulsion mechanisms; a distributor for distributing the supplied power to the plurality of drive devices; a power module for supplying power from the battery to the communication device, the receiver and the flight controller via a first power path and to the distributor via a second power path; and a circuit breaker for disconnecting the power supply from the power module to the distributor via the second power path when a predetermined abnormality occurs in the aircraft body.

[0017] According to another technical solution of the present disclosure, the flying body supplies power from a built-in battery to a flight controller for controlling the flight of the flying body, a communication device for wireless communication with external equipment, and a receiver for calculating the current position of the flying body through a first power path, and supplies power to a distributor for respectively distributing power to a plurality of drive devices through a second power path. Each drive device drives a different propulsion mechanism among a plurality of propulsion mechanisms based on instructions from the flight controller. The control method of the flying body comprises: a step of disconnecting the power supply to the distributor via the second power path when a predetermined abnormality occurs in the flying body; and a step of sending information on the current position to an external device using a communication device when a predetermined abnormality occurs.

[0018] Effects of the Invention

[0019] According to the present disclosure, when a predetermined abnormality occurs in the flying object, all propulsion mechanisms can be stopped by disconnecting one power path, and the current position information can be sent to an external device even after the power path is disconnected. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a diagram showing a drone in flight.

[0021] Figure 2 This is a diagram showing a state where a drone is landing with a parachute deployed.

[0022] Figure 3 It is a block diagram used to illustrate the hardware structure of the drone.

[0023] Figure 4 It is a diagram for explaining a specific example of a circuit breaker.

[0024] Figure 5 This is a flowchart used to explain the flow of processing performed by the drone.

[0025] Figure 6 It is a diagram showing a state of a power path before circuit breaking according to a first modification of the circuit breaker device.

[0026] Figure 7 It is a diagram showing a state after the power path of the first modified example of the circuit breaker device is disconnected.

[0027] Figure 8 It is a diagram for explaining a second modified example of the circuit breaker device.

[0028] Fig. 9 It is a block diagram used to illustrate the hardware structure of other drones. DETAILED DESCRIPTION

[0029] Hereinafter, embodiments in accordance with the present invention will be described with reference to the accompanying Figure 1 drawings. In the following description, the same reference numerals are given to the same parts and components. Their names and functions are also the same. Therefore, detailed descriptions thereof will not be repeated.

[0030] Hereinafter, as an example of a flying object, an unmanned aircraft will be described. Specifically, as an unmanned aircraft, a drone will be described as an example. More specifically, a drone having rotary blades will be described as an example. In addition, the present disclosure can also be applied to various manned aircraft (another example of a flying object) such as "air vehicles".

[0031] <A. Outline of the Drone>

[0032] The drone according to the present embodiment can be automatically controlled and manually controlled by an operation of a remote controller by an operator. Figure 1 is a view showing a state in which the drone is flying. Figure 2 is a view showing a state in which the drone is descending in a state where a parachute has been ejected.

[0033] As Figure 1 and Figure 2 shown, the drone 1 includes a main body 2, four arms 3A, 3B, 3C, 3D, four propulsion mechanisms 4A, 4B, 4C, 4D, an ejection device 5, a communication unit 6, and a support member 18. Each of the propulsion mechanisms 4A, 4B, 4C, 4D includes a propeller 41 (see Figure 2 ). and a motor 42.

[0034] In addition, hereinafter, for convenience of description, any one of the arms 3A, 3B, 3C, 3D will also be referred to as "arm 3". Similarly, any one of the propulsion mechanisms 4A, 4B, 4C, 4D will also be referred to as "propulsion mechanism 4".

[0035] The arm 3 is attached to the main body 2. The arm 3 has a base end portion and a distal end portion. The base end portion of the arm 3 is attached to the main body 2. In this example, the arm 3 extends from the side surface of the main body 2.

[0036] At the distal end portion of the arm 3, the propulsion mechanism 4 is attached. At the distal end portion of the arm 3, the motor 42 is attached. The propeller 41 is attached to the rotation shaft (not shown) of the motor 42.

[0037] The ejection device 5 is attached to the upper surface (top surface) of the main body 2. The ejection device 5 houses the parachute 51. The ejection device 5 ejects the parachute 51 when a preset abnormality occurs in the drone 1 (see Figure 2)。The ejection device 5 detects the fall of the drone 1 and instantaneously deploys the parachute by activating a gas generator built into the ejection device 5. Additionally, as the gas generator, either a gunpowder-type gas generator (pyrotechnics) or a non-gunpowder-type gas generator such as a gas cylinder type can be used.

