Drone port and control method of the same

Abstract

To provide a drone port which can move a drone to an arbitrary position without dragging the drone on a landing base even when there are steps or irregularities on a takeoff / landing surface, and a control method of the same.SOLUTION: A drone port 100 includes a takeoff / landing surface 10 where a drone 1 takes off or lands, supports the drone located on the takeoff / landing surface in arbitrary position and posture, floats the drone from the takeoff / landing surface, corrects the posture of the drone and moves the drone to the arbitrary position. The drone 1 includes a support adapter 20 which supports the entire body. An X direction and a Y direction of the takeoff / landing surface 10 are defined. The drone port 100 further includes a pair of hands 24, a pair of X direction drive devices 30, a pair of Y direction drive devices 40, a floating device 39 and a control device 50. The floating device 39 is a hand lifting device or a takeoff / landing surface lifting device.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a drone port having a takeoff and landing surface on which a drone takes off and lands, and correcting and moving the attitude of the drone on the takeoff and landing surface, and a control method thereof. [Background technology]

[0002] A "drone" is a type of small unmanned helicopter. In recent years, there are plans to use drones to transport small packages, inspect bridges and other structures, and spray pesticides. Such drones are called "industrial drones."

[0003] As industrial drones become more widespread, there is a demand for logistics drone ports that can be installed on the rooftops of buildings and allow drones to take off and land. To meet this demand, for example, Patent Documents 1 and 2 have been disclosed. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6937346 [Patent Document 2] Patent Publication No. 2021-46111 Summary of the Invention [Problem to be solved by the invention]

[0005] Patent Documents 1 and 2 disclose a centering device that moves a drone placed on a landing surface horizontally to the center of the landing surface. The drone is designed to move freely along the upper surface of the landing pad, and the centering device moves the drone placed on the landing surface horizontally to the center of the landing surface.

[0006] However, the solutions disclosed in Patent Documents 1 and 2 have the following problems. (1) The centering devices in Patent Documents 1 and 2 allow the drone to move freely along the top surface of the landing pad, and drag the drone horizontally across the landing pad. Therefore, it is assumed that the landing surface is free of steps or unevenness. However, it is difficult to completely eliminate steps and unevenness on an actual landing surface, so when a drone moves horizontally, it may get caught on steps or unevenness, preventing smooth horizontal movement or damaging the landing surface. (2) The orientation (attitude) of a drone that lands on a landing surface is random, and it is difficult to correct the orientation of the drone using the methods described in Patent Documents 1 and 2. (3) The centering devices in Patent Documents 1 and 2 do not allow the drone to move to any location other than the center of the landing surface.

[0007] The present invention has been invented to solve the above-mentioned problems. That is, the first object of the present invention is to provide a drone port and a control method thereof that can move a drone to any position without dragging it on the takeoff and landing surface even if there are steps or unevenness on the takeoff and landing surface. The second object of the present invention is to provide a drone port and a control method thereof that can correct the attitude of the drone and move it to any position even if the position and direction (attitude) of the landed drone are random. [Means for solving the problem]

[0008] According to the present invention, there is provided a drone port that has a take-off and landing surface for drones to take off and land on, supports the drone positioned on the take-off and landing surface in any position and attitude, lifts it off the take-off and landing surface, and corrects the attitude of the drone while moving it to any position.

[0009] According to the present invention, there is also provided a method for controlling the drone port, comprising the steps of: The drone has a support adapter that supports the entire drone, (A) a first step of supporting a plurality of support positions of the support adapter by horizontally moving a pair of hands independently; (B) a second step of lifting the hand or lowering the landing surface to lift the drone off the landing surface; (C) a third step of synchronously controlling the pair of hands to correct the attitude of the drone and move it to any position. Effect of the Invention

[0010] According to the present invention, a drone positioned on a landing surface in a desired position and attitude is supported and lifted off the landing surface, and the attitude of the drone is corrected and the drone is moved to the desired position. Therefore, even if the landing surface has steps or unevenness, the drone can be moved to the desired position without being dragged on the landing surface. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a schematic side view of a drone port. [Diagram 2] FIG. 2 is an explanatory diagram of a support adapter according to the first embodiment. [Diagram 3] FIG. 2 is a top view of FIG. [Figure 4] FIG. 2 is an explanatory diagram of a hand according to the first embodiment. [Diagram 5] FIG. 4 is an explanatory diagram of a first step S1 in the first embodiment. [Figure 6] FIG. 11 is a diagram showing a second embodiment of the supporting adapter and the hand. [Figure 7] FIG. 13 is a view showing a third embodiment of the supporting adapter and the hand. [Figure 8] FIG. 4 is a top view of FIG. 1 similar to FIG. 3. [Figure 9] FIG. 13 is an explanatory diagram of a first step S1 in the third embodiment. [Figure 10] 13A and 13B are views of another embodiment of the support adapter and hand. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In addition, common parts in each drawing are given the same reference numerals, and duplicated explanations will be omitted.

