Suspension device for unmanned aerial vehicle and method of using the same

Abstract

To provide a suspension device for an unmanned aerial vehicle which may inhibit yaw motion (yawing) of a suspended object and prevent twisting of a suspension member.SOLUTION: A suspension device for an unmanned aerial vehicle includes suspension members configured to link the unmanned aerial vehicle and a suspended object to each other. Cross braces linked to the suspension members are provided between the unmanned aerial vehicle and the suspended object. By providing the cross braces, it is possible to inhibit yaw motion (yawing) of the suspended object and prevent twisting of the suspension member.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The present invention relates to a suspension device for an unmanned aerial vehicle and a method for using the same. [Background technology]

[0002] For example, in resource exploration for metal deposits, the exploration range is narrowed down based on ultra-wide area data acquired by Earth observation satellites, and further investigations (aerial observations) are conducted using observation equipment mounted on aircraft such as small planes or helicopters.

[0003] In recent years, aerial observation using unmanned aerial vehicles (UAVs), such as unmanned helicopters and drones, which are capable of remote control and autonomous flight, has begun to be used instead of manned aircraft. In particular, in aerial magnetic surveys, a method is used in which a hanging means such as a rope is hung from the unmanned aerial vehicle and an observation device is attached to the end of the rope to avoid magnetic noise from the unmanned aerial vehicle and perform aerial observation (see Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-175740 A Summary of the Invention [Problem to be solved by the invention]

[0005] For example, when the unmanned aerial vehicle described in Patent Document 1 flies with observation equipment suspended therefrom, the suspended object may yaw. The present invention aims to provide a suspension device for an unmanned aerial vehicle that can prevent twisting of the suspension member by suppressing yawing of the suspended object (details will be explained in the Detailed Description of the Invention section). [Means for solving the problem]

[0006] The above problem is solved by a suspension device for an unmanned aerial vehicle, the suspension device having a suspension member that connects the unmanned aerial vehicle and a suspended object, and a brace connected to the suspension member is provided between the unmanned aerial vehicle and the suspended object. Note that the "suspension member" may be referred to as the "suspension rope" hereinafter. Effect of the Invention

[0007] The unmanned aerial vehicle suspension device of the present invention is able to suppress yawing of the suspended object and prevent twisting of the suspension members by providing diagonal braces. [Brief description of the drawings]

[0008] [Figure 1] This is the first photo showing a method (precedent example) of suspending exploration equipment (MagArrow) using a drone. [Diagram 2] This is the second photo showing a method (precedent example) of suspending the exploration equipment (MagArrow) using a drone. [Diagram 3] FIG. 1 shows a drone with a rotor designed to be placed under the arm. [Figure 4] The photographs show the state in which a dummy component resembling exploration equipment was suspended from a new type of drone and it was actually flown. (a) shows the normal suspension state, (b) shows the shaking in the forward and backward directions, and (c) shows the state in which twisting has occurred. [Diagram 5] This is an overall configuration diagram of an unmanned aerial vehicle suspension device in one embodiment of the present invention, where (a) shows the device attached to the leg and (b) shows the device connected to the exploration equipment. [Figure 6] FIG. 1 is a plan view showing the main dimensions of each component of the suspension device, where (a) is the leg, (b) is the exploration equipment, and (c) is the diagonal brace. [Figure 7] This is a photograph showing the situation when exploration equipment was suspended from a new type of drone using the suspension device of this embodiment and the drone was actually flown. [Figure 8]1 is a schematic diagram showing the relationship between the rotation angle of the exploration equipment and the restoring force acting on the suspension rope. FIG. [Figure 9] (a) is a graph showing the relationship between the rotation angle of the exploration equipment suspended by the suspension rope and the restoring force, (b) is a graph showing the relationship between the length of the suspension rope and the restoring force, and (c) is a graph showing the relationship between the distance from the intersection of the diagonal braces to the suspension rope and the restoring force. [Figure 10] These are the results of magnetic field measurements performed using a conventional method, where (a) is a graph showing the measurement results of the total magnetic force value using a detection device, and (b) is a photograph showing the state of the detection device (MagArrow) taken with a camera mounted on a new drone. [Figure 11] These are the results of magnetic field measurements performed using this embodiment, where (a) is a graph showing the measurement results of the total magnetic force value using the exploration equipment, and (b) is a photograph showing the state of the exploration equipment (MagArrow) taken with a camera mounted on a new drone. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Before describing the embodiments, some preliminary points will be described below to facilitate understanding of the embodiments.

