Flight device

Abstract

To provide a flying device that can accurately detect changes in the length of a string member. [Solution] The flying device comprises an airframe, a plurality of rotors attached to the airframe that can change the altitude of the airframe, a drive unit attached to the airframe that can change the relative position of the work device with respect to the airframe by winding and unwinding a string member connected to the work device, and a detection device that detects the length by which the drive unit has wound or unwound the string member. The detection device has a pair of pulleys whose rotation axes are arranged parallel to each other and spaced apart, and a rotation sensor that detects the rotation of at least one of the pair of pulleys, and the string member is wound between the pair of pulleys.

Description

Technical Field

[0001] The present invention relates to a flying device.

Background Art

[0002] The transport device disclosed in Patent Document 1 includes a drone having a plurality of rotors, a main wire formed of a long flexible member, a fixed end of one end being fixed to the drone and the other end being a free end, and a winch device fixed to the drone for winding and unwinding the main wire.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the transport device of Patent Document 1, the command for winding and unwinding the main wire by the winch device is given by the operator via a transceiver or automatically by an autonomous flight program.

[0005] However, in order to detect the length of winding and unwinding of the string member by the winch device (drive device), a method of detecting the rotation of a drum or pulley that winds and unwinds the string member can be considered. However, when the string member is not properly wound around the drum or the like, the rotation cannot be accurately detected.

[0006] The present invention has been made to solve such problems of the prior art, and an object thereof is to provide a flying device capable of accurately detecting a change in the length of a string member.

Means for Solving the Problems

[0007] An aircraft according to one aspect of the present invention comprises an aircraft body, a plurality of rotors attached to the aircraft body and capable of changing the altitude of the aircraft body, a drive unit attached to the aircraft body and capable of changing the relative position of the work device with respect to the aircraft body by winding and unwinding a string member connected to a work device, and a detection unit for detecting the length by which the drive unit has wound or unwound the string member, wherein the detection unit comprises a pair of pulleys whose rotation axes are arranged parallel to each other and spaced apart from each other, and a rotation sensor for detecting the rotation of at least one of the pair of pulleys, and the string member is wound between the pair of pulleys. [Effects of the Invention]

[0008] According to the above-described flying device, changes in the length of the string member can be accurately detected. [Brief explanation of the drawing]

[0009] [Figure 1] This is a diagram showing the configuration of the work support system in the first embodiment. [Figure 2] This diagram shows a flight device connected to a work device. [Figure 3] This is a perspective view of the aircraft. [Figure 4] This is a front view of the flying machine. [Figure 5] This is a side view of the aircraft. [Figure 6] This is a plan view of the flying machine. [Figure 7] This is a bottom view of the flying machine. [Figure 8] This is a perspective view showing the drive unit in the first embodiment. [Figure 9] This is a first perspective view showing the interior of the second device section in the first embodiment. [Figure 10] This is a second perspective view showing the interior of the second device section in the first embodiment. [Figure 11] This is a plan view showing the interior of the second device section in the first embodiment. [Figure 12] This diagram shows the positional relationship between the pulley and the string member of the second device in the first embodiment. [Figure 13] It is a diagram showing the positional relationship of a pair of pulleys in the first embodiment. [Figure 14] It is a diagram showing the swinging of the bracket of the second device part in the first embodiment. [Figure 15] It is a configuration diagram of the work support system in the second embodiment. [Figure 16] It is a perspective view showing the drive device in the second embodiment. [Figure 17] It is a perspective view showing the inside of the second device part in the second embodiment. [Figure 18] It is a diagram showing the positional relationship of the pulley and the string member of the second device part in the second embodiment. [Figure 19] It is a diagram for explaining the calculation of the displacement length of the string member in the second embodiment.

Embodiments for Carrying Out the Invention

[0010] [First Embodiment] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a configuration diagram of the work support system 1. FIG. 2 is a diagram showing the flying device 11 connected to the work device 61. As shown in FIGS. 1 and 2, the work support system 1 includes a flying device 11 and a work device 61 connected to the flying device 11 by a string member 51. Thereby, the flying device 11 can fly while suspending the work device 61 or fly while towing the work device 61.

[0011] For the sake of convenience of explanation, the direction indicated by the arrow D1 in the figure is referred to as the front, and the direction indicated by the arrow D2 is referred to as the rear. Also, the direction indicated by the arrow D3 in the figure is referred to as the left, and the direction indicated by the arrow D4 is referred to as the right. The direction indicated by the arrow D5 in the figure is referred to as the upper, and the direction indicated by the arrow D6 is referred to as the lower. Also, the horizontal direction, which is the direction orthogonal to the front-rear direction, is referred to as the width direction.

[0012] The flying device 11 according to the present invention is an unmanned flying device 11. Specifically, the flying device 11 is a multi-copter called a drone. The flying device 11 may operate by remote control by an operator via wireless or wired communication, or may operate by autonomous control without relying on remote control. In the present embodiment, for convenience of explanation, the flying device 11 that operates by remote control will be mainly described, and the detailed description of the flying device 11 that operates by autonomous control will be omitted as appropriate.

[0013] FIG. 3 is a perspective view of the flying device 11, and FIG. 4 is a front view of the flying device 11. Further, FIG. 5 is a side view of the flying device 11, FIG. 6 is a plan view of the flying device 11, and FIG. 7 is a bottom view of the flying device 11. As shown in FIGS. 3 to 7, the flying device 11 includes a fuselage 12 and a plurality of rotors 15. The fuselage 12 has a main body portion 13 that supports various devices and equipment possessed by the flying device 11. Further, the fuselage 12 has a plurality of arms 14 extending from the main body portion 13. The arms 14 extend in a direction away from the main body portion 13 in plan view. The plurality of arms 14 extend radially from the main body portion 13 in plan view. The arms 14 extend horizontally outward from the main body portion 13.

[0014] The plurality of rotors 15 are attached to the fuselage 12 and can change the altitude of the fuselage 12. Specifically, the plurality of rotors 15 are respectively attached to each arm 14. Further, the plurality of rotors 15 generate a lifting force for lifting the fuselage 12 and perform attitude control of the fuselage 12. The plurality of rotors 15 are arranged at positions equidistant from the center of the fuselage 12 in plan view.

[0015] In the present embodiment, each rotor 15 performs both the generation of the lifting force and the attitude control, but the plurality of rotors 15 may individually include a rotor 15 that generates the lifting force and a rotor 15 that performs the attitude control.

[0016] The rotor 15 has a rotating shaft 16 and blades 17. The rotating shaft 16 is a shaft that rotates due to power transmitted from the power unit 18. The rotating shaft 16 extends in the vertical direction. The blades 17 are attached to the rotating shaft 16 and generate lift as the rotating shaft 16 rotates.

[0017] The power unit 18 is a device capable of outputting power. The power unit 18 also supplies the outputted power to the rotating shaft 16. The power unit 18 is provided, for example, on each rotor 15. The power unit 18 has an electric motor 18a that is driven by electricity supplied from the battery unit 44. Therefore, the power unit 18 rotates the rotating shaft 16 using the power output by the electric motor 18a.

[0018] In the following description, the electric motor 18a of the power unit 18 will be referred to as the first motor. Also, in this embodiment, when each rotor 15 has a power unit 18 Using this as an example, it is possible that one rotor 15 and the other rotors 15 share a single power unit 18. Furthermore, the power unit 18 is not limited to an electric motor, but may also be an internal combustion engine such as a gasoline engine provided in the main body 13.