[0013] FIG. 1 is a schematic side view of a drone port 100 according to the present invention. In this figure, the drone port 100 has a takeoff and landing surface 10 and a luggage opening 12, and luggage 9 is transferred between the drone 1 and the drone port 100 through the luggage opening 12.

[0014] The drone 1 has a main body 2, a propeller 3 for flight, and legs 4. In this example, the four legs 4 extend downward and outward from the four corners of the main body 2, and landing parts 4a are provided at the lower ends of the legs. In addition, a catcher 5 for gripping luggage 9 is attached between the four legs 4. The catcher 5 is adapted to grip or release the lower end of the luggage 9, and when gripping, it supports the lower end of the luggage 9 to prevent it from falling, and when releasing, it releases the lower end of the luggage 9 to allow it to move downward (or fall). In addition, a battery may be installed instead of the luggage 9.

[0015] In addition, when transporting luggage 9 from the drone port 100 to the drone 1, the luggage 9 is lifted from below to a predetermined position on the empty drone 1 that is not holding the luggage 9, and the lower end of the luggage 9 is supported by the catcher 5.

[0016] A drone 1 that flies and carries a load 9 takes off and lands on a takeoff and landing surface 10. The takeoff and landing surface 10 is preferably a flat surface with few steps and unevenness, and the range of the takeoff and landing surface 10 is set in advance. The baggage opening 12 is provided in a part of the takeoff and landing surface 10 and is adapted to allow baggage 9 to pass therethrough in the vertical direction. In this example, an opening / closing door 14 that opens and closes is provided below the baggage opening 12. The opening and closing door 14 can be fully opened or fully closed. When the opening and closing door 14 is fully opened, the baggage 9 can be handed over to and from the drone 1 through the baggage opening 12, and when fully closed, the baggage opening 12 is fully closed and the upper surface of the opening and closing door 14 coincides with the upper surface of the takeoff and landing surface 10, minimizing the step and unevenness between the opening and closing door 14 and the takeoff and landing surface 10.

[0017] The drone port 100 is equipped with a lifting frame 16 and a lifting device 18 below the takeoff and landing surface 10. The lifting frame 16 is a pair of platforms located on both sides in the width direction of the transport conveyor 17. The lifting frame 16 (pair of platforms) is set smaller than the baggage opening 12 in a plan view and is located directly below the baggage opening 12. The lifting device 18 is a device that raises and lowers the lifting frame 16 in the vertical direction (Z direction in the figure).

[0018] In this example, the transport conveyor 17 extends in a horizontal direction perpendicular to the plane of the drawing, and is capable of transporting luggage horizontally up to the position of the lifting frame 16. In this example, the lifting frame 16 (a pair of frames) has its upper end fixed to a pair of frames and is positioned on both sides of the width of the transport conveyor 17, is supported by a pair of vertical supports extending vertically downward, and is adapted to be raised and lowered by a lifting device 18.

[0019] The drone port 100 transfers cargo between the drone 1 and the lifting frame 16 through the cargo opening 12 when the lifting frame 16 rises. In other words, when the lifting frame 16 rises, the cargo 9 of the drone 1 which is stationary directly above the cargo opening 12 is placed on the lifting frame 16, and the catcher 5 is opened, so that the cargo 9 can be transferred from the drone 1 to the lifting frame 16. Next, the lifting frame 16 descends, allowing the cargo 9 transferred from the drone 1 to be received inside the drone port 100 through the cargo opening 12. The received luggage 9 is transferred to the transport conveyor 17 located inside the lifting frame 16 when it is lowered, and is stored inside the drone port 100 or taken out.

[0020] Conversely, the cargo 9 is placed on the lifting frame 16 from inside or outside via the transport conveyor 17, and the lifting frame 16 is raised through the cargo opening 12. Next, the cargo 9 is placed in a predetermined position on the drone 1 that is stationary directly above the cargo opening 12, and the catcher 5 supports the lower end of the cargo 9 to prevent it from falling, allowing the cargo 9 to be handed over to the drone 1. Next, preferably, the lifting frame 16 is lowered, the opening and closing door 14 is fully closed, and then the drone 1 is allowed to take off.

[0021] 1, the drone port 100 further includes a charging device 19. In this example, the charging device 19 includes a port-side contact 19a, a charging cable 19b, and a power supply device 19c. The port side contact 19a is installed on the lifting frame 16, and when the lifting frame 16 rises, it supplies power to the battery of the drone 1 via the drone side contact 1b installed on the drone 1. Power supply from the port side contact 19a to the drone side contact 1b is preferably non-contact power supply. The charging cable 19b electrically connects the port side contact 19a and the power supply device 19c via the lifting device 18. The power supply unit 19c supplies power to the port side contact 19a via the charging cable 19b, charges the battery of the drone 1, and controls the charging.