[0038] In this example, the support member 18 extends upward from the connecting portion of the arm 3 and the main body 2. The support member 18 is a hollow tube. Wiring for the communication unit 6 passes through the inside of the support member 18. In this example, the communication unit 6 is supported by the support member 18 and is located above the main body 2.

[0039] In addition, as an example of the drone 1, an example in which it has 4 arms 3 and 4 propulsion mechanisms 4 is given, but the number of arms and the number of propulsion mechanisms are not limited to this.

[0040] <B. Hardware Structure and Processes Executed>

[0041] Figure 3 It is a block diagram for explaining the hardware structure of the drone 1. As Figure 3 shown, the drone 1 can communicate with the ground device 900. The ground device 900 includes a remote controller 901 and a ground control station 902. Additionally, in Figure 3 it, the main power path is represented by a solid line, and the main signal path is represented by a dashed line.

[0042] In addition to the above-mentioned propulsion mechanisms 4A, 4B, 4C, 4D, ejection device 5, and communication unit 6, the drone 1 also includes drive devices (ESC: Electronic Speed Controller) 7A, 7B, 7C, 7D, a flight controller (Autopilot) 8, a battery 9, a power module 10, a break device (FTS: Flight Termination System) 11, a distributor 12, a battery 13, a trigger device (ATS: Auto Trigger System) 14, and a sensor 15. Additionally, hereinafter, for the convenience of explanation, any one of the drive devices 7A, 7B, 7C, 7D is also referred to as the "drive device 7".

[0043] As described above, the propulsion mechanism 4 includes a propeller 41 and a motor 42. The motor 42 has a magnet 421 and a coil 422. The type of the motor 42 is not particularly limited. As the motor 42, for example, a brushless DC (Direct Current) motor, a brushed DC motor, or an AC (Alternating Current) motor can be used. The drive device 7 includes an MCU (MicroController Unit) 71 and a current driver 72.

[0044] The flight controller 8 includes an MCU 81, an inertial measurement unit (IMU) 82, and a barometric altimeter 83. The MCU 81 has a posture estimation unit 811 and a determination unit 812 as functional blocks. The MCU 81 is connected to the inertial measurement unit 82 and the barometric altimeter 83 so as to be communicable.

[0045] The circuit breaker 11 includes a current switch 111. The trigger device 14 includes an MCU 141 and a sensor 142. The sensor 142 detects the acceleration, angular velocity, attitude angle and altitude change of the drone 1.

[0046] Specifically, MCU71, 81, 141 has a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory) and other memories and I / O (Input / Output) circuits (not shown). Programs and data are stored in the memory. In the memory of MUC81, for example, data representing the flight path of drone 1 is stored.

[0047] The communication unit 6 includes a GNSS (Global Navigation Satellite System) receiver 61 , a wireless module 62 , and an LTE (Long Term Evolution) module 63 .

[0048] The battery 9 is a storage battery (secondary battery) and is connected to a power module 10 .

[0049] The power module 10 supplies the power from the battery 9 to the flight controller 8 and the communication unit 6 via the power path R1. In this example, the communication unit 6 is powered via the flight controller 8. The power module 10 supplies the power from the battery 9 to the distributor 12 via the power path R2. In detail, the power module 10 supplies the power from the battery 9 to the distributor 12 via the circuit breaker 11. In this way, the power module 10 branches the power path from the battery 9 into two power paths R1 and R2.

[0050] In the power path R2, the connector terminals of the power module 10 and the distributor 12 are connected via wiring. In order to reduce contact resistance heating caused by the wiring, the connector terminals of the power module 10 and the distributor 12 are preferably plated with gold.

[0051] The distributor 12 distributes the supplied power to the four drive devices 7. The distributor 12 supplies the power supplied by the power path R2 to the four drive devices 7. In detail, the distributor 12 supplies power to the current drivers 72 of the four drive devices 7. In addition, although not shown by the solid line, power is also supplied to each MCU 71. The current driver 72 is connected to the coil 422 of the motor 42 by wiring.

[0052] The drive device 7 is connected to the flight controller 8 so as to be communicable. The drive device 7 drives the corresponding propulsion mechanism 4 based on the instruction from the flight controller 8. In detail, the drive device 7 adjusts the propulsion force of the corresponding propulsion mechanism 4 based on the instruction from the flight controller 8. Specifically, the drive device 7A adjusts the propulsion force of the corresponding propulsion mechanism 4A. Similarly, the drive devices 7B, 7C, and 7D adjust the propulsion force of the propulsion mechanisms 4B, 4C, and 4D, respectively. In this way, the drive device 7 functions as a control device for the propulsion mechanism 4.