[0019] As shown in Figures 2 to 7, the aircraft 11 is equipped with skids 19. The skids 19 are attached to the underside of the aircraft body 12. The skids 19 have multiple leg members 20 that extend downward from the main body 13. The multiple leg members 20 touch down when the aircraft 11 lands, supporting the aircraft body 12 by floating it above the landing surface (contact surface) such as the ground. The multiple leg members 20 are spaced apart horizontally. As a result, a space 21 is formed between the multiple leg members 20 below the main body 13. In addition, the multiple leg members 20 are attached to the main body 13 at an angle such that the spacing between them widens as they extend downward.

[0020] As shown in Figures 1, 3 to 7, the flight device 11 is equipped with one or more drive devices 31. The drive device 31 is a device capable of winding up and unwinding a string member 51 connected to the work device 61. The drive device 31 is attached to the aircraft body 12, and the relative position of the work device 61 with respect to the aircraft body 12 can be changed by winding up and unwinding the string member 51. The string member 51 is a wire or wire rope made of metal or resin, etc.

[0021] The drive units 31 are provided on the aircraft body 12 in a number corresponding to the number of string members 51 that connect the flight device 11 and the work device 61. In this embodiment, the drive units 31 are attached to the main body 13. Furthermore, since the flight device 11 in this embodiment is connected to the work device 61 by four string members 51, the flight device 11 is equipped with four drive units 31. In the following description, the drive unit 31L1 attached to the left front of the main body 13 may be referred to as the "first drive unit," and the drive unit 31R1 attached to the right front of the main body 13 may be referred to as the "second drive unit." Also, the drive unit 31L2 attached to the left rear of the main body 13 may be referred to as the "third drive unit," and the drive unit 31R2 attached to the right rear of the main body 13 may be referred to as the "fourth drive unit."

[0022] As shown in Figures 6 and 7, the multiple drive units 31 are arranged such that the string members 51 hanging from each drive unit 31 are at equal intervals. The drive unit 31 in this embodiment is provided with an insertion hole 32a through which the string members 51 that are wound up and unwound by the drive unit 31 are inserted, and the center of the insertion hole 32a is positioned on a virtual circle O1 centered on a predetermined position of the flight device 11. For example, the center of the virtual circle O1 is the center of gravity of the flight device 11 or a position equidistant from the center of each rotor 15. The drive unit 31 is also attached to the space 21 between the multiple leg members 20.

[0023] As described above, the aircraft 12 can fly with the work device 61 suspended via the string member 51, or fly by towing the work device 61 via the string member 51. In the examples shown in Figures 3 to 6, the drive unit 31 is attached to the main body 13, but its mounting position is not limited to the main body 13, and the drive unit 31 may also be attached to the arm 14.

[0024] As shown in Figure 1, the flight device 11 is equipped with a first control device 41 (control device). The flight device 11 is also equipped with a memory device 42.

[0025] The first control device 41 includes one or more processors. The first control device 41 is a controller of the aircraft 11 and performs various controls on the aircraft 11. The first control device 41 is communicatively connected to each piece of equipment and device mounted on the aircraft 11. For example, the first control device 41 controls the drive, stop, and rotation speed (lift) of each rotor 15 in response to control information (instructions) from the remote device 81.

[0026] The first control device 41 includes one or more memories (first memories), various analog circuits, various digital circuits, etc. One or more first memories store (remember) software programs and various data to be executed by one or more processors. The first control device 41 can read software programs from one or more first memories using one or more processors and execute various processes based on said software programs. The first control device 41 may also execute various processes based on predetermined logic circuits using one or more processors.

[0027] Processors include, for example, CPUs (Central Processing Units), GPUs (Graphics Processing Units), DSPs (Digital Signal Processors), FPGAs (Field Programmable Gate Arrays), and ASICs (Application Specific Integrated Circuits).

[0028] The first control device 41 may perform various processes through the cooperation of multiple physically separated processors, and its configuration is not limited to the configuration described above. In such a case, the multiple processors are each mounted on one or more computers that are physically separated from the flight device 11, and these processors are connected to each other via a network such as a LAN, WAN, and the Internet.

[0029] Furthermore, the software program may be stored in a storage device 42 (non-volatile memory such as an HDD or SSD) that is communicably connected to the first control device 41, or in an external server device connected via the network, and installed from there into the memory.

[0030] The memory device 42 stores various information and data related to the flight device 11 in a read-write manner. The memory device 42 includes non-volatile memory, etc. The memory device 42 is communicably connected to the first control device 41, and the first control device 41 can acquire various information and data stored in the memory device 42.

[0031] As shown in Figure 1, the flying device 11 is equipped with a first communication device 43. The first communication device 43 is the communication interface of the flying device 11 and includes a communication circuit. The first communication device 43 communicates with at least the remote device 81 wirelessly or via a wired connection and inputs and outputs (sends and receives) various information, data, and signals. For this reason, the first communication device 43 serves as both an input interface for receiving information output from the remote device 81 and an output interface for outputting information to the remote device 81. The first communication device 43 may communicate directly with the remote device 81, or it may communicate indirectly with the remote device 81 via an external server device or the like, and its communication path is not limited. The first communication device 43 performs wireless communication using, for example, Bluetooth® Low Energy in the Bluetooth® specification of the IEEE 802.15.1 series of communication standards, or WiFi® in the IEEE 802.11.n series of communication standards.

[0032] As shown in Figure 1, the flight device 11 includes a battery unit 44 and an inverter 45. The battery unit 44 and the inverter 45 are installed in the aircraft body 12.

[0033] The battery unit 44 is capable of storing and discharging energy and supplies power to various devices and equipment of the flight device 11. A lithium-ion battery can be an example of the battery unit 44.

[0034] The inverter 45 controls the power (current and voltage) supplied to each electric motor (first motor 18a) mounted on the flight device 11. The inverter 45 is controlled by the first control device 41 and controls the power supplied to each electric motor 18a.

[0035] As a result, the first control device 41 controls the inverter 45 and, for example, controls the rotational speed of each first motor 18a, thereby changing the lift generated by each rotor 15. Therefore, the multiple rotors 15 can change the altitude of the aircraft 12 and change the attitude of the aircraft 12, allowing the aircraft 12 to fly in a desired direction.

[0036] As shown in Figure 1, the flight device 11 is equipped with an inertial measurement unit (IMU) 46c. The inertial measurement unit 46c detects the attitude of the flight device 11 (aircraft 12). The inertial measurement unit 46c has an acceleration sensor to detect acceleration, a gyro sensor to detect angular velocity, etc. The inertial measurement unit 46c is connected to the first control device 41 via wired or wireless communication and outputs the detection results (acceleration, angular velocity, etc.) to the first control device 41. The first control device 41 can calculate the attitude (roll angle, pitch angle, yaw angle) and motion (acceleration) of the flight device 11 based on the detection results output from the inertial measurement unit 46c and calculation formulas pre-stored in the memory device 42.

[0037] As shown in Figure 1, the flight device 11 is equipped with an altitude detection device 46d. The altitude detection device 46d detects the altitude of the flight device 11 (aircraft 12). The altitude detection device 46d is, for example, a barometric pressure sensor. The altitude detection device 46d can communicate with the first control device 41 by wire or wireless. It is connected to the device and outputs the detection result (atmospheric pressure) to the first control device 41. The first control device 41 can calculate the altitude of the flight device 11 based on the detection result output from the altitude detection device 46d and calculation formulas etc. that are pre-stored in the memory device 42.

[0038] Next, the work device 61 will be described. The work device 61 is connected to the flying device 11 via a string member 51 and is used to perform work (for example, agricultural work) in a work area such as a field. Different work devices 61 can be connected to the string member 51. Therefore, each work device 61 can be moved by being suspended by the flying device 11, or it can be driven by being towed by the flying device 11. The work device 61 shown in Figure 2 is a work device 61 that can be driven by being towed by the flying device 11.