[0010] Figures 1 and 2 are photographs showing various methods (precedent examples) of hanging a drone-based exploration device (MagArrow) (Figure 1: Quoted from Geometrics Inc. "MagArrow II UAV-Enabled Magnetometer" https: / / www.geometrics.com / product / magarrow (last accessed: 2023 / 08 / 12); Figure 2: Quoted from Geometrics Inc. MagArrow Catalog (2019) "MagArrow_II_UAS_SpecSheet_07212023.pdf").

[0011] "MagArrow" is an ultra-compact and lightweight magnetic exploration device developed by Geometrics, Inc. in the United States, that incorporates a battery, an MFAM (registered trademark) magnetic sensor, a GPS, etc. "MagArrow" has a long and thin shape in a plan view, and its longitudinal direction is the exploration (observation) direction.

[0012] From the previous examples in Figures 1 and 2, the methods of suspending exploration equipment (MagArrow) using unmanned aerial vehicles (UAVs) such as drones have the following in common:

[0013] (1) The exploration equipment is suspended at a distance from the drone using four suspension ropes. (2) The drone used will be a six-rotor industrial drone with a large payload. (3) Each of the hanging ropes is connected to the drone's propeller arms. (4) The exploration equipment is attached to the ends of the suspension rope at two points, one at the front and one at the rear of its length. (5) The suspended exploration equipment is nearly horizontal to the ground surface.

[0014] This allows drones to perform wide-area aerial observations while avoiding magnetic noise from drones. The above suspension method is also recommended by Geometrics.

[0015] Incidentally, in recent years, with improvements in flight performance and more advanced functions of drones, the mainstream design has been to place the rotor (rotating blades) for lifting the aircraft on the lower part of the arm, as shown in Figure 3 (Figure 3: Quoted from DJI Matrice 300 RTK User's Manual V1.4 (2020.08) "M300_RTK_User_Manual_JP_v1.4.pdf").

[0016] This drone design (hereinafter referred to as the new drone) has a sufficient payload to carry exploration equipment, yet is four-rotor and lightweight, thus combining longer flight time and higher safety performance.

[0017] The inventors considered adopting this new type of drone and using it for aerial magnetic exploration, but discovered the following problems.

[0018] (Problem 1) In the new drone, the rotor is located under the arm, so it is not possible to attach the hanging rope to the arm as in the previous case (there is a risk of interference).In addition, since the new drone has a camera gimbal (stabilizer) in the center of the bottom of the main body, it is not possible to connect the hanging rope to the bottom.

[0019] In response to this, the inventors decided to suspend the exploration equipment from four suspension ropes by connecting the suspension ropes to the legs (the parts that are placed on the ground) of the new drone, as in the previous example.

[0020] Figure 4 is a set of photographs showing the state in which a dummy component resembling an exploration device was suspended from a new drone and it was actually flown. (a) shows the normal suspension state, (b) shows the shaking in the forward and backward directions, and (c) shows the state in which twisting has occurred.

[0021] The dummy member suspended from the drone sways in its longitudinal direction (Fig. 4(b)) and yawing due to air currents and wind generated by the drone's flight. Note that swaying in the longitudinal and lateral directions is also called pendulum motion. Yawing is a motion that swings from side to side around a vertical axis that passes through the center of gravity of the aircraft.

[0022] (Problem 2) Swings in the longitudinal and transverse directions (pendulum motion) can be corrected by the exploration equipment (software) and are tolerated to a certain extent to obtain the degree of freedom required for drone operation. However, when yawing causes twisting in the suspension rope (Figure 4(c)), the drone had to land once to remove the twist.

[0023] The cause of these problems lies in the dimensions of the legs of the new drone. The dimensions of the legs of the new drone are shorter than the distance between the propeller arms of conventional drones, so the distance between the hanging ropes is also shorter. This makes it easier for the yawing of the exploration equipment to increase, and therefore makes it easier for the hanging ropes to twist.

[0024] In response to this, the idea of ​​enlarging the dimensions of the legs or adding extension parts was considered, but due to various drone regulations, the increase in weight, and the impact that changing the aircraft's shape would have on flight, these were difficult to adopt.

[0025] In the following embodiment, a suspension device that can suppress yawing of a suspended object and therefore prevent twisting of a suspension rope will be described. Also, a method of using the suspension device will be described.