[0022] In addition, a charging opening (not shown) may be provided in a location separate from the luggage opening 12 on the takeoff and landing surface 10, and the battery of the drone 1 may be charged through this opening. In addition, a battery replacement device (not shown) may be provided instead of the charging device 19 to replace the battery of the drone 1. Also, instead of the lifting frame 16, a lifting conveyor that is smaller than the baggage opening 12 in a plan view may be provided.

[0023] In addition, the opening of the takeoff and landing surface 10 is not essential and may be omitted. The drone is not limited to a drone that carries luggage, but may be other drones, such as a drone for inspection, security, or photography. Furthermore, the drone may be configured to be charged at any position, or to be movable to any position where inspection is possible when inspecting the drone itself.

[0024] (First embodiment) FIG. 2 is an explanatory diagram of the support adapter 20 of the first embodiment, where (A) is a side view of the drone 1, (B) is a view taken along the arrow BB in (A), and (C) is a plan view of the four vertical gripping rods 21. In FIG. 2(A), the drone 1 has a support adapter 20 that supports the entire drone. In this example, the support adapters 20 are fixed to the four legs 4, but the present invention is not limited to this, and the support adapters 20 may be fixed to something other than the legs.

[0025] 2(A) and 2(B), the support adapter 20 has four vertical gripping bars 21 and an outer support surface 22. In Fig. 2(C), the four vertical gripping rods 21 are located at the four corners of a rectangle with the center O of the drone 1 as the centroid in a plan view. The vertical gripping rods 21 are preferably cylinders with a constant diameter d. The rectangle is preferably a square. The outer support surface 22 extends horizontally outward from the upper ends of the four vertical gripping bars 21. In a plan view, the outer support surface 22 is a modified pentagon in this example, but may be another shape, such as a circle or an ellipse.

[0026] Fig. 3 is a top view of Fig. 1. In this figure, the inside of a rectangle (square in this example) indicated by ABCD is the takeoff and landing surface 10, and a rectangular (square in this example) baggage opening 12 indicated by abcd is provided inside the rectangle (at the center in this example). The position of the baggage opening 12 is not limited to the center of the takeoff and landing surface 10, and may be shifted from the center. An X direction and a Y direction that are horizontally perpendicular to each other are defined on the takeoff and landing surface 10. Hereinafter, in this figure, the direction AB, CD will be referred to as the X direction, and the direction AD, BC will be referred to as the Y direction. In this example, ab and cd are oriented in the X direction, and ad and bc are oriented in the Y direction. Therefore, the sides of the takeoff and landing surface 10 and the baggage opening 12 are parallel or perpendicular to each other.

[0027] In FIG. 3 , the drone port 100 of the present invention further includes a pair of hands 24, a pair of X-direction drive devices 30, and a pair of Y-direction drive devices 40.

[0028] The pair of hands 24 is configured to support a plurality of support positions of the support adapter 20. In this example, the plurality of support positions are two diagonal positions. The pair of X-direction drive devices 30 are adapted to independently move the pair of hands 24 in the X-direction within the range of the landing surface 10 . The pair of Y-direction actuators 40 are adapted to independently move the pair of X-direction actuators 30 in the Y direction within the confines of the landing surface 10 .

[0029] In Fig. 3, the orientation (attitude) in which each side of a rectangle connecting adjacent vertical gripping rods 21 of the drone 1 faces the Y direction or the X direction is called the "target attitude." By moving the drone 1 in the target attitude horizontally to directly above the baggage opening 12, the baggage 9 can be handed over to and from the drone 1 through the baggage opening 12. Hereinafter, "attitude" refers to the orientation of the drone 1 after it lands on the take-off and landing surface 10.

[0030] FIG. 4 is an explanatory diagram of the hand 24 of the first embodiment. The drone 1 lands on the take-off and landing surface 10 in any position and attitude. If the four vertical gripping rods 21 are located at the four corners of a square with the center O of the drone 1 as the centroid in a planar view, and the vertical gripping rods 21 are cylinders with a constant diameter d, the orientation (posture) of the four vertical gripping rods 21 at the time of landing will be one of (A), (B), (C), or (D) in this diagram. (A) is when the four vertical gripping rods 21 are positioned in the target posture, (B) is the first rotation position rotated clockwise from the target posture within the range of 0°<θ<45°, (C) is the second rotation position where θ=45°, and (D) is the third rotation position where 45°<θ<90°. If the robot rotates further and θ=90° or θ>90°, the robot will assume the same orientation (posture) as either (A), (B), (C), or (D).

[0031] In FIG. 4(D), hand 24 has a U-shape in plan view and includes finger base 25 extending in the X direction and fingers 26 having one end (the outer end in the figure) fixed to finger base 25 and extending in the Y direction. The fingers 26 include short fingers 26a and long fingers 26b.