[0039] As shown in Figure 2, the work device 61 comprises a base body 62 and a work section 63. Furthermore, the work device 61 towed by the flying device 11 is equipped with a traveling device 64 that supports the base body 62 so that it can move. In other words, the base body 62 of the work device 61 equipped with the traveling device 64 is a movable vehicle body. Note that the work device 61 not towed by the flying device 11 may be equipped with a stand for making contact with the ground surface instead of the traveling device 64.

[0040] The base body 62 supports various devices and equipment of the work device 61. As shown in Figure 2, the tip end (opposite side of the drive device 31) of the string member 51 is connected to the base body 62. The base body 62 is connected to one or more string members 51, and in this embodiment, it is connected to multiple string members 51. Each string member 51 is connected to a different horizontal position on the work device 61. Specifically, the work device 61 is equipped with connecting devices 65 to which the string members 51 are connected. The number of connecting devices 65 provided on the base body 62 corresponds to the number of string members 51 that connect the work device 61 and the flight device 11. In this embodiment, since the work device 61 is connected to the flight device 11 by four string members 51, the work device 61 is equipped with four connecting devices 65.

[0041] A string member 51, which is wound up and unwound by a first drive unit 31L1, is connected to a coupling device 65L1 (first coupling device) attached to the left front of the base body 62. A string member 51, which is wound up and unwound by a second drive unit 31R1, is connected to a coupling device 65R1 (second coupling device) attached to the right front of the base body 62. A string member 51, which is wound up and unwound by a third drive unit 31L2, is connected to a coupling device 65L2 (third coupling device) attached to the left rear of the base body 62. A string member 51, which is wound up and unwound by a fourth drive unit 31R2, is connected to a coupling device 65R2 (fourth coupling device) attached to the right rear of the base body 62.

[0042] As shown in Figure 2, the multiple coupling devices 65 are arranged such that the string members 51 connected to each coupling device 65 are at equal intervals. As a result, the base body 62 can be moved by being suspended from the flying device 11 via the string members 51, or by being towed by the flying device 11 via the string members 51.

[0043] The work unit 63 is mounted on the base body 62 and performs its work. The work unit 63 performs its work as the base body 62 moves. Examples of the work unit 63 include a cutting unit 63A for cutting weeds and pasture grass, a pesticide spraying unit for spraying pesticides, and a seeding work unit for sowing seeds (seeding work). In the example shown in Figure 2, the work device 61 is a cutting device 61A equipped with a cutting unit 63A as the work unit 63.

[0044] Furthermore, the work device 61 only needs to be able to perform work in the work area by being suspended from or towed by the flying device 11, and the work unit 63 provided by the work device 61 is not limited to the examples described above. For example, the work unit 63 may be a tilling unit for tilling work, a tilling unit for plowing work, a ridging unit for making ribs, a ditching unit for digging ditches, a harvesting unit for harvesting crops, a spreading unit for spreading pasture grass, a grass gathering unit for collecting pasture grass, a shaping unit for shaping pasture grass, a fertilizer spreading unit for spreading fertilizer, etc.

[0045] The running gear 64 is a device that supports the base body 62 (vehicle body) so that it can move. The running gear 64 has a plurality of wheels 64a. In the example shown in Figure 2, the plurality of wheels 64a include a pair of front wheels 64a1 and a pair of rear wheels 64a2. The pair of front wheels 64a1 are The base body 62 is provided at the front of the base body 62, spaced apart in the width direction, and supports the front of the base body 62 so that it can move. The pair of rear wheels 64a2 are provided at the rear of the base body 62, spaced apart in the width direction, and support the rear of the base body 62 so that it can move. Examples of wheels 64a include wheeled wheels made of tires and crawler-type wheels.

[0046] In this embodiment, the traveling device 64 of the working device 61 (harvesting device 61A) has a total of four wheels 64a, consisting of a pair of front wheels 64a1 and a pair of rear wheels 64a2. However, the number of wheels 64a is not limited to four. The number of wheels 64a of the traveling device 64 may be one or more, such as two or three. Furthermore, the traveling device 64 may be driven to provide propulsion to the base body 62.

[0047] As shown in Figure 1, the work support system 1 is equipped with a remote device 81. The remote device 81 is an input interface that can accept operations from an operator and is a device that transmits information (instructions) regarding the control of the flight device 11 wirelessly or via wired connection. As shown in Figure 1, the remote device 81 includes an operating device 82, a second control device 83, a second communication device 84, and a display device 85.

[0048] The operating device 82 includes physical switches such as a joystick, push switch, and slider switch, and accepts operations from the operator. The operating device 82 can accept operations such as the position, altitude, speed, direction of movement, and attitude of the flight device 11, and winding or unwinding of the string members 51 by each drive device 31 (altitude of the work device 61). If the display device 85, which will be described later, has an operable touch panel, the operating device 82 may be a display image shown on the display device 85.

[0049] The second control unit 83 includes one or more processors. The second control unit 83 is a controller of the remote device 81 and performs various controls on the remote device 81. The second control unit 83 is communicated with each device and equipment mounted on the remote device 81. For example, the second control unit 83 controls the second communication device 84 to transmit information regarding the control of the flight device 11 received by the operating device 82 to the first communication device 43.

[0050] The second control unit 83 includes one or more memories (second memories), various analog circuits, various digital circuits, etc. One or more second memories store (remember) software programs and various data to be executed by one or more processors. The second control unit 83 can read software programs from one or more second memories by one or more processors and execute various processes based on those software programs.

[0051] Furthermore, as described in the first control device 41, the second control device 83 may perform various processes based on predetermined logic circuits using one or more processors. Also, as described in the first control device 41, the second control device 83 may perform various processes by having multiple physically separated processors cooperate with each other, and its configuration is not limited to the configuration described above.

[0052] As shown in Figure 1, the work device 61 is equipped with a second communication device 84. The second communication device 84 is the communication interface for the remote device 81 and includes a communication circuit. The second communication device 84 communicates with at least the flight device 11 (first communication device 43) wirelessly or via a wired connection and inputs (transmits and receives) various information, data, and signals. The second communication device 84 may also communicate directly with the work device 61 or indirectly via the flight device 11, etc. The second communication device 84 performs wireless communication using, for example, Bluetooth® Low Energy in the Bluetooth® specification of the IEEE 802.15.1 series of communication standards, or WiFi® in the IEEE 802.11.n series of communication standards.

[0053] The display device 85 is composed of a display unit such as a liquid crystal display. The display device 85 is controlled by the second control device 83 and displays various information about the flight device 11 and the work device 61. For example, the display device 85 displays information about the flight device 11 acquired by the second control device 83 via the second communication device 84 and the first communication device 43. Specifically, the display device 85 can display the altitude of the flight device 11 (aircraft 12) calculated from the detection results of the altitude detection device 46d, the attitude (roll angle, pitch angle, yaw angle) and movement (acceleration) of the flight device 11 calculated from the detection results of the inertial measurement device 46c, etc.

[0054] Furthermore, as shown in Figure 1, the flight device 11 is equipped with a state detection device 110 (hereinafter sometimes simply referred to as the detection device) for detecting the state of the string member 51. The display device 85 can display the state of the string member 51 based on the detection results of the state detection device 110. The first control device 41 may also control each device and equipment of the flight device 11 based on the state of the string member 51 detected by the state detection device 110.