[0026] (Embodiment) Figure 5 is an overall configuration diagram of an unmanned aerial vehicle suspension device according to one embodiment of the present invention, where (a) shows the device attached to the leg and (b) shows the device connected to the exploration equipment.

[0027] As shown in Fig. 5(a), the suspension device 100 includes four suspension ropes 14 attached to the legs 12 of the unmanned aerial vehicle. In this embodiment, each of the four suspension ropes 14 has a total length of approximately 3000 mm and is made of a non-magnetic material.

[0028] The suspending rope 14 is an example of a suspending member. The suspending member may be, for example, a carbon fiber rope, a fiber rope made of twisted natural and synthetic fibers, a rope, a rigging, or the like.

[0029] The legs 12 of the unmanned aerial vehicle are arranged in a pair on the left and right sides with respect to the forward direction A of the unmanned aerial vehicle. Two of the suspension ropes 14 are connected to one of the legs 12 via connectors, and another two of the suspension ropes 14 are connected to the other of the legs 12 via connectors.

[0030] As shown in FIG. 5(b), each end of the hanging rope 14 is connected via connection parts 16 to two locations, one at the front and one at the rear, of the suspended object, resource exploration equipment (hereinafter referred to as exploration equipment) 20.

[0031] Therefore, the exploration device 20 can be suspended so as to be approximately horizontal to the ground surface by the suspension device 100. In addition, since the exploration device 20 is separated from the unmanned aerial vehicle by the suspension rope 14, magnetic noise from the unmanned aerial vehicle can be avoided.

[0032] Furthermore, in this embodiment, as shown in Fig. 5(a), the suspension device 100 is provided with two intersecting elastic diagonal braces 18 at the center in the longitudinal direction of the four suspension ropes 14. The diagonal braces 18 are made of, for example, glass fiber, and it is desirable that the intersecting portions are movable.

[0033] Making the crossing portion of the diagonal brace 18 movable makes it possible to absorb fluctuations in the suspension rope 14. In addition, when the unmanned aerial vehicle takes off or lands, the diagonal brace 18 is folded under its own weight, making it possible to prevent contact with the unmanned aerial vehicle.

[0034] FIG. 6 is a plan view showing the main dimensions of each component of the suspension device, where (a) is the leg, (b) is the detection equipment, and (c) is the diagonal brace.

[0035] As shown in FIG. 6(a), the distance L1 between the legs 12 in the fore-and-aft direction (forward direction A of the unmanned aerial vehicle) is approximately 380 mm, and the distance L2 between the legs 12 in the direction perpendicular to the fore-and-aft direction is approximately 405 mm.

[0036] Also, as shown in FIG. 6(b), the distance L3 between the joints 16 at the front and rear of the exploration device 20 is approximately 663 mm, and the distances L4, L4' in the direction perpendicular to the front-to-rear direction are approximately 150 mm and approximately 170 mm, respectively.

[0037] Therefore, the distance L1 between the legs 12 in the front-rear direction (the forward direction A of the unmanned aircraft) is shorter than the distance L3 between the joints 16 of the exploration device 20 (L1 < L3). On the other hand, the distance L2 between the legs 12 is longer than the distances L4 and L4' between the joints 16 of the exploration device 20 (L2 > L4, L4'). These dimensions are the specified dimensions of the product.

[0038] In this embodiment, as shown in FIG. 6(c), the lengths Ld of the two cross members 18 are each set to approximately 780 mm, which is longer than the distance L3 between the joints 16 of the exploration device 20 (Ld ≥ L3). As a result, at the position where the cross members 18 are provided, the distance Ls between the suspension ropes 14 in the forward direction A of the unmanned aircraft can be widened.

[0039] In addition, since the angle of the intersection of the two cross members 18 can be freely changed, the distance Ls between the suspension ropes 14 in the forward direction A of the unmanned aircraft can also be freely changed. When the distance L5 between the suspension ropes 14 in the direction perpendicular to the forward direction A of the unmanned aircraft is approximately the same as the distance L2 between the left and right legs of the unmanned aircraft (L5 ≈ L2), the distance Ls between the suspension ropes 14 is approximately the same as the distance L3 between the joints 16 (about 663 mm).