[0053] Specifically, the MUC 71 receives an instruction from the MUC 81 of the flight controller 8. Based on the instruction, the MCU 71 controls the current driver 72 to flow the current to the coil 422 of the motor 42. By controlling the current flowing to the coil 422 in this way, the rotation speed of the motor 42 is controlled. Thus, the rotation speed of the propeller 41 can be controlled.

[0054] The GNSS receiver 61, the wireless module 62, and the LTE module 63 are connected to the MCU 81 of the flight controller 8 so as to be communicable. The GNSS receiver 61, the wireless module 62, and the LTE module 63 are powered by the flight controller 8. The GNSS receiver 61, the wireless module 62, and the LTE module 63 are operated by power from the battery 9.

[0055] The GNSS receiver 61 receives radio waves emitted from a plurality of positioning satellites (not shown), and obtains the current position of the drone 1 based on the received radio waves. The GNSS receiver 61 periodically sends information indicating the current position to the flight controller 8. Specifically, the GNSS receiver 61 periodically sends information on the latitude and longitude of the drone 1 as position information to the MCU 81.

[0056] The wireless module 62 is a communication module for communicating with the remote controller 901. When the drone 1 is manually operated within the range visible to the operator, the communication between the wireless module 62 and the remote controller 901 is used. Therefore, the communication has real-time performance. The command from the remote controller 901 is input to the MCU 81 via the wireless module 62.

[0057] The LTE module 63 is a communication module for communicating with the ground control station 902 via a base station (not shown). The communication between the LTE module 63 and the ground control station 902 is used when the drone 1 is continuously flown for multiple kilometers by automatic control. In this example, the MUC 81 transmits the location information of the drone 1 to the ground control station 902 via the LTE module 63. The timing of transmitting the location information will be described later.

[0058] The inertial measurement device 82 periodically measures the angular velocity and acceleration of the drone 1 in three-dimensional space. The barometric altimeter 83 periodically measures the height from the ground surface and the sea surface.

[0059] The flight controller 8 controls the flight of the drone 1. The flight controller 8 implements automatic control and manual control by means of a remote controller operated by an operator.

[0060] In the case of automatic control, the flight controller 8 controls the flight of the drone 1 based on a pre-set flight route. In detail, the MCU 81 of the flight controller 8 realizes the autonomous flight of the drone 1 based on the current position obtained by the GNSS receiver 61, the detection result obtained by the inertial measurement device 82, and the detection result (altitude) obtained by the barometric altimeter 83. As described above, the flight controller 8 can use the LTE module 63 as a communication device to send information on the current position of the drone 1.

[0061] In more detail, the posture estimation unit 811 of the MCU 81 estimates the posture of the drone 1 based on the detection result obtained by the inertial measurement device 82. The determination unit 812 of the MCU 81 determines whether the estimated posture is an abnormal posture based on a preset reference. When the MCU 81 determines that the estimated posture is an abnormal posture, it sends a preset signal to the trigger device 14.

[0062] The flight controller 8 transmits information on the current position of the drone 1 to the ground control station 902 using the LTE module 63 based on the occurrence of a preset abnormality in the drone 1 .

[0063] The present invention is not limited to this. The flight controller 8 may also send information about the current position of the drone 1 to the ground control station 902 under the condition that the drone 1 has landed with the help of the parachute 51. When the current position of the drone 1 does not change for a certain period of time, the drone 1 can be judged to have landed. Alternatively, the drone 1 can be judged to have landed based on the detection result of the barometric altimeter 83. The drone 1 can also be judged to have landed based on the detection result of the inertial measurement device 82.

[0064] The ejection device 5 includes a parachute. The ejection device 5 ejects the parachute 51 when the above-mentioned predetermined abnormality occurs in the drone 1. In this example, the ejection device 5 ejects the parachute 51 regardless of whether it is automatically operated or manually operated.

[0065] When the above-mentioned predetermined abnormality occurs, the circuit breaker 11 disconnects the power supply from the power module 10 to the distributor 12 via the power path R2. In detail, the circuit breaker 11 disconnects the power supply to the distributor 12 by operating the current switch 111. In this example, the circuit breaker 11 can disconnect the power supply to the distributor 12 regardless of whether it is automatically operated or manually operated.

[0066] The trigger device 14 is powered by the battery 13. The trigger device 14 activates the circuit breaker 11 and the ejection device 5 based on a predetermined abnormality occurring in the drone 1. In detail, a predetermined signal (command) is sent to the ejection device 5 via the MCU 141, and the ejection device 5 ejects the parachute 51 to the outside. A predetermined signal (hereinafter also referred to as a "current circuit breaker command signal") is sent to the circuit breaker 11 via the MCU 141, and the current switch 111 of the circuit breaker 11 is activated. Through this action, the power supply from the power module 10 to the distributor 12 via the power path R2 is disconnected. As a result, the drone 1 forcibly stops its autonomous flight.