[0032] 4(D), the short fingers 26a are shorter than the diameter d of the vertical gripping bar 21 and have a length that allows the vertical gripping bar 21 to move in the X direction. The length of the short fingers 26a is, for example, from the inner surface of the finger base 25 to the radius of the vertical gripping bar 21 or more but less than the diameter. In addition, the long finger 26b has a length that enables it to interfere with only the vertical gripping rod 21 that is furthest from the center O in the Y direction when the hand 24 moves in the Y direction to a close position where the short finger 26a cannot interfere with the vertical gripping rod 21 in any orientation of (A) to (D). Further, the short fingers 26a and the long fingers 26b have a gripping distance Lb therebetween for loosely gripping one vertical gripping bar 21. The long finger 26b may have a length that allows it to interfere with the vertical gripping bar 21 located at the top of FIG. 4(D).

[0033] In FIG. 3, a pair of X-direction drive devices 30 horizontally move a pair of hands 24 independently in the X direction within the range of the takeoff and landing surface 10 . In this example, a pair of rails 31 extending in the Y direction are fixed to the outsides of the sides AD and BC of the takeoff and landing surface 10.

[0034] Each of the X-direction drive devices 30 includes a horizontal frame 32 , a linear guide 33 , a moving member 34 , a pair of sprockets 35 , a chain 36 , and a drive motor 37 .

[0035] The horizontal frame 32 is a long and narrow frame that extends in the X direction, both ends of which are supported by a pair of rails 31 and are freely movable in the Y direction. A linear guide 33 extends in the X direction and is fixed to the horizontal frame 32. A moving member 34 is guided by the linear guide 33 so as to be movable in the X direction while maintaining its posture. A pair of sprockets 35 are rotatably fixed to the horizontal frame 32 near both ends in the X direction. A chain 36 is attached between the pair of sprockets 35 so as to be movable endlessly. A drive motor 37 drives and rotates one of the pair of sprockets 35.

[0036] Further, the finger base 25 (see FIG. 4) of the hand 24 is fixed to a moving member 34 of the X-direction driving device 30, and the moving member 34 is fixed to a part of a chain 36.

[0037] The above-mentioned X-direction drive device 30 enables the finger base 25 and fingers 26 of the hand 24 to move horizontally in the X-direction from the outside of the take-off and landing surface 10 to near the end of the take-off and landing surface 10 on the opposite side while maintaining an orientation in which they extend in the Y and X directions. In this case, since the horizontal frame 32 is supported at both ends by a pair of rails 31, the hand 24 moves horizontally at a predetermined height along the upper surface of the takeoff and landing surface 10.

[0038] The pair of Y-direction drive devices 40 independently move the pair of X-direction drive devices 30 horizontally in the Y direction within the range of the take-off and landing surface 10 . In this example, each Y-direction drive device 40 has a pair of moving members 42, two pairs of sprockets 43, two pairs of chains 44, a link shaft 45, and a drive motor 46.

[0039] The interlocking shafts 45 are located on the central axes of the two pairs of sprockets 43, respectively, and rotate one pair of sprockets 43 while supporting the other pair of sprockets 43 so that they can rotate freely. The movable member 42 is fixed to both ends of the horizontal frame 32, and is also fixed to a part of a pair of chains 44. The movable member 42 is shaped so as not to come into contact with the chains 44 of another Y-direction driving device 40.

[0040] With the above-mentioned Y-direction driving device 40, while the horizontal frame 32 of the X-direction driving device 30 is supported at both ends by a pair of rails 31, both ends of the horizontal frame 32 in the X direction can be moved horizontally in the Y direction in synchronization. Therefore, the hand 24 can be freely moved horizontally in the X and Y directions at a predetermined height along the upper surface of the takeoff and landing surface 10 by the X-direction drive device 30 and the Y-direction drive device 40 . A pair of hands 24, X-direction drive devices 30, and Y-direction drive devices 40 are provided, and in this example, they are arranged point-symmetrically with respect to the center of the takeoff and landing surface 10.

[0041] The present invention is not limited to the configurations of the X-direction driving device 30 and the Y-direction driving device 40 described above, and any driving method, for example, a ball screw, a timing belt, a rack and pinion, etc. may be used. Furthermore, the configurations of the X-direction driving device 30 and the Y-direction driving device 40 described above may be reversed.

[0042] In FIG. 3 , the drone port 100 of the present invention further includes a floating device 39 and a control device 50. The floating device 39 has the function of floating the drone 1 above the take-off and landing surface 10. In this example, the floating device 39 is a hand lifting device that is provided on the moving member 34 of the X-direction driving device 30 and lifts and lowers the hand 24 . The floating device is not limited to this configuration, but may be a landing surface lifting device that lifts and lowers the landing surface 10.