[0055] Specifically, as shown in Figure 1, the flight device 11 is equipped with a displacement detection device 46a as a state detection device 110, which detects the length L (displacement length) of winding and unwinding of the string member 51. The flight device 11 is also equipped with a tension detection device 46b as a state detection device 110, which detects the tension acting on the string member 51. The displacement detection device 46a and the tension detection device 46b are provided in the drive device 31. The drive device 31 will be described below, and the displacement detection device 46a and the tension detection device 46b provided in the drive device 31 will also be described.

[0056] Figure 8 is a perspective view showing the drive unit 31 in the first embodiment. As shown in Figure 8, the drive unit 31 has a first device unit 31A (winch unit) that mainly winds up and unwinds the string member 51, and a second device unit 31B that mainly detects the state of the string member 51. As shown in Figure 8, the first device unit 31A has a rotating unit 34 and a drum 33 that is rotated by the rotating unit 34. The rotating unit 34 includes a motor 34a and a reduction mechanism 34b. The drum 33, motor 34a, and reduction mechanism 34b are housed inside a casing 32A (first housing).

[0057] The motor 34a of the rotating section 34 outputs power to rotate the drum 33. This motor 34a is an electric motor driven by power supplied, for example, from the battery unit 44. In the following description, the electric motor 34a of the rotating section 34 will be referred to as the second motor.

[0058] The reduction mechanism 34b is a mechanism that reduces the power output by the second motor 34a. The reduction mechanism 34b also transmits the reduced power to the drum 33, causing the drum 33 to rotate. The reduction mechanism 34b includes, for example, multiple gears, which reduce the power output by the second motor 34a.

[0059] The drum 33 is wound with a string member 51 and rotates to wind or unwind the string member 51. The drum 33 has a rotating shaft attached at its center of rotation. In the example shown in Figure 8, the axis of the rotating shaft is perpendicular to the direction in which the first device unit 31A and the second device unit 31B are aligned (also called the front-to-back direction or first direction) and extends horizontally (second direction). Therefore, the drum 33 can rotate in a first rotation direction for winding the string member 51 and in a second rotation direction opposite to the first rotation direction for unwinding the string member 51, by power transmitted from the rotating unit 34. Specifically, the first control device 41 controls the winding or unwinding of the string member 51 by each drum 33 by controlling the rotation speed and rotation direction of each second motor 34a by controlling the inverter 45.

[0060] In the above explanation, the example given was that the axis of rotation of the drum 33 extends in the second direction. However, the axis of rotation only needs to extend in a direction at least perpendicular to the first direction.

[0061] Furthermore, the first device unit 31A (drive unit 31) may have a rotation restricting mechanism. The rotation restricting mechanism is a mechanism that allows rotation in a first rotational direction and can switch between allowing and preventing rotation in a second rotational direction. In other words, the rotation restricting mechanism allows winding of the string member 51 and can switch between allowing and preventing unwinding of the string member 51. The rotation restricting mechanism is a ratchet mechanism that can switch between allowing and preventing rotation in a second rotational direction depending on the supplied power.

[0062] The rotation restricting mechanism comprises a claw member, a biasing member, and a solenoid. The claw member is engageable with a latch gear attached to the drum 33. The biasing member is a biasing spring (spring) that biases the claw member in the direction of engagement with the latch gear. The solenoid is driven by an applied voltage to move the claw member in the opposite direction to the engagement direction, against the biasing spring.

[0063] Therefore, in the rotation restricting mechanism, no voltage is applied to the solenoid part, and the claw member is controlled by a biasing spring. When the claw is engaged with the latch gear, it allows rotation in the first rotational direction and prevents rotation in the second rotational direction (first state). On the other hand, when the solenoid is driven and the engagement between the claw member and the latch gear is released, the rotation restricting mechanism allows rotation in both the first and second rotational directions (second state).

[0064] Furthermore, the first device unit 31A does not need to be equipped with the above-mentioned rotation restricting mechanism if the second motor 34a is a motor with a brake. In such a case, the motor with a brake is, for example, an electromagnetic motor with a brake, and the armature can be attracted to either the clutch plate or the brake plate, allowing and preventing rotation in the first and second rotation directions.

[0065] Therefore, when the first control device 41 controls the inverter 45 to unwind or unwind the string member 51 by the drive device 31 (first device unit 31A), it applies a voltage to the solenoid part of the rotation restricting mechanism of the first device unit 31A and switches to the second state. On the other hand, when the first control device 41 controls the inverter 45 to wind up the string member 51 by the first device unit 31A, it may switch the rotation restricting mechanism of the first device unit 31A to the second state or maintain the first state.

[0066] Next, the second device section 31B will be described in detail. The second device section 31B constitutes at least a part of the state detection device 110 (detection device). In this embodiment, the second device section 31B constitutes the state detection device 110 (detection device). Figure 9 is a first perspective view showing the interior of the second device section 31B in the first embodiment. Figure 10 is a second perspective view showing the interior of the second device section 31B in the first embodiment. Figure 11 is a plan view showing the interior of the second device section 31B in the first embodiment.

[0067] As shown in Figures 9 to 11, the second device section 31B has a pair of pulleys 36 and 37. A string member 51 is wound around the pair of pulleys 36 and 37. The pair of pulleys 36 and 37 have winding sections 36a1 and 37a1 around which the string member 51 is wound. The pair of pulleys 36 and 37 have their rotation axes 36b and 37b arranged parallel to each other and spaced apart. The string member 51 connected to the work device 61 is wound around one of the pair of pulleys 36 and 37 in the second device section 31B, then around the other pulley 37, and then wound around the drum 33 in the first device section 31A. For this reason, one of the pair of pulleys 36 and 37 is located on the work device 61 side, and the other pulley 37 is located on the first device section 31A side.

[0068] In the following explanation, one pulley 36 located on the working device 61 side may be referred to as the "first pulley," and the other pulley 37 located on the first device section 31A side may be referred to as the "second pulley."

[0069] Furthermore, the second device unit 31B has a rotation sensor 46a1 that detects the rotation of at least one of the pair of pulleys 36 and 37. In this embodiment, the rotation sensor 46a1 is a sensor that detects the rotation of the first pulley 36. The rotation sensor 46a1 constitutes part of the displacement amount detection device 46a. The rotation sensor 46a1 is an incremental or absolute rotary encoder, etc. The rotation sensor 46a1 is connected to the first control device 41 via wired or wireless communication and outputs the detection result (rotation of the first pulley 36) to the first control device 41. The first control device 41 can calculate the displacement length L of the string member 51 per predetermined time based on the detection result output from the rotation sensor 46a1 and calculation formulas pre-stored in the storage device 42. Specifically, the first control device 41 calculates the displacement length L of the string member 51 by integrating the rotation angle Δθ [rad] of the first pulley 36 detected by the rotation sensor 46a1 with the radial size (diameter 2R) of the first pulley 36 (L = 2R * Δθ). Therefore, the first control device 41 can obtain the displacement length L of each string member 51 connecting the flight device 11 and the work device 61.

[0070] The pair of pulleys 36, 37 and the rotation sensor 46a1 constitute part of the state detection device 110 (detection device). In other words, the state detection device 110 (detection device) has a pair of pulleys 36, 37 and a rotation sensor 46a1.

[0071] Furthermore, the second device section 31B has a bracket 38 that holds a pair of pulleys 36 and 37. The bracket 38 also holds the rotation sensor 46a1 along with the pair of pulleys 36 and 37. The bracket 38, like the pair of pulleys 36, 37 and the rotation sensor 46a1, also constitutes part of the state detection device 110 (detection device). In other words, the state detection device 110 (detection device) has the bracket 38 in addition to the pair of pulleys 36, 37 and the rotation sensor 46a1.