[0040] FIG. 7 is a photograph showing a situation where an exploration device is suspended from a new drone and actually flown using the suspension device of this embodiment. As shown in FIG. 7, by providing two intersecting cross members 18 at the longitudinal center of the suspension rope 14, the distance between the suspension ropes 14 in the forward direction A of the new drone 10 is widened.

[0041] That is, at the position of the cross member 18, (a) the distance between the two suspension ropes 14 on the front and rear sides of the exploration device 20 is made substantially parallel, and (b) the distance between the two suspension ropes 14 on the left and right sides of the exploration device 20 is made narrow at the lower side (the exploration device 20 side) and wide at the central part (the position of the cross member 18).

[0042] Please note that the three-dimensional shape of the suspending rope 14 is similar to that of the prior example shown in Figures 1 and 2. This makes it possible to suppress yawing of the exploration device 20 and prevent twisting of the suspending rope 14.

[0043] Next, the action of suppressing yawing of the suspension rope 14 will be considered from the viewpoint of mechanics.

[0044] Fig. 8 is a schematic diagram showing the relationship between the rotation angle of the exploration device and the restoring force acting on the hanging rope. Fig. 8(a) shows, in a plan view, that the exploration device 20 has rotated counterclockwise around the rotation center O at a rotation angle of 2α. In addition, a hanging rope (not shown) is connected to each of the four corners of the exploration device 20 by a connection part 16.

[0045] Here, if the distance from the rotation center O to the joint 16 of the probe 20 is LH, and the horizontal movement distance when the probe 20 rotates 2α is dH, then as shown in FIG. 8(b), dH = 2 LH sin(α) (Eq. 1) This is expressed as:

[0046] Fig. 8(c) is a cross-sectional view seen from the direction AA in Fig. 8(a). Here, the part of the exploration device 20 connected to the hanging rope is defined as mass point M (mass Mkg). Also, the length of the hanging rope 14 from the part where the diagonal brace 16 is provided (upper hanging point 30) to the part connected to the connecting part 16 (lower hanging point 32) is defined as LV.

[0047] At the initial position of the probe 20, gravity acts on the mass M in the vertical direction. When the probe 20 rotates by 2α due to an external force, the mass M moves a distance dH in the horizontal direction and rises a distance dV in the vertical direction.

[0048] Here, if the rising angle of the hanging rope 14 is β (= dH / LV), then F1 acting on the mass point M in the direction perpendicular to the hanging rope 14 is given by: F1 = F sin(β) (Eq. 2) This is expressed as:

[0049] This F1 is a restoring force that returns the moved mass point M (i.e., the rotated exploration device 20) to its original state (initial position).

[0050] Figure 9(a) is a graph showing the relationship between the rotation angle and the restoring force of the probe suspended by the hoisting rope. The horizontal axis is the rotation angle 2α (degrees) of the probe, the vertical axis (left side) is the horizontal travel distance dH (cm) and the ascent angle β (degrees), and the vertical axis (right side) is the restoring force F1 (N).

[0051] Here, LH = 40 cm, LV = 300 cm, and M = 1000 g. From the graph, as the rotation angle 2α of the exploration device 20 increases, the travel distance dH and the ascent angle β increase, and therefore the restoring force F1 increases.

[0052] 9(b) is a graph showing the relationship between the length of the suspension rope and the restoring force. The horizontal axis is the length LV (cm) of the suspension rope from the upper suspension point 30 to the lower suspension point 32, the vertical axis (left) is the horizontal movement distance dH (cm) and the ascent angle β (degrees), and the vertical axis (right) is the restoring force F1 (N).

[0053] Here, 2α = 90 degrees, LH = 40 cm, and M = 1000 g. From the graph, when the length LV of the hanging rope 14 is shortened, the travel distance dH does not change, but the ascending angle β increases, and therefore the restoring force F1 increases.

[0054] Figure 9(c) is a graph showing the relationship between the distance from the intersection of the diagonal braces to the suspension rope and the restoring force. The horizontal axis uses the distance LH (see Figure 8) from the center of rotation O to the joint 16 of the exploration device 20 as an approximation of the distance LH' (cm) from the intersection of the two diagonal braces 18 to the joint between the diagonal brace 18 and the suspension rope 14. The vertical axis (left side) is the horizontal travel distance dH (cm) and the ascent angle β (degrees), and the vertical axis (right side) is the restoring force F1 (N).