[0067] The current interruption command signal is preferably resistant to voltage fluctuations caused by electromagnetic noise. For example, the current interruption command signal is preferably a signal that uses the holding time of the voltage at the High level as a variable.

[0068] As the pre-set abnormality, for example, the estimated posture is an abnormal posture, and the situation deviates from the planned flight route. When the MCU 81 of the flight controller 8 determines that the posture of the drone 1 is abnormal, or based on the determination by the MUC 81 that it deviates from the flight route, the MCU 141 of the trigger device 14 activates the circuit breaker 11 and the ejection device 5.

[0069] The present invention is not limited thereto, and the trigger device 14 may determine whether a preset abnormality has occurred based on the detection result of the sensor 142. The type of abnormality is not particularly limited as long as it is a preset type.

[0070] In this example, after the trigger device 14 causes the circuit breaker 11 to disconnect the power supply to the distributor 12 via the power path R2, if a predetermined condition is satisfied, the trigger device 14 causes the ejection device 5 to eject the parachute 51. Specifically, after the trigger device 14 causes the circuit breaker 11 to disconnect the power supply to the distributor 12 via the power path R2, if a predetermined time (e.g., 1 second) has passed, the ejection device 5 ejects the parachute 51.

[0071] The predetermined time is preferably within 1.5 seconds. The predetermined time is preferably set to a time longer than the time during which the rotation of the propeller 41 stops.

[0072] The sensor 15 detects the presence or absence of the operation of the ejection device 5. The sensor 15 is connected to the flight controller 8 so as to be communicable. When the above-mentioned pre-set abnormality occurs, the flight controller 8 uses the LTE module 63 to forcibly stop the flight and send the result detected by the sensor 15 to the ground control station 902. The flight controller 8 may also send information indicating the type of abnormality to the ground control station 902.

[0073] Figure 4 1 is a diagram for explaining a specific example of the circuit breaker 11. Figure 4 As shown, the circuit breaker 11 includes a transistor 111A functioning as a current switch 111 .

[0074] The transistor 111A is provided between the power module 10 and the distributor 12, and, when turned on, allows current to flow from the power module 10 to the distributor 12 via the power path R2. In this example, the transistor 111A is a bipolar transistor. Specifically, the transistor 111A is an npn transistor.

[0075] When the above-described predetermined abnormality occurs, the disconnecting device 11 turns off the transistor 111A. The disconnecting device 11 switches the state of the transistor 111A from the on state to the off state, thereby disconnecting the power supply from the power module 10 to the distributor 12 via the power path R2.

[0076] In addition, transistor 111A is not limited to an npn type bipolar transistor. Transistor 111A may also be a pnp type bipolar transistor. In addition, transistor 111A may also be a field effect transistor (unipolar transistor). In this case, transistor 111A may also be a junction type field effect transistor (FET) or a MOS type field effect transistor. Furthermore, transistor 111A may also be an insulated gate bipolar transistor (IGBT).

[0077] The transistor 111A generates heat when powered on. Therefore, in order to prevent the temperature of the transistor 111A from exceeding the rated temperature, the disconnection device 11 preferably has a heat sink component for dissipating the heat of the transistor 111A. The disconnection device 11 may also have a substrate made of aluminum for heat dissipation or an electric fan for cooling, instead of or together with the heat sink component.

[0078] When the transistor 111A is switched from the conductive state to the cut-off state, a surge voltage is generated. In order to prevent the transistor 111A from being damaged by the surge voltage, the disconnection device 11 preferably has a snubber circuit. The snubber circuit includes at least one of a resistor and a capacitor.

[0079] <C. Control Structure>

[0080] Figure 5 It is a flowchart for explaining the process executed by the unmanned aerial vehicle 1. As Figure 5 shown, in step S1, the unmanned aerial vehicle 1 starts flying. In step S2, the unmanned aerial vehicle 1 determines whether the above-mentioned preset abnormality has occurred in the unmanned aerial vehicle 1. If the unmanned aerial vehicle 1 determines that no abnormality has occurred (in step S2, "No"), the process proceeds to step S3. In step S3, the unmanned aerial vehicle 1 determines whether it has reached the destination. If it is determined that the destination has been reached (in step S3, "Yes"), the unmanned aerial vehicle 1 ends a series of processes. If it is determined that the destination has not been reached (in step S3, "No"), the unmanned aerial vehicle 1 returns the process to step S2.

[0081] If it is determined that an abnormality has occurred (in step S2, "Yes"), the unmanned aerial vehicle 1 operates the disconnection device 11 in step S4. In step S5, the unmanned aerial vehicle 1 determines whether a predetermined time (for example, 1 second) has elapsed since the disconnection device 11 was operated.