[0072] The bracket 38 holds the pair of pulleys 36 and 37 so that they can pivot around an axis parallel to the rotation axes 36b and 37b of the pair of pulleys 36 and 37. That is, the bracket 38 holds each of the members it holds (the pair of pulleys 36 and 37, the rotation sensor 46a1, etc.) around the axis of the pivot shaft 38a and is attached to the second housing 32B via the pivot shaft 38a. Therefore, each member held by the bracket 38 can pivot relative to the second housing 32B around the axis of the pivot shaft 38a via the bracket 38.

[0073] In this embodiment, the second device section 31B has an auxiliary pulley 39 in addition to the pair of pulleys 36 and 37. The auxiliary pulley 39 has a string member 51 wound around it, similar to the pair of pulleys 36 and 37. For this reason, the auxiliary pulley 39 has a winding section 39a1 around which the string member 51 is wound. The auxiliary pulley 39 has its rotating shafts 36b, 37b, and 39b parallel to and spaced apart from the pair of pulleys 36 and 37, and is positioned adjacent to the other pulley 37 (second pulley). Specifically, the auxiliary pulley 39 is positioned between the second pulley 37 and the first device section 31A. For this reason, the string member 51 is wound around the auxiliary pulley 39 between the second pulley 37 and the drum 33. The auxiliary pulley 39 constitutes part of the state detection device 110 (detection device). In other words, the state detection device 110 (detection device) has the auxiliary pulley 39. Furthermore, the auxiliary pulley 39 is held in place by the bracket 38, just like the pair of pulleys 36 and 37.

[0074] A pair of pulleys 36, 37, an auxiliary pulley 39, and a bracket 38 are housed inside the casing 32B (second housing). The bracket 38 is attached to the second housing 32B. In this way, the pair of pulleys 36, 37 and the rotation sensor 46a1 are attached to the second housing 32B via the bracket 38. In the example shown in Figures 8 to 11, the rotation sensor 46a1 protrudes from the outside of the second housing 32B.

[0075] Furthermore, the second device unit 31B has a load sensor 46b1. The load sensor 46b1 detects the load acting on the pulley 36, 37 of the pair of pulleys 36, 37 that is closer to the work device 61. The load sensor 46b1 constitutes part of the tension detection device 46b. In this embodiment, since the first pulley 36 of the pair of pulleys 36, 37 is located closer to the work device 61, the load sensor 46b1 detects the load acting on the first pulley 36. The load sensor 46b1 is, for example, a load cell. In this embodiment, the load sensor 46b1 is a compression type load cell and detects the load acting from the bracket 38. The load sensor 46b1 is connected to the first control device 41 via wired or wireless communication and outputs the detection result (load acting on the first pulley 36) to the first control device 41. The first control device 41 can calculate the tension acting on the string members 51 based on the detection results output from the load sensor 46b1 and calculation formulas pre-stored in the storage device 42. Accordingly, the first control device 41 can obtain the tension acting on each of the string members 51 connecting the flight device 11 and the work device 61.

[0076] The bracket 38, the pair of pulleys 36 and 37, the auxiliary pulley 39, and the rotation sensor 46a1 will be described in detail below. As shown in Figures 8 to 11, the bracket 38 has a pair of retaining members 38b. The pair of retaining members 38b each hold the rotation axes 36b and 37b of the pair of pulleys 36 and 37, the rotation axis 39b of the auxiliary pulley 39, and the pivot axis 38a, respectively. The pair of retaining members 38b are plate-shaped members. The pair of retaining members 38b are arranged extending in a first direction. The pair of retaining members 38b are also arranged facing each other with a gap between them in a second direction.

[0077] A bearing (fourth bearing) for holding the oscillating shaft 38a is formed at the base end of the pair of retaining members 38b. For example, a bearing is embedded in the fourth bearing, and the oscillating shaft 38a is held in place by this bearing. The base ends of the pair of retaining members 38b are connected by a cylindrical portion through which the oscillating shaft 38a is inserted.

[0078] The middle portion of the pair of holding members 38b has a rotating shaft 39b (hereinafter referred to as the third support shaft) of the auxiliary pulley 39. A bearing (third bearing) is formed to hold the auxiliary pulley 39. For example, a bearing is embedded in the third bearing, and this bearing holds the third support shaft 39b of the auxiliary pulley 39. For this reason, the auxiliary pulley 39 is positioned between the pair of holding members 38b at an intermediate point.

[0079] Furthermore, in addition to the third bearing, a bearing (second bearing) is formed in the middle of the pair of retaining members 38b to hold the rotation axis 37b of the second pulley 37 (hereinafter sometimes referred to as the second support axis). The second bearing is positioned closer to the tip than the third bearing. For example, a bearing is embedded in the second bearing, and this bearing holds the second support axis 37b of the second pulley 37. For this reason, the second pulley 37 is positioned between the pair of retaining members 38b in the middle of the pair of retaining members 38b.

[0080] A bearing (first bearing) is formed at the tip of the pair of retaining members 38b to hold the rotation axis 36b (hereinafter sometimes referred to as the first support axis) of the first pulley 36. For example, a bearing is embedded in the first bearing, and this bearing holds the first support axis 36b of the first pulley 36. For this reason, the first pulley 36 is positioned between the pair of retaining members 38b at their tip.

[0081] Furthermore, the tips of the pair of retaining members 38b are connected by a connecting portion 38c. The connecting portion 38c includes an upper connecting portion 38c1 that connects the upper ends of the tips of the pair of retaining members 38b, and a lower connecting portion 38c2 that connects the lower ends of the tips of the pair of retaining members 38b. Therefore, the first pulley 36 is located in the space 21 between the upper connecting portion 38c1 and the lower connecting portion 38c2. The upper connecting portion 38c1 and the lower connecting portion 38c2 are substantially plate-shaped portions, with their plate surfaces facing in the vertical direction.

[0082] The first pulley 36 is a substantially disc-shaped pulley and is rotatable integrally with the first support shaft 36b. The first support shaft 36b is connected to the input shaft of a rotation sensor 46a1, which can detect the rotation of the first pulley 36. A groove 36a is formed along the circumferential direction on the edge of the first pulley 36, and the string member 51 is wound around this groove 36a. For this reason, in the following description, the winding portion 36a1 of the first pulley 36 will be described as the deepest part of the groove 36a.

[0083] The second pulley 37 is a substantially cylindrical pulley and is rotatably supported on the second support shaft 37b. Unlike the first pulley 36, the second pulley 37 is substantially cylindrical and does not have a groove formed on its outer circumference around which the string member 51 is wound. For this reason, in the following description, the third support shaft 39b will be described as the outer circumference of the second pulley 37. Note that the radial size (radius R2) of the winding portion 37a1 of the second pulley 37 is smaller than the radial size (radius R1) of the winding portion 36a1 of the first pulley 36 (R2 <R1)。

[0084] The auxiliary pulley 39 is a substantially cylindrical pulley and is rotatably supported on the third support shaft 39b. Unlike the first pulley 36, the auxiliary pulley 39 is substantially cylindrical, similar to the second pulley 37. Therefore, the outer circumference of the auxiliary pulley 39 does not have a groove around which the string member 51 is wound. The radial size (radius R3) of the winding portion 39a1 of the auxiliary pulley 39 is approximately the same as the radius R2 of the winding portion 37a1 of the second pulley 37, and smaller than the radius R1 of the winding portion 36a1 of the first pulley 36 (R3). <R1)。

[0085] The positional relationships of the string member 51, the first pulley 36, the second pulley 37, and the auxiliary pulley 39 will be explained in detail below, mainly using Figure 12. First, the positional relationships of the string member 51, the first pulley 36, and the second pulley 37 will be explained.