[0055] Here, 2α = 90 degrees, LV = 300 cm, and M = 1000 g. From the graph, as the distance LH (≒ distance LH') increases, the travel distance dH and the ascent angle β increase, and therefore the restoring force F1 increases.

[0056] From the above, it can be seen that by using diagonal braces 18 that are longer than the spacing between the joints of the suspension ropes 14, the same effect can be obtained as by shortening the suspension ropes, and the restoring force F1 can be increased.

[0057] (Demonstration experiment) The inventors conducted a demonstration experiment to evaluate the measurement data for the suspension device according to the embodiment described above. Specifically, they actually performed magnetic field measurements and investigated the changes in the measurement data when the exploration device (MagArrow) was suspended from a new drone only by a suspension rope (conventional form) and when it was suspended using the suspension device of this embodiment (this embodiment).

[0058] Figure 10 shows the results of magnetic field measurement using the conventional method, where (a) is a graph showing the measurement results of the total magnetic force value using a detection device, and (b) is a photograph showing the state of the detection device (MagArrow) taken with a camera mounted on a new drone.

[0059] In Fig. 10(a), the horizontal axis is the observation time (1 msec interval), and the vertical axis is the observation value (geomagnetic field) (unit: nT: nanotesla). The three waveforms shown in A are data from a triaxial magnetometer (X-axis, Y-axis, Z-axis, and a combination of these), and the two waveforms shown in B are high-precision magnetometer observation values ​​(actual values ​​and values ​​corrected for diurnal variation).

[0060] In Figure 10(a), the waveform of the three-axis magnetometer fluctuates slightly because the exploration instrument (MagArrow) yawing. Therefore, small fluctuations can also be read in the high-precision magnetometer observations.

[0061] It was also observed that the exploration device 20 was in a position significantly tilted relative to the forward direction A of the drone, as shown in Figure 10(b).

[0062] Next, Figure 11 shows the results of magnetic field measurement using this embodiment, where (a) is a graph showing the measurement results of the total magnetic force value using the exploration equipment, and (b) is a photograph showing the state of the exploration equipment (MagArrow) taken by a camera mounted on a new drone.

[0063] In Fig. 11(a), the horizontal axis is the observation time (1 msec interval), and the vertical axis is the observation value (geomagnetic field) (unit: nT: nanotesla). The three waveforms shown in A are data from a triaxial magnetometer (X-axis, Y-axis, Z-axis, and a combination of these), and the two waveforms shown in B are high-precision magnetometer observation values ​​(actual values ​​and values ​​corrected for diurnal variation).

[0064] The measurements were carried out by flying in approximately the same locations as those used for magnetic field measurements using the conventional method.

[0065] In Figure 11(a), the fluctuations in the waveform of the 3-axis magnetometer are smaller than those in Figure 10(a). This is because the yawing of the exploration equipment (MagArrow) has been suppressed. Therefore, the high-precision magnetometer observation values ​​also have no small fluctuations and show a smooth waveform.

[0066] It was also observed that, as shown in Figure 11(b), the exploration device 20 continued to maintain an attitude with almost no inclination relative to the drone's forward direction A.

[0067] From the above, when the survey equipment (MagArrow) was suspended using the suspension device of this embodiment, better observation values ​​with less fluctuation were obtained compared to the case where only the suspension rope was used, thereby proving the effectiveness of the present invention.

[0068] A method of using the suspension device of this embodiment will be described below.

[0069] One end of each of the suspending ropes 14 is attached to the leg 12 of the new drone 10, and the other end of each of the suspending ropes 14 is connected to the exploration device 20. Then, by hovering the new drone 10 (stopping in the air), the exploration device 20 can be suspended in the air.

[0070] Furthermore, by flying the unmanned aerial vehicle (new type drone) 10, the exploration equipment 20 can be transported to any location.

[0071] In this way, the suspension device 100 of this embodiment suppresses yawing of the suspension ropes 14, and therefore can stably suspend and / or transport the exploration device 20.

[0072] The present invention has been described in detail above using the embodiments. This embodiment is merely an example, and can be modified and used within the scope of the present invention. For example, the unmanned aerial vehicle can be an aerial vehicle capable of remote control or autonomous flight, such as an unmanned helicopter, in addition to a drone. The suspended object is not limited to a surveying device (e.g., a magnetic sensor such as MagArrow). For example, it may be a photographic device such as a camera, or other cargo.