[0082] If it is determined that the predetermined time has elapsed (in step S5, "Yes"), in step S6, the unmanned aerial vehicle 1 operates the ejection device 5. That is, the unmanned aerial vehicle 1 ejects the parachute 51. If it is determined that the predetermined time has not elapsed (in step S5, "No"), the unmanned aerial vehicle 1 returns the process to step S5.

[0083] In step S7, the unmanned aerial vehicle 1 periodically transmits the position information indicating the current position of the unmanned aerial vehicle 1 to the ground device 900. Specifically, the ground control station 902 can obtain the position information of the unmanned aerial vehicle 1 by receiving the position information of the unmanned aerial vehicle 1 through a base station device (not shown) provided around the unmanned aerial vehicle 1.

[0084] <D. Summary>

[0085] (1) Refer to Figure 2 and Figure 3As described above, the unmanned aircraft, i.e., the drone 1, comprises: (a) a battery 9; (b) a plurality of propulsion mechanisms 4 (4A to 4B); (c) an LTE module (communication device) 62 for wireless communication with a ground device 900 (specifically, a ground control station 902) as an external device; (d) a GNSS receiver 61 for obtaining the current position of the drone 1 by receiving radio waves transmitted from a plurality of positioning satellites; (e) a flight controller 8 for controlling the flight of the drone 1 and for transmitting information on the current position using the LTE module 62; and (f) a plurality of drive devices 7 (7A to 7D) for respectively transmitting the current position information to the drone 1 and the flight controller 8. (g) a distributor 12 for distributing the supplied power to the plurality of drive devices 7; (h) a power module 10 for supplying power from the battery 9 to the LTE module 62, the GNN receiver 61 and the flight controller 8 via a power path R1, and to the distributor 12 via a power path R2; and (i) a circuit breaker 11 for disconnecting the power supply from the power module 10 to the distributor 12 via the power path R2 when a predetermined abnormality occurs in the drone 1.

[0086] According to the above structure, when a preset abnormality occurs, the power path R2 is disconnected. Therefore, the power supply from the battery 9 to all the drive devices 7 via the distributor 12 is disconnected. Furthermore, by disconnecting the power supply to the drive device 7, the driving of all the propulsion mechanisms 4 is stopped. In this way, by disconnecting one power path R2, all the propulsion mechanisms 4 can be stopped.

[0087] Furthermore, even if the power path R2 is disconnected, the power path R1 continues to supply power to the LTE module 62, the GNN receiver 61, and the flight controller 8. Therefore, according to the drone 1, the current position information can be sent to the ground device 900 even after the power path R2 is disconnected.

[0088] In addition, the drone 1 includes a parachute 51 ( Figure 2 ), and also includes an ejection device 5 for ejecting a parachute 51 when the above-mentioned predetermined abnormality occurs. Therefore, even if all the propulsion mechanisms 4 are stopped by disconnection of the power path R2 due to the occurrence of the predetermined abnormality, the above-mentioned structure can prevent the drone 1 from falling.

[0089] Furthermore, the advantages of the drone 1 are described below using four comparative examples.

[0090] As a first comparative example, the case where the power supply from the battery to the entire drone stops if the above-mentioned abnormality occurs will be described. In this case, at least the communication equipment used to communicate with the flight controller, GNSS receiver, and ground equipment does not operate. Therefore, in such a case, the operator on the ground cannot obtain the latitude and longitude of the drone. Therefore, the operator cannot determine the landing position of the drone. Therefore, the operator cannot recover the drone.

[0091] In contrast, according to the drone 1 of this embodiment, even when the above-mentioned abnormality occurs, the flight controller 8, the GNSS receiver 61 and the LTE module 62 can continue to operate, so the operator can accurately know the landing position of the drone 1. Therefore, the recovery of the drone becomes easy.

[0092] As a second comparative example, a case where the flight controller executes the propulsion mechanism stop function of the flight controller if an abnormality occurs is described. In this case, when the flight controller itself fails (an abnormality occurs), the multiple propulsion mechanisms cannot be stopped. Therefore, when the parachute is opened, the multiple propulsion mechanisms continue to operate. In this case, it is also possible that the propulsion mechanism interferes with the parachute. For example, it is also possible that the rope (line) of the parachute is entangled with the propeller. Therefore, there are also cases where the drone falls. In addition, even if the propulsion mechanism does not interfere with the parachute, the flight of the drone using the propulsion mechanism continues.

[0093] On the other hand, according to the drone 1 of this embodiment, if the above-mentioned abnormality occurs, the plurality of propulsion mechanisms 4 can be stopped. Therefore, the drone 1 can land slowly by the parachute 51. In addition, the flight of the drone 1 using the plurality of propulsion mechanisms 4 can be stopped.