[0043] The control device 50 controls the X-direction drive device 30, the Y-direction drive device 40, and the floating device 39 to support the drone 1 located on the takeoff and landing surface 10 in an arbitrary position and attitude, float it above the takeoff and landing surface 10, correct the attitude of the drone 1, and move it to an arbitrary position. In this example, the arbitrary position is directly above the baggage opening 12, but it does not have to be the opening, and it may be a charging position on the takeoff and landing surface or a drone inspection position. The control device 50 also controls the X-direction drive device 30, the Y-direction drive device 40 and the levitation device 39 to support the drone 1, which stops at any position (in this example, directly above the luggage opening 12), and floats it above the takeoff and landing surface 10, and then moves it to any position on the takeoff and landing surface 10.

[0044] The control method for the drone port 100 of the present invention uses the drone port 100 described above and includes steps (processes) S1 to S3. In a first step S1, the pair of hands 24 are moved horizontally independently to support a plurality of support positions of the supporting adapter 20. The plurality of support positions are preferably two diagonal positions. In a second step S2, the hand 24 is raised or the landing surface 10 is lowered to lift the drone off the landing surface 10. In a third step S3, the pair of hands 24 are synchronously controlled to correct the attitude of the drone 1 and move it to directly above the baggage opening.

[0045] FIG. 5 is an explanatory diagram of the first step S1 of the first embodiment. In Fig. 5(A), the four vertical gripping bars 21 are shown in the position shown in Fig. 4(D), and the position of the four vertical gripping bars 21 in Fig. 4(C) is shown for reference.

[0046] The first step S1 includes an approach step S11, an X-direction contact step S12, and a Y-direction contact step S13.

[0047] In the approach step S11, as shown in Fig. 5(A), the pair of hands 24 are moved from the standby position in Fig. 3 to the vicinity of the vertical gripping rods 21 of the drone 1. This position is set to a position close to the center O of the drone 1 as long as the short fingers 26a do not interfere with the four vertical gripping rods 21 in Fig. 4(C) in the X direction and the long fingers 26b do not interfere with them in the Y direction. The center O of the drone 1 is detected, for example, by a GPS of the drone 1. Note that the movement time of the pair of hands 24 differs depending on the landing position of the drone 1.

[0048] In the X-direction contact step S12, as shown in Fig. 5(B), the pair of hands 24 moves from the position in Fig. 5(A) in the X direction toward the center O of the drone 1 until the long fingers 26b come into contact with the vertical gripping rods 21. With this movement, the pair of long fingers 26b comes into contact only with the pair of vertical gripping rods 21 at the symmetrical position farthest from the center O of the drone 1 in the Y direction.

[0049] In the Y-direction contact step S13, as shown in Fig. 5(C), the pair of hands 24 moves in the Y direction toward the center O of the drone 1 until the finger base 25 comes into contact with the vertical gripping rod 21. With this movement, one vertical gripping rod 21 is gripped between the short finger 26a and the long finger 26b of the pair of fingers 26 at the gripping interval Lb, and comes into contact with the inner surface of the finger base 25. 5(C), a pair of outer support surfaces 22 (see FIG. 2) located above the two diagonally opposite vertical gripping bars 21 are located above the pair of hands 24. In the state shown in FIG.

[0050] Next, in a second step S2, the pair of hands 24 are raised synchronously or the take-off and landing surface 10 is lowered, so that the upper surfaces of the pair of hands 24 support the pair of outer support surfaces 22, thereby lifting the drone 1 off the take-off and landing surface 10.

[0051] The third step S3 includes a posture control step S31 and a horizontal movement step S32.

[0052] In the attitude control step S31, the pair of hands 24 are moved synchronously so that the multiple (four in this example) vertical gripping rods 21 assume the target attitude. This causes the drone 1 to rotate horizontally around the center O. This horizontal rotation may be either clockwise or counterclockwise. By stopping the horizontal rotation when the spacing between the four vertical gripping rods 21 in the Y and X directions matches a specified side length, the attitude of the drone 1 can be corrected to the target attitude.

[0053] Next, in a horizontal movement step S32, the pair of hands 24 are synchronously controlled to move the multiple vertical gripping bars 21 to an arbitrary position (directly above the baggage opening 12 in this example). The position directly above the baggage opening 12 can be detected by, for example, a photoelectric sensor.

[0054] In Figure 5(A), even if the posture of the four vertical gripping rods 21 at the time of landing is as shown in Figure 4(A), (B), or (C), the drone 1 can be supported and lifted off the takeoff and landing surface 10 by the method described above, and the posture of the drone 1 can be corrected and moved to any position. In addition, by performing the reverse operation, the drone 1 stopped at any position can be supported and lifted off the takeoff and landing surface 10, and then moved to any position on the takeoff and landing surface 10.

[0055] Second embodiment FIG. 6 is a view showing a second embodiment of the supporting adaptor and the hand.

[0056] In Figures 6(A) and (B), the support adapter 20A of the second embodiment has a rectangular outer surface 21A that is fixed to the leg 4 of the drone 1 and has a centroid at the center O of the drone 1 in a planar view, and a rectangular frame-shaped outer support surface 22B extending outward from the upper part thereof. In addition, in FIG. 6(C), the hand 24A of the second embodiment is an L-shaped hand in a plan view, having an inner surface capable of coming into close contact with the corners of the rectangular outer surface 21A. The other configurations are the same as those in the first embodiment.