[0086] As shown in Figure 12, the string member 51 is wrapped around a pair of pulleys 36 and 37. The vertical range of the winding portion 36a1 of one of the pulleys 36 (first pulley) overlaps, at least partially, with the vertical range of the winding portion 37a1 of the other pulley 37 (second pulley). Also, the upper end of the winding portion 36a1 of one of the pulleys 36 (first pulley) is located above the lower end of the winding portion 37a1 of the other pulley 37 (second pulley). As a result, the string member 51 is wrapped around the pair of pulleys 36 and 37 in a roughly S-shape.

[0087] Specifically, the through hole 32a formed in the drive unit 31 is formed in the lower part (bottom wall) of the second housing 32B. Furthermore, in a plan view, the through hole 32a is the winding of the first pulley 36. It is formed at a position that substantially coincides with the front part of the outer circumference of part 36a1. Therefore, the string member 51 connected to the working device 61 extends from the working device 61, passes through the insertion hole 32a of the second housing 32B, passes over the front part of the outer circumference of the winding part 36a1 of the first pulley 36, and extends toward the lower part of the outer circumference of the third support shaft 39b.

[0088] Here, in order to reliably transmit the movement of the string member 51 to the pulley (first pulley 36 in this embodiment) whose rotation is detected by the rotation sensor 46a1, it is preferable to wrap the string member 51 around a relatively long section of the winding portion 36a1 of the pulley 36. Figure 13 is a diagram showing the positional relationship of a pair of pulleys 36 and 37 in the first embodiment. As shown in Figure 13, in this embodiment, the position of the second pulley 37 is set based on the following equation (1) in order to wrap the string member 51 around a section of the winding portion 36a1 of the first pulley 36 with a central angle θ [rad].

[0089] TIFF2026106263000002.tif17155 where x: x coordinate of the second support axis of the second pulley. y: y-coordinate of the second support axis of the second pulley R1: Radius of the winding portion of the first pulley R2: Radius of the winding portion of the second pulley θ: Angle of the section around which the string member is wrapped on the winding part of the first pulley.

[0090] Based on the above formula (1), by setting the position of the second pulley 37, the vertical range of the winding portion 36a1 of the first pulley 36 can be made to overlap with the vertical range of the third support shaft 39b in at least part. In addition, the upper end of the winding portion 36a1 of the first pulley 36 can be positioned above the lower end of the third support shaft 39b. As a result, the string member 51 is wound around the pair of pulleys 36 and 37 in a roughly S-shape.

[0091] In this embodiment, the position of the second pulley 37 is set so that the string member 51 is wound around the winding portion 36a1 of the first pulley 36 in a 110° section. In Figure 13, the x-coordinate indicates the position coordinate in the first direction, and the y-coordinate indicates the position coordinate in the vertical direction. In Figure 13, the position of the first support shaft 36b of the first pulley 36 in the first direction is shown as zero in the x-coordinate, and the position in the vertical direction is shown as zero in the y-coordinate. In Figure 13, the area in which the second support shaft 37b of the second pulley 37 can be positioned when the string member 51 is wound around the winding portion 36a1 of the first pulley 36 in a 110° section is shown with hatching.

[0092] In this embodiment, the position of the second pulley 37 is set so that the string member 51 is wound around the winding portion 36a1 of the first pulley 36 at a 110° interval. However, this interval may be 100° or 120°, and is not particularly limited.

[0093] Next, the positional relationship between the string member 51, the second pulley 37, and the auxiliary pulley 39 will be described. As shown in Figure 12, the string member 51 is wrapped around the other pulley 37 (second pulley) and the auxiliary pulley 39. The vertical range of the wrapping portion 37a1 of the other pulley 37 (second pulley) overlaps at least partially with the vertical range of the wrapping portion 39a1 of the auxiliary pulley 39. Also, the lower end of the wrapping portion 37a1 of the other pulley 37 (second pulley) is located below the upper end of the wrapping portion 39a1 of the auxiliary pulley 39. As a result, the string member 51 is wrapped around the second pulley 37 and the auxiliary pulley 39 in a roughly S-shape.

[0094] Specifically, the string member 51 passes through the communication hole 32b formed in the second housing 32B and reaches the drum 33 of the first housing 32A. The communication hole 32b is formed on the other side (rear) of the second housing 32B. In addition, the communication hole 32b substantially coincides with the lower end of the winding portion 37a1 of the second pulley 37 and / or the upper end of the winding portion 39a1 of the auxiliary pulley 39 in the vertical direction. Therefore, the string member 51 extends toward the lower part of the outer circumference of the winding portion 37a1 of the second pulley 37, then passes through the upper part of the outer circumference of the winding portion 39a1 of the auxiliary pulley 39, and extends toward the communication hole 32b.

[0095] Next, the arrangement of the load sensor 46b1 and the detection of load by the load sensor 46b1 will be described. The load sensor 46b1 detects the load acting on the first pulley 36 by detecting the load acting on the bracket 38. For this reason, the bracket 38 constitutes a link mechanism that converts the tension acting on the string member 51 into a load acting on the first pulley 36.

[0096] As shown in Figures 10 and 12, in this embodiment, the second device unit 31B has a pair of load sensors 46b1. The pair of load sensors 46b1 are positioned in the second housing 32B facing the lower part of the bracket 38. Specifically, the pair of load sensors 46b1 are positioned on the upper surface of the lower part (bottom wall) of the second housing 32B. In particular, the pair of load sensors 46b1 are positioned facing the lower part of the tip of the bracket 38. More specifically, the pair of load sensors 46b1 are positioned facing the lower surface of the lower connecting part 38c2. Furthermore, the pair of load sensors 46b1 are positioned adjacent to each other in the second direction.

[0097] Therefore, as the tension acting on the string member 51 increases, the load acting on the first pulley 36 from the string member 51 increases. As a result, since the bracket 38 can swing freely around the pivot axis 38a, the load acting on the pair of load sensors 46b1 from the lower connecting portion 38c2 also increases (see Figure 14).

[0098] On the other hand, when the tension acting on the string member 51 decreases, the load acting from the string member 51 to the first pulley 36 decreases. As a result, since the bracket 38 can swing freely around the pivot axis 38a, the load acting from the lower connecting portion 38c2 to the pair of load sensors 46b1 also decreases.

[0099] The first control device 41 adopts the larger of the two detected loads, the smaller of the two loads, or the average of these two loads, from the detection results output from the pair of load sensors 46b1 as the load acting on the first pulley 36. Based on this, the first control device 41 can calculate the tension acting on the string member 51 based on the load acting on the first pulley 36 and calculation formulas pre-stored in the storage device 42.

[0100] Furthermore, although a compression-type load cell was used as an example for the load sensor 46b1 in this embodiment, the load sensor 46b1 may be a tension-type load cell. In such a case, the tension-type load cell is attached to the top wall that constitutes the upper part of the second housing 32B and detects the load acting from the upper connecting portion 38c1.

[0101] Furthermore, although this embodiment describes a case where the rotation sensor 46a1 detects the rotation of the first pulley 36, the rotation sensor 46a1 may also detect the rotation of the second pulley 37 instead of the first pulley 36. [Second Embodiment] Figure 15 shows another embodiment (second embodiment) of the work support system 1, and Figure 16 shows the drive device 31 in the second embodiment. Figure 17 is a perspective view showing the inside of the second device unit 31B in the second embodiment. The state detection device 110 (detection device) of the first embodiment each had one rotation sensor 46a1, but the detection device 110 of the second embodiment has multiple rotation sensors 46a1. Hereinafter, the detection device of the second embodiment will be described focusing on its configuration which differs from the embodiment described above (first embodiment), and components common to the first embodiment will be denoted by the same reference numerals and detailed explanations will be omitted.