[0094] As a third comparative example, a case where a signal path sent from a flight controller to a drive device of a propulsion mechanism is disconnected when an abnormality occurs will be described. In this case, when a drive device fails (an abnormality occurs), the propulsion mechanism cannot be stopped.

[0095] On the other hand, according to the drone 1 of this embodiment, even if the drive device 7 fails, the power supply to all the drive devices 7 is stopped by disconnecting the power path R2, so that the driving of all the drive devices 7 can be stopped. Therefore, according to the drone 1, all the propulsion mechanisms 4 can be stopped.

[0096] As a fourth comparative example, a structure is described in which the power circuit between the drive device and the propulsion mechanism is disconnected if an abnormality occurs. In this case, in order to stop all propulsion mechanisms, only the number of disconnecting devices (i.e., the number of drive devices) is required. In addition, if not all disconnecting devices are operated, at least one propulsion mechanism continues to operate.

[0097] On the other hand, according to the drone 1 related to the present embodiment, since only one power path R2 needs to be disconnected, only one circuit breaker 11 is sufficient. Therefore, according to the drone 1, the cost can be suppressed compared with the fourth comparative example. In addition, if the probability of failure of one circuit breaker 11 of the present embodiment in a certain period is compared with the probability of failure of one circuit breaker among the plurality of circuit breakers shown in the fourth comparative example, it can be said that the latter is higher in accordance with the number of circuit breakers. Therefore, according to the drone 1, the probability of a situation where a certain propulsion mechanism continues to operate in the event of an abnormality can be reduced compared with the fourth comparative example that requires a plurality of circuit breakers.

[0098] (2) The drone 1 includes a trigger device 14 for operating the disconnecting device 11 and the ejecting device 5 when the above-mentioned predetermined abnormality occurs. After the disconnecting device 11 disconnects the power supply to the distributor 12 via the power path R2, the trigger device 14 causes the ejecting device 5 to eject the parachute 51 if a predetermined condition is satisfied.

[0099] According to such a structure, the power supply to all the driving devices 7 can be stopped before the ejection device 5 ejects the parachute 51. Therefore, the driving of all the propulsion mechanisms 4 can be stopped before the ejection device 5 ejects the parachute 51. Therefore, according to the drone 1, the probability of the parachute 51 being entangled in the propulsion mechanism 4 can be reduced compared with a structure in which the parachute 51 is deployed while the propulsion mechanism 4 is driven.

[0100] (3) Based on the occurrence of the above-mentioned predetermined abnormality, the flight controller 8 transmits information on the current position of the drone 1 to the ground device 900 using the LTE module 62. With such a configuration, when an abnormality occurs in the drone 1, the ground device 900 can know the current position of the drone 1.

[0101] (4) The drone 1 is provided with a sensor 15 for detecting the presence or absence of the operation of the ejection device 5. When the above-mentioned predetermined abnormality occurs, the flight controller 8 notifies the ground device 900 of the result detected by the sensor 15 using the LTE module 62. According to such a structure, when an abnormality occurs in the drone 1, the ground device 900 can know that the drone 1 has opened the parachute 51.

[0102] (5) The circuit breaker 11 includes a transistor 111A ( Figure 4) The transistor 111A is disposed between the power supply module 10 and the distributor 12, and when in the on state, allows current to flow from the power supply module 10 to the distributor 12 along the power path R2. When the above-mentioned preset abnormality occurs in the drone 1, the transistor 111A is set to the off state. With such a structure, the power supply from the power supply module 10 to the distributor 12 can be stopped. Therefore, the driving of all the propulsion mechanisms 4 can be stopped.

[0103] (6) Each propulsion mechanism 4 includes a propeller 41 and a motor 42 that rotates the propeller 41. Each drive device 7 drives the motor 42.

[0104] <E. Variant Example>

[0105] (1) Describe the first variant example of the circuit breaker 11. Figure 6 It is a diagram showing the state of the power path R2 before the circuit breaker of the first variant example of the circuit breaker is opened. Figure 7 It is a diagram showing the state of the power path R2 after the circuit breaker of the first variant example of the circuit breaker is opened.

[0106] As Figure 6 shown, the drone 1 is provided with a circuit breaker 11A instead of the circuit breaker 11. The circuit breaker 11A includes an igniter 150, a circuit breaker chamber 160 having an internal space, and a rupture plate 163 that is damaged and cracked by the heat and pressure generated by the operation of the igniter 150 and opens the power path R2. When the above-mentioned abnormality occurs in the drone 1, a predetermined signal (instruction) is sent to the circuit breaker 11A through the trigger device 14, and the igniter 150 is driven.