[0057] With this configuration, with the tip of the hand 24A (point a in the figure) in contact with the rectangular outer surface 21A, the pair of hands 24A can be raised in sync or the takeoff and landing surface 10 can be lowered, thereby lifting the drone 1 off the takeoff and landing surface 10. In addition, in this state, by moving the pair of hands 24A in the Y direction toward the center O, the drone 1 can be rotated horizontally around the center O, and the attitude of the drone 1 can be corrected to the target attitude. At this time, it is preferable to leave the movement in the X direction free.

[0058] Third embodiment FIG. 7 is a view showing a third embodiment of the supporting adaptor and the hand.

[0059] 7(A) and (B), the support adapter 20B of the third embodiment has a vertical central axis a1 and a cone-shaped inner surface b1. In this example, the support adapter 20B is a hollow cylindrical member having a cylindrical outer surface and a cone-shaped inner surface. In this example, a pair of support adapters 20B are fixed symmetrically with respect to the center O of the drone 1.

[0060] 7(C) and (D) are a plan view and a side view of a hand 24B of the third embodiment. In this figure, the hand 24B has a vertical convex portion 27a having a cone-like shape with a vertical central axis a2, and a hand base portion 27b that supports the lower end of the vertical convex portion 27a. The vertical convex portion 27a is adapted to fit into the inner surface b1 of the cone-shaped head of the support adaptor 20B. The hand base portion 27b is fixed to the moving member 34 of the X-direction driving device 30 of the first embodiment.

[0061] Fig. 8 is a top view of Fig. 1 similar to Fig. 3. In this figure, the hand 24B is fixed to the moving member 34 of the X-direction driving device 30. In this example, the drone port 100 also has an X-direction position sensor 52 and a Y-direction position sensor 54. The X-direction position sensor 52 detects whether the central axes a1, a2 of the hand 24B and the supporting adapter 20B coincide in the X-direction. The Y-direction position sensor 54 detects whether the central axes a1, a2 of the hand 24B and the supporting adapter 20B coincide in the Y-direction.

[0062] In this example, the X-direction position sensor 52 has a light-emitting unit 52a and a light-receiving unit 52b fixed to both ends in the X direction of the horizontal frame 32. The light-emitting unit 52a irradiates X-direction horizontal light in the X direction, and the light-receiving unit 52b receives the X-direction horizontal light. The X-direction horizontal light is preferably a laser light. This X-direction horizontal light passes above the center of the hand 24B in the Y direction and is set at a height that allows the support adapter 20B to be detected.

[0063] The Y-direction position sensor 54 is fixed to the moving member 34, and is adapted to irradiate Y-direction horizontal light in the Y direction and receive the reflected light. The Y-direction horizontal light is preferably a laser beam. This Y-direction horizontal light passes above the center of the hand 24B in the X direction and is set at a height that allows detection of the supporting adapter 20B. The other configurations are similar to those of the first embodiment.

[0064] FIG. 9 is an explanatory diagram of the first step S1 of the third embodiment. In this example, the first step S1 comprises a Y-direction positioning step S21 and an X-direction positioning step S22. In the Y-direction positioning step S21, the pair of hands 24B are moved independently in the Y direction to align the central axes a1, a2 of the hands 24B and the supporting adapter 20B. That is, as shown in Fig. 9(A), the pair of horizontal frames 32 are moved independently in the Y direction and the supporting adapter 20B is detected and stopped by the X-direction position sensor 52 (light-emitting portion 52a and light-receiving portion 52b). In the X-direction detection step S22, the pair of hands 24B are moved independently in the X direction, and the central axes a1, a2 of the hands 24B and the supporting adapter 20B are aligned. That is, as shown in Fig. 9(B), the pair of moving members 34 are moved independently in the X direction, and the Y-direction position sensor 54) detects and stops the supporting adapter 20B. In this state, the pair of hands 24B and the supporting adapter 20B have their respective axis centers a1, a2 aligned with each other, and the hand 24B is positioned below the supporting adapter 20B.

[0065] Next, in a second step S2, the pair of hands 24B are raised synchronously or the takeoff and landing surface 10 is lowered, so that the pair of hands 24B support the pair of support adapters 20B to lift the drone 1 off the takeoff and landing surface 10.

[0066] Next, in a third step S3, as shown in Fig. 9(C), the pair of hands 24B are moved synchronously so that the pair of hands 24B assumes the target posture, thereby correcting the posture of the drone 1 to the target posture. Furthermore, the pair of hands 24B are synchronously controlled to move the drone 1 to an arbitrary position (directly above the baggage opening 12 in this example). The other configurations are similar to those of the first embodiment.