[0102] As shown in Figures 15 to 17, the state detection device 110 (detection device) has a pair of rotation sensors 46a1. The pair of rotation sensors 46a1 detect the rotation of a pair of pulleys 36 and 37, respectively. In the following description, the rotation sensor 46a11 that detects the rotation of the first pulley 36 will be referred to as the "first rotation sensor," and the rotation sensor 46a12 that detects the rotation of the second pulley 37 will be referred to as the "second rotation sensor." The input shaft of the first rotation sensor 46a11 is connected to the first support shaft 36b of the first pulley 36, and can detect the rotation of the first pulley 36. The input shaft of the second rotation sensor 46a12 is connected to the second support shaft 37b of the second pulley 37, and can detect the rotation of the second pulley 37.

[0103] In the second embodiment, the second pulley 37 differs from the second pulley 37 in the first embodiment in that it is a substantially disc-shaped pulley similar to the first pulley 36. Furthermore, the second pulley 37 is rotatable integrally with the second support shaft 37b. The second support shaft 37b is connected to the input shaft of the rotation sensor 46a1. A groove 37a is formed along the circumferential direction on the edge of the second pulley 37, and the string member 51 is wrapped around this groove 37a. For this reason, in the following description, the wrapping portion 37a1 of the second pulley 37 will be described as the deepest part of the groove 37a.

[0104] Figure 18 shows the positional relationship between the pulleys 36, 37 and the string member 51 of the second device section 31B in the second embodiment. As shown in Figure 18, the radial sizes of the winding portions 36a1 and 37a1 of the pair of pulleys 36 and 37 are different. In this embodiment, the radius R2 of the winding portion 37a1 of the second pulley 37 is smaller than the radius R1 of the winding portion 36a1 of the first pulley 36 (R2 <R1)。

[0105] In the second embodiment, the example described is when the radius R2 of the winding portion 37a1 of the second pulley 37 is smaller than the radius R1 of the winding portion 36a1 of the first pulley 36. However, it is sufficient that the radial sizes of the winding portions 36a1 and 37a1 of at least one pair of pulleys 36 and 37 are different, and the radius R2 of the winding portion 37a1 of the second pulley 37 may be larger than the radius R1 of the winding portion 36a1 of the first pulley 36 (R2 > R1).

[0106] The first control device 41 calculates the length L (displacement length of the string member 51) of the winding or unwinding of the string member 51 based on the detection result of one of the pair of rotation sensors 46a11 (first rotation sensor) and the detection result of the other rotation sensor 46a12 (second rotation sensor).

[0107] Specifically, the first control device 41 calculates the outer diameter of the string member 51 based on the detection result of one rotation sensor 46a11 (first rotation sensor) and the detection result of the other rotation sensor 46a12 (second rotation sensor). The first control device 41 also calculates the length of the string member 51 that has been wound up or unwound based on the detection result of either one rotation sensor 46a1 or the other rotation sensor 46a1 and the outer diameter of the string member 51.

[0108] Figure 19 illustrates the calculation of the displacement length L of the string member 51 in the second embodiment. The following explanation will mainly use Figure 19 to describe the calculation of the displacement length L of the string member 51 in the second embodiment. The first control device 41 obtains the rotation of the first pulley 36 and the rotation of the second pulley 37 per predetermined time from the detection results of the first rotation sensor 46a11 and the detection results of the second rotation sensor 46a12, and calculates the radial size (outer diameter) of the string member 51 based on the following simultaneous equations (2) and (3). In this embodiment, the first control device 41 indirectly calculates the outer diameter of the string member 51 by calculating the radius r of the string member 51. The process by which the first control device 41 calculates the radial size of the string member 51 is called the calibration process.

[0109] TIFF2026106263000003.tif11155 However, L: Displacement length of the string member R1: Radius of the winding portion of the first pulley r: Radius of the string member Δθ1: Rotation angle of the first pulley per predetermined time.

[0110] TIFF2026106263000004.tif10155 However, L: Displacement length of the string member R2: Radius of the winding portion of the second pulley r: Radius of the string member Δθ2: Rotation angle of the second pulley per given time.

[0111] The first control device 41, after calculating the radial size of the string member 51 (radius r of the string member 51) in the calibration process, can calculate the displacement length L of the string member 51 based on either equation (2) or equation (3).

[0112] The first control device 41 may perform the calibration process when it first operates the drive unit 31 after the flight device 11 is started, and the timing of its execution is not particularly limited. When the first control device 41 calculates the radius r of the string member 51, it stores the radius r of the string member 51 in the first memory or storage device 42. The first control device 41 also obtains the radius r of the string member 51 from the first memory or storage device 42 and uses it to detect the first rotation sensor 46a11. Based on the output result and equation (2), or the detection result of the second rotation sensor 46a12 and equation (3), the displacement length L of the string member 51 is calculated.

[0113] In this embodiment, the first control device 41 calculates the displacement length L of the string member 51 based on the detection result of the first rotation sensor 46a11 and equation (2), and if a malfunction occurs in the first rotation sensor 46a11, it calculates the displacement length L of the string member 51 based on the detection result of the second rotation sensor 46a12 and equation (3).

[0114] Furthermore, the first control device 41 may calculate the displacement length L of the string member 51 based on the detection result of the second rotation sensor 46a12 and equation (3), and if a malfunction occurs in the second rotation sensor 46a12, it may calculate the displacement length L of the string member 51 based on the detection result of the first rotation sensor 46a11 and equation (2). In addition, the first control device 41 may calculate a displacement length L (second displacement length L2) based on the displacement length L of the string member 51 calculated based on the detection result of the first rotation sensor 46a11 and equation (2) (first displacement length L1) and the displacement length L of the string member 51 calculated based on the detection result of the second rotation sensor 46a12 and equation (3), and adopt this displacement length L as the displacement length L used for displaying information on the display device 85 and for controlling the drive device 31. In this case, the first control device 41 adopts the longer of the first displacement length L1 and the second displacement length L2, the shorter of the two, or the average value as the displacement length L used for display and control.

[0115] Furthermore, the first control device 41 may periodically perform the calibration process described above to update the radius r of the string member 51. For example, the first control device 41 may count the operating time, flight time, or work time of the flight device 11, and perform the calibration process if any of these exceeds a predetermined time. Alternatively, the first control device 41 may count the cumulative time that the drive device 31 has performed winding or unwinding the string member 51, and perform the calibration process if the cumulative time exceeds a predetermined time. Alternatively, the first control device 41 may count the number of times that the drive device 31 has performed winding or unwinding the string member 51, and perform the calibration process if the number exceeds a predetermined number.

[0116] Furthermore, the first control device 41 may perform calibration processing continuously, rather than periodically, and constantly update the radius r of the string member 51.

[0117] The first control device 41 may control the drive device 31 based on the calculated displacement length L of the string member 51. For example, if the remote device 81 accepts an operation on the relative position of the work device 61 with respect to the machine body 12, i.e., the length of the string member 51 from the connecting device 65 of the work device 61 to the drive device 31, the first control device 41 controls the drive device 31 based on the displacement length L of the string member 51 calculated by equation (2) or equation (3) above so that it reaches the target length instructed by the remote device 81.

[0118] Furthermore, the first control device 41 may calculate the altitude of the work device 61 based on the altitude of the machine 12 detected by the altitude detection device 46d and the calculated displacement length L of the string member 51. In such a case, the first control device 41 controls the drive device 31 to wind up or unwind the string member 51, or controls the multiple rotors 15 to change the altitude of the machine 12, in order to maintain the altitude of the work device 61 at a predetermined altitude.