[0107] The igniter 150 is a unit that generates a flame, and includes: an ignition part 151, which includes an ignition charge (not shown) that generates a flame by ignition and combustion during operation and a resistor (not shown) used to ignite the ignition charge inside; and a pair of terminal pins 152 connected to the ignition part 151.

[0108] When an abnormality of the drone 1 is detected, if an instruction is received from the trigger device 14, a predetermined amount of current flows through the pair of terminal pins 152 to the above-mentioned resistor. When the current flows through the resistor, Joule heat is generated in the resistor, and the ignition charge starts to burn. The high-temperature flame generated by the combustion ruptures the bursting cup (not shown) containing the ignition charge.

[0109] Through holes 161 are provided on the peripheral wall of the circuit breaker chamber 160, and through holes 162 are provided on another part of the peripheral wall. The power path R2 is bridged through the through holes 161 and 162. The power path R2 is a bus bar. The power path R2 is formed of, for example, a metal plate or a metal wire. One end of the power path R2 is connected to the power supply module 10, and the other end is connected to the distributor 12.

[0110] When an abnormality is detected in the drone 1, if a predetermined amount of current is supplied to a pair of terminal pins 152 of the igniter 150 by a command from the trigger device 14, Figure 7 As shown, the rupture plate 163 is damaged by the heat and pressure generated by the operation of the ignition unit 151. In this case, the rupture plate 163 is damaged in such a way that its central portion is ruptured and bent toward the power path R2. The power path R2 (more specifically, the bus bar) is disconnected by the damaged rupture plate 163.

[0111] By such processing, it is possible to stop the power supply from the battery 9 to all the driving devices 7 via the distributor 12. Therefore, the driving of all the propulsion mechanisms 4 can be stopped.

[0112] Instead of cutting the busbar by the rupture plate 163 as described above, the busbar may be cut by an actuator. For example, the busbar may be cut by moving the piston by gas pressure. Alternatively, instead of such cutting, a fuse may be provided in the circuit and a current greater than the rated current may flow to the fuse to melt the fuse. With such a structure, the driving of all the propulsion mechanisms 4 can be stopped in the same manner as described above.

[0113] (2) Figure 8 1 is a diagram for explaining a second modified example of the circuit breaker device 11. Figure 8 As shown, the drone 1 includes a circuit breaker 11B instead of the circuit breaker 11. The circuit breaker 11B includes a relay switch 111B. The relay switch 111B includes a coil 171, a movable contact 172, and a fixed contact 173.

[0114] In relay switch 111B, when current flows to coil 171, movable contact 172 contacts fixed contact 173. That is, relay switch 111B is turned on. When current stops flowing to coil 171, movable contact 172 separates from fixed contact 173, and relay switch 111B is turned off.

[0115] In such a structure, when the above-mentioned abnormality does not occur, the current is allowed to flow to the coil 171. When an abnormality occurs, the current is stopped from flowing to the coil 171. By performing such control, the same effect as when the transistor 111A is used can be obtained. In addition, a contactor (electromagnetic contactor) can be used instead of the relay switch 111B.

[0116] (3) The battery 9 is preferably detachable. When the remaining amount of the battery 9 is low, the drone 1 can be flown without waiting for charging by removing the battery 9 and attaching a charged battery. This allows the drone 1 to be operated efficiently.

[0117] (4) In the above description, the configuration in which the communication unit 6 receives power from the battery 9 via the power path R1 is taken as an example. However, the present invention is not limited to this.

[0118] Fig. 9 1 is a block diagram for explaining the hardware structure of a drone 1A which is a modified example of the drone 1. Fig. 9 As shown, in this modification, the communication unit 6 receives power from the battery 9 not from the flight controller 8 but from the power module 10 via the power path R3.

[0119] Thus, in this modification, the power module 10 supplies the power from the battery 9 to the flight controller 8 via the power path R1, to the distributor 12 via the power path R2, and to the GNSS receiver 61, the wireless module 62, and the LTE module 63 via the power path R3. Even with such a structure, the same effect as the drone 1 can be obtained by disconnecting the power supply from the power module 10 to the distributor 12 via the power path R2 when a preset abnormality occurs.

[0120] (5) In the above description, the configuration in which the communication unit 6 is powered by the battery 9 is taken as an example, but the present invention is not limited thereto. The drone 1 and the drone 1A may further include another battery (not shown) and the communication unit 6 (specifically, the GNSS receiver 61, the wireless module 62, and the LTE module 63) may be powered by the other battery.