[0067] FIG. 10 is a view of another embodiment of the support adapter and hand. 10(A) to 10(D), the support adapter 20B has a cylindrical inner surface b1 with a vertical central axis a2. The hand 24B has a cylindrical vertical convex portion 27a with the vertical central axis a2, and a hand base portion 27b that supports the lower end of the vertical convex portion 27a. That is, the inner surface b1 of the support adaptor 20B and the vertical convex portion 27a of the hand base 27b may be cylindrical, which is easier to machine than a cone-shaped one. 10(D), the inner surface b1 of the support adaptor 20B does not have to be penetrated. With this configuration, the floating stroke can be shortened.

[0068] The configuration of the support adapter is not limited to the above example, and it is sufficient that a pair of hands supports the entire drone 1 and lifts it above the takeoff and landing surface 10.

[0069] Furthermore, the configuration of the hand is not limited to the above example, and may be of a different shape as long as it can support the drone 1, lift it off the takeoff and landing surface 10, correct the attitude of the drone 1, and move it to any position. 4, the short fingers 26a may be omitted to form an L-shaped hand in a plan view. Also, the orientations of the finger bases 25 and the fingers 26 may be reversed.

[0070] 4(E), an openable and closable gripping device 28 may be provided at the tip of the short finger 26a to prevent the vertical gripping rod 21 from falling out when supporting the drone 1. In this way, the drone 1 can be supported more reliably. Incidentally, while providing the gripping device 28 can reliably prevent the drone from falling, providing an electric function at the tip of the moving part makes wiring difficult, so it is preferable that the gripping device 28 be able to control the attitude of the drone without being provided at the tip of the fingers.

[0071] According to the embodiment of the present invention described above, the drone 1 located on the takeoff and landing surface 10 in an arbitrary position and attitude is supported and floated above the takeoff and landing surface 10, and the attitude of the drone 1 is corrected while it is moved to an arbitrary position (directly above the baggage opening 12 in this example). As a result, even if the takeoff and landing surface 10 has steps or unevenness, the drone 1 can be moved to an arbitrary position without being dragged on the takeoff and landing surface 10. Furthermore, according to the embodiment of the present invention described above, even if the luggage opening 12 is located other than at the center and the position and orientation (attitude) of the landed drone 1 are random, the attitude of the drone 1 can be corrected and it can move to directly above the luggage opening.

[0072] Therefore, the present invention has the following advantages: (1) Even if there are steps and unevenness on the takeoff and landing surface 10, the drone 1 can move horizontally smoothly without getting caught on the steps or unevenness, and damage to the takeoff and landing surface 10 can be essentially prevented. (2) Even if the orientation (posture) of drone 1 that lands on takeoff and landing surface 10 is random, the orientation of drone 1 can be corrected. (3) Drone 1 can be moved to a location other than the center of takeoff and landing surface 10.

[0073] It should be noted that the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit and scope of the present invention. [Explanation of symbols]

[0074] a1, a2 central axis, b1 inner surface, 1 drone, 2 main body, 3 propeller, 4 legs, 4a landing area, 5 catcher, 9 luggage, 10 takeoff and landing surface, 12 luggage opening, 14 opening and closing door, 16 lifting frame, 17 conveyor, 18 lifting device, 19 charging device, 19a port side contact, 19b charging cable, 19c power supply unit, 20, 20A, 20B support adapter, 21 vertical gripping rod , 21A rectangular outer surface, 22,22B outer support surface, 24,24A,24B hand, 25 finger base, 26a short finger, 26b long finger, 27a vertical convex part, 27b hand base part, 28 gripping device, 30 X-direction drive unit, 31 rail, 32 horizontal frame, 33 linear guide, 34 moving member, 35 sprocket, 36 chain, 37 drive motor, 39 Floating device (hand lifting device, takeoff and landing surface lifting device), 40 Y-direction drive device, 42 moving member, 43 sprocket, 44 chain, 45 interlocking shaft, 46 drive motor, 50 control device, 52 X-direction position sensor, 52a light emitting unit, 52b light receiving unit, 54 Y-direction position sensor, 100 drone port

Claims

1. A drone port having a takeoff and landing surface where the drone takes off and lands, and supporting the drone located on the takeoff and landing surface at any position and attitude, and moving the drone directly to any position without dragging it on the takeoff and landing surface.

2. The drone port according to claim 1, which supports the drone, lifts it from the takeoff and landing surface, corrects the attitude of the drone as it is, and moves it to any position.

3. The drone has a support adapter for supporting the whole body, the takeoff and landing surface has an X direction and a Y direction that are horizontally orthogonal to each other, the drone port further includes a pair of hands for supporting a plurality of support positions of the support adapter, a pair of X-direction driving devices for independently moving the pair of hands in the X direction within the range of the takeoff and landing surface, a pair of Y-direction driving devices for independently moving the pair of X-direction driving devices in the Y direction within the range of the takeoff and landing surface, a floating device for floating the drone from the takeoff and landing surface, and a control device for controlling the X-direction driving device, the Y-direction driving device, and the floating device. The drone port according to claim 1 or 2.