[0073] However, when using a drone as an unmanned aerial vehicle, care must be taken to use hanging components and connection mechanisms for the load that comply with the various drone-related laws and regulations.

[0074] For example, aspects of the present invention are as follows. (Aspect 1) A suspension device for an unmanned aerial vehicle, comprising: A hanging member is provided to connect the unmanned aerial vehicle and a suspended object, A suspension device, characterized in that a brace connected to the suspension member is provided between the unmanned aerial vehicle and the suspended object. (Aspect 2) At least four of the hanging members are attached to the legs of the unmanned aerial vehicle, and have connecting portions for connecting the respective ends of the hanging members to two locations, one in front of the other and one in the rear of the suspended object in the forward direction of the unmanned aerial vehicle; 2. The suspension device according to claim 1, wherein the object to be suspended can be suspended so as to be substantially horizontal with respect to the ground surface. (Aspect 3) The diagonal brace is an elastic body and is provided to cross the longitudinal center portion of the hanging member, The suspension device of aspect 1 or 2, wherein the length of the diagonal brace is longer than the distance between the joints at the front and rear of the suspended object. (Aspect 4) 4. The suspension device of any one of aspects 1 to 3, wherein the diagonal braces increase the spacing of the hanging members in front of and behind the suspended object. (Aspect 5) 5. The suspension device of any one of claims 1 to 4, wherein the braces are made of fiberglass and the cross sections are movable. (Aspect 6) The unmanned aerial vehicle is a drone, 6. The suspension device according to any one of aspects 1 to 5, wherein the object to be suspended is resource exploration equipment. (Aspect 7) A method of using the suspension device of any one of claims 1 to 6, comprising: Attach one end of each of the hanging members to a leg of the unmanned aerial vehicle; The other end of each of the hanging members is connected to the object to be hung; A method of use comprising flying the unmanned aerial vehicle and suspending the suspended object. (Aspect 8) A method of using the suspension device of any one of claims 1 to 6, comprising: Attach one end of each of the hanging members to a leg of the unmanned aerial vehicle; The other end of each of the hanging members is connected to the object to be hung; A method of use comprising flying the unmanned aerial vehicle and transporting the suspended object. [Explanation of symbols]

[0075] 10 Unmanned Aerial Vehicles 12 Legs 14 Hanging rope 16 Joint 18 Bracing 20 Exploration Equipment 30 Upper suspension point 32 Lower suspension point 100 Suspension device A Forward direction F1 Restoring force (N) M mass point O Rotation Center dH Horizontal distance traveled α rotation angle (degrees) β Ascent angle (degrees)

Claims

1. A suspension device for an unmanned aerial vehicle, comprising: A hanging member is provided to connect the unmanned aerial vehicle and a suspended object, A suspension device, characterized in that a brace connected to the suspension member is provided between the unmanned aerial vehicle and the suspended object.

2. At least four of the hanging members are attached to the legs of the unmanned aerial vehicle, and have connecting portions for connecting the respective ends of the hanging members to two locations, one in front of the other and one in the rear of the suspended object in the forward direction of the unmanned aerial vehicle; 2. The suspension device according to claim 1, wherein the object to be suspended can be suspended so as to be substantially horizontal with respect to the ground surface.

3. The diagonal brace is an elastic body and is provided to cross the longitudinal center portion of the hanging member, 2. The suspension device of claim 1, wherein the length of the diagonal brace is longer than the distance between the joints at the front and rear of the suspended object.

4. 2. The suspension apparatus of claim 1, wherein the diagonal braces increase the spacing of the suspension members in front of and behind the suspended object.

5. 2. The suspension system of claim 1, wherein the braces are made of fiberglass and the cross sections are movable.

6. The unmanned aerial vehicle is a drone, 2. The suspension device according to claim 1, wherein the object to be suspended is a resource exploration device.

7. A method of using the suspension device according to any one of claims 1 to 6, comprising the steps of: Attach one end of each of the hanging members to a leg of the unmanned aerial vehicle; The other end of each of the hanging members is connected to the object to be hung; A method of use comprising flying the unmanned aerial vehicle and suspending the suspended object.

8. A method of using the suspension device according to any one of claims 1 to 6, comprising the steps of: Attach one end of each of the hanging members to a leg of the unmanned aerial vehicle; The other end of each of the hanging members is connected to the object to be hung; A method of use comprising flying the unmanned aerial vehicle and transporting the suspended object.

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