[0121] [Note] A flying object, wherein the batteries include a first battery (corresponding to battery 9) and a second battery (corresponding to the other batteries mentioned above); the power module 10 supplies power from the first battery to the flight controller via a first power path and to the distributor via a second power path, and supplies power from the second battery to the communication device and the receiver via a third power path.

[0122] The embodiments disclosed this time are illustrative and are not limited to the above contents. The scope of the present invention is indicated by the claims, and is intended to include all modifications within the meaning and scope equivalent to the claims.

[0123] Description of Reference Numerals

[0124] 1. 1A drone; 2 body; 3 arms; 3A, 3B, 3C, 3D arms; 4A, 4B, 4C, 4D propulsion mechanisms; 5 ejection devices; 6 communication units; 7A, 7B, 7C, 7D drive devices; 8 flight controllers; 9, 13 batteries; 10 power modules; 11, 11A, 11B circuit breakers; 12 distributors; 14 trigger devices; 15, 142 sensors; 18 support components; 41 propellers; 42 motors; 51 parachutes; 61 GNSS receivers; 62 wireless modules; 63 LTE modules; 71, 81, 141MCU; 72current driver; 82inertial measurement device; 83barometric altimeter; 111current switch; 111Atransistor; 111Brelay switch; 150igniter; 151ignition unit; 152terminal pin; 160circuit breaker chamber; 161, 162through holes; 163rupture plate; 171, 422coil; 172movable contact; 173fixed contact; 421magnet; 811posture estimation unit; 812judgment unit; 900ground device; 901remote controller; 902ground control station; R1, R2power paths.

Claims

1. A flying object, characterized in that: have: Battery; multiple propulsion agencies; A communication device for wirelessly communicating with an external device; A receiver that obtains the current position of the flying object by receiving radio waves transmitted from a plurality of positioning satellites; A flight controller, which controls the flight of the aforementioned flying object and is capable of sending the aforementioned current position information using the aforementioned communication device; A plurality of drive devices are respectively connected to the aforementioned flight controller so as to be communicable, and respectively drive different propulsion mechanisms among the aforementioned plurality of propulsion mechanisms; A distributor for distributing the supplied power to the plurality of drive devices respectively; a power module that supplies power from the battery to the communication device, the receiver, and the flight controller via a first power path, and supplies power to the distributor via a second power path; and The circuit breaker device disconnects the power supply from the power module to the distributor via the second power path when a predetermined abnormality occurs in the flying object.

2. The flying object according to claim 1, characterized in that: The device further includes a parachute and a launching device for launching the parachute when the predetermined abnormality occurs.

3. The flying object according to claim 2, characterized in that: It also includes a trigger device for actuating the circuit breaker device and the ejection device when the aforementioned pre-set abnormality occurs; After the trigger device causes the disconnecting device to disconnect the power supply to the distributor via the second power path, if a predetermined condition is satisfied, the trigger device causes the ejecting device to eject the parachute.

4. The flying object according to any one of claims 1 to 3, characterized in that Based on the occurrence of the aforementioned pre-set abnormality, the aforementioned flight controller uses the aforementioned communication device to send the aforementioned current position information to the aforementioned external device.

5. The flying object according to claim 2 or 3, characterized in that: A sensor is also provided for detecting the presence or absence of the operation of the aforementioned ejection device; When the aforementioned pre-set abnormality occurs, the aforementioned flight controller uses the aforementioned communication device to notify the aforementioned external device of the result detected by the aforementioned sensor.

6. The flying object according to any one of claims 1 to 3, characterized in that The aforementioned circuit breaker A transistor is provided between the power module and the distributor and allows a current to flow from the power module to the distributor via the second power path when in an on state; When the aforementioned predetermined abnormality occurs, the aforementioned transistor is set to an OFF state.

7. The flying object according to any one of claims 1 to 3, characterized in that The aforementioned flying object is an unmanned aircraft; Each of the aforementioned propulsion mechanisms includes a propeller and a motor for rotating the aforementioned propeller; Each of the aforementioned driving devices drives the aforementioned motor.

8. A method for controlling a flying object, characterized in that: The flying body supplies power from a built-in battery to a flight controller for controlling the flight of the flying body, a communication device for wirelessly communicating with an external device, and a receiver for calculating the current position of the flying body through a first power path, and supplies power to a distributor for respectively distributing power to a plurality of drive devices through a second power path, each of the drive devices driving a propulsion mechanism different from one another among the plurality of propulsion mechanisms based on a command from the flight controller; The control method of the flying object comprises: When a predetermined abnormality occurs in the flying object, the step of disconnecting the power supply to the distributor via the second power path; and In the event that the aforementioned pre-set abnormality occurs, the step of using the aforementioned communication device to send the aforementioned current location information to the aforementioned external device.

Images