4. The support adapter has four vertical gripping bars located at the four corners of a rectangle with the center of the drone as the center of the circle in plan view, and an outer support surface that horizontally extends outward from the upper ends of the vertical gripping bars. The hand has a finger base extending in the X direction, and a finger having one end fixed to the finger base and extending in the Y direction. The drone port according to claim 3.

5. The finger has a short finger that is shorter than the diameter of the vertical gripping bar and has a length that allows it to move in the X direction, and a long finger that has a length that can interfere with the vertical gripping bar that is farthest from the center of the drone in the Y direction when the hand moves in the Y direction to a proximity position where the short finger cannot interfere with the vertical gripping bar in any orientation. The short finger and the long finger have a gripping interval for loosely gripping one vertical gripping bar therebetween. The drone port according to claim 4.

6. The support adapter has a vertical central axis and an inner surface in the shape of a frustum of a cone or a cylinder, the hand has a frustum of a cone or a cylindrical vertical convex portion having a vertical central axis, and a hand base for supporting the lower end of the vertical convex portion. The vertical convex portion fits into the inner surface of the support adapter. The drone port according to claim 3.

7. The support adapter has a vertical convex portion in the shape of a truncated cone or cylinder having a vertical central axis, and a hand base portion that supports the upper end of the vertical convex portion. The hand has a vertical central axis and an inner surface in the shape of a truncated cone or cylinder. The vertical convex portion fits into the inner surface of the hand. The drone port according to claim 3.

8. In the X direction, an X-direction position sensor that detects the alignment of the central axes of the hand and the support adapter, In the Y direction, a Y-direction position sensor that detects the alignment of the central axes of the hand and the support adapter. The drone port according to claim 6.

9. The X-direction position sensor has a light-emitting portion that irradiates X-direction horizontal light in the X direction and a light-receiving portion that receives the X-direction horizontal light. The X-direction horizontal light passes through the upper part of the Y-direction center of the hand and is set to a height at which the support adapter is detected. The Y-direction position sensor irradiates Y-direction horizontal light in the Y direction and receives the reflected light thereof. The Y-direction horizontal light passes through the upper part of the X-direction center of the hand and is set to a height at which the support adapter is detected. The drone port according to claim 8.

10. The floating device is a hand lifting device provided in the X-direction driving device for lifting and lowering the hand. The drone port according to claim 3.

11. The floating device is a takeoff / landing surface lifting device for lifting and lowering the takeoff / landing surface. The drone port according to claim 3.

12. The drone port according to claim 1 or 2, having a charging device for charging the battery of the drone and controlling the charging.

13. The charging device has a port-side contact for supplying power to the battery via a drone-side contact, and a power supply device for supplying power to the port-side contact via a charging cable and controlling the charging. The drone port according to claim 12.

14. The takeoff / landing surface has a luggage opening through which the luggage carried by the drone passes in the vertical direction, and the luggage is transferred between the drone and the luggage through the luggage opening. The drone port according to claim 1 or 2.

15. The drone port according to claim 14, comprising a lifting frame and a lifting device below the landing / takeoff surface, and performing the transfer of the load between the drone and the lifting frame through the load opening when the lifting frame ascends.

16. A method for controlling the drone port according to claim 1, wherein the drone has a support adapter for supporting the whole body, (A)a first step of independently horizontally moving a pair of hands within the range of the landing / takeoff surface to support a plurality of support positions of the support adapter; and a step of moving the drone to an arbitrary position without dragging it on the landing / takeoff surface while supporting the drone. The method for controlling the drone port has these steps.

17. (B)a second step of raising the hands or lowering the landing / takeoff surface to float the drone from the landing / takeoff surface; (C)a third step of synchronously controlling a pair of the hands to correct the attitude of the drone and move it to an arbitrary position. The method for controlling the drone port according to claim 16 has these steps.

18. The first step includes a proximity step of moving a pair of the hands from the standby position to the vicinity of the vertical gripping bar of the drone respectively; an X-direction contact step of moving a pair of the hands in the X direction toward the center of the drone until the fingers contact the vertical gripping bar; and a Y-direction contact step of moving a pair of the hands in the Y direction toward the center of the drone until the finger bases contact the vertical gripping bar. The method for controlling the drone port according to claim 16 has these steps.

19. The first step includes a Y-direction positioning step of independently moving a pair of the hands in the Y direction to align the central axes of the hands and the support adapter; and an X-direction positioning step of independently moving a pair of the hands in the X direction to align the central axes of the hands and the support adapter. The method for controlling the drone port according to claim 16 has these steps.

20. The third step includes an attitude control step of synchronously moving a pair of the hands so that a plurality of vertical gripping bars reach the target attitude; and a horizontal movement step of synchronously controlling a pair of the hands to move a plurality of the vertical gripping bars to an arbitrary position. The method for controlling the drone port according to claim 17 has these steps.

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