[0119] Furthermore, the first control device 41 may calculate the relative position of the work device 61 with respect to the machine body 12 based on the calculated displacement length L of the string member 51, and determine whether the work device 61 is located between the skids 19 (whether it is located in space 21) based on the calculation result and the vertical dimensions of the work device 61 and the skids 19.

[0120] In the first and second embodiments described above, the drive device 31 was explained using the example of the case where the flight device 11 is equipped with a drive device 31. However, the drive device 31 may be attached to other work devices 61. For example, it may be used in a winch that is attached to agricultural machinery such as tractors, construction machinery such as compact track loaders and backhoes, and work devices 61 (implements and attachments) attached thereto, and that winds up or unwinds the rope member 51. For example, the drive device 31 of the present invention may be used in a winch that is connected to a tractor and used to pull objects such as fallen trees or pipe members. Alternatively, the drive device 31 of the present invention may be used in a winch that is attached to the boom of a backhoe and used to suspend objects.

[0121] A preferred embodiment of the present invention provides the flying device 11 described in the following items. (Item A1) The flying device 11 comprises an aircraft body 12, a plurality of rotors 15 attached to the aircraft body 12 and capable of changing the altitude of the aircraft body 12, a drive unit 31 attached to the aircraft body 12 and capable of changing the relative position of the work device 61 with respect to the aircraft body 12 by winding and unwinding a string member 51 connected to the work device 61, and a detection device 110 that detects the length by which the drive unit 31 has wound or unwound the string member 51, wherein the detection device 110 has a pair of pulleys 36, 37 with their rotation axes 36b, 37b arranged parallel to each other and spaced apart, and a rotation sensor 46a1 that detects the rotation of at least one of the pair of pulleys 36, 37, and the string member 51 is wound between the pair of pulleys 36, 37.

[0122] According to the flight device 11 related to item A1, since the string member 51 is wrapped between a pair of pulleys 36 and 37, the detachment of the string member 51 from the pulleys 36 and 37 can be suppressed. As a result, the pair of pulleys 36 and 37 can rotate appropriately when the string member 51 is wound up or unwound, and the detection device 110 can accurately detect changes in the length of the string member 51 by having the rotation sensor 46a1 detect the rotation of the pulleys 36 and 37. (Item A2) The flying device 11 according to item A1, wherein the pair of pulleys 36, 37 have winding portions 36a1, 37a1 around which the string member 51 is wound, and the vertical range of the winding portion 36a1 of one of the pair of pulleys 36, 37 overlaps at least partially with the vertical range of the winding portion 37a1 of the other pulley 37.

[0123] According to the flight device 11 related to item A2, the contact area between the string member 51 and the pair of pulleys 36 and 37 can be appropriately secured. Therefore, the detachment of the string member 51 from the pulleys 36 and 37 can be further suppressed. (Item A3) The flying device 11 according to item A2, wherein one pulley 36 is located closer to the working device 61 than the other pulley 37, and the upper end of the winding portion 36a1 of the one pulley 36 is located above the lower end of the winding portion 37a1 of the other pulley 37.

[0124] According to the flight device 11 related to item A3, the contact area between the string member 51 and the pair of pulleys 36 and 37 can be more appropriately secured. Therefore, the detachment of the string member 51 from the pulleys 36 and 37 can be more reliably suppressed. (Item A4) The detection device 110 has the pair of pulleys 36, 37 and the rotating shafts 36b, 37b spaced parallel to each other, and an auxiliary pulley 39 positioned adjacent to the other pulley 37, and the string member 51 is wrapped between the other pulley 37 and the auxiliary pulley 39, as described in item A3.

[0125] According to the flight device 11 in item A4, the contact area between the string member 51 and the other pulley 37 can be appropriately secured. Therefore, it is possible to prevent the string member 51 from falling off the other pulley 37, and as a result of the string member 51 falling off the other pulley 37, it is possible to prevent the string member 51 from falling off the other pulley 36. (Item A5) The flight device 11 according to item A3 or A4, wherein the string member 51 is wrapped around the pair of pulleys 36, 37 in a substantially S-shape.

[0126] According to the flight device 11 related to item A5, the contact area between the string member 51 and the pair of pulleys 36 and 37 can be more appropriately secured. Therefore, the detachment of the string member 51 from the pulleys 36 and 37 can be more reliably suppressed. (Item A6) The flight device 11 according to any one of items A1 to A5, wherein the detection device 110 has a load sensor 46b1 that detects the load acting on the pulley 36, 37 of the pair of pulleys 36, 37 that is from the work device 61.

[0127] According to the flying device 11 related to item A6, the string member 51 will not detach from the pulleys 36 and 37. Furthermore, since a load is applied to the pulleys 36 and 37, the load sensor 46b1 can accurately detect the load. In addition, it is not necessary to provide a load cell or other sensor on the string member 51, and the harness connected to the load sensor 46b1 can be easily routed. (Item A7) The detection device 110 has a bracket 38 that holds the pair of pulleys 36 and 37 so as to be able to swing around an axis parallel to the rotation axes 36b and 37b of the pair of pulleys 36 and 37 with respect to the load sensor 46b1, and the load sensor 46b1 detects the load acting on the bracket 38, as described in item A6.

[0128] According to the flight device 11 related to item A7, the load sensor 46b1 can indirectly detect the load acting on the pulleys 36 and 37 without hindering the rotation of the pulleys 36 and 37. (Item B1) The flying device 11 comprises an aircraft body 12, a plurality of rotors 15 attached to the aircraft body 12 and capable of changing the altitude of the aircraft body 12, a drive device 31 attached to the aircraft body 12 and capable of changing the relative position of the work device 61 with respect to the aircraft body 12 by winding and unwinding a string member 51 connected to the work device 61, and a detection device 110 that detects the length by which the drive device 31 has wound or unwound the string member 51, wherein the detection device 110 comprises a pair of pulleys 36, 37 having winding portions 36a1, 37a1 around which the string member 51 is wound and having their rotation axes 36b, 37b arranged parallel to each other and spaced apart, and a pair of rotation sensors 46a1 that detect the rotation of the pair of pulleys 36, 37, respectively, wherein the radial sizes of the winding portions 36a1, 37a1 of the pair of pulleys 36, 37 are different.

[0129] According to the flying device 11 related to item B1, the detection device 110 can detect the amount of movement of the string member 51 at different rotations using each rotation sensor 46a1. Therefore, based on the rotations detected by the pair of rotation sensors 46a1, the length of winding or unwinding of the string member 51 can be accurately detected. (Item B2) The flying device 11 according to item B1, further comprising a control device 41 that calculates the length of the cord member 51 that has been wound up or unwound based on the detection result of one of the pair of rotation sensors 46a11 and the detection result of the other rotation sensor 46a12, and controls the drive device 31 based on that length.

[0130] According to the flight device 11 related to item B2, the control device 41 can control the drive device 31 based on the precise length of the string member 51. Therefore, the flight device 11 can appropriately change or maintain the relative position of the work device 61 with respect to the aircraft body 12. (Item B3) The control device 41 calculates the outer diameter of the string member 51 based on the detection result of one rotation sensor 46a11 and the detection result of the other rotation sensor 46a12, and calculates the length of the string member 51 that has been wound up or unwound based on the detection result of one rotation sensor 46a11 or the detection result of the other rotation sensor 46a12 and the outer diameter of the string member 51, as described in item B2.

[0131] According to the flight device 11 related to item B3, the control device 41 can calculate the length of the center of the string member 51 by considering the outer diameter of the string member 51 and determining the length after winding or unwinding the string member 51. Therefore, the control device 41 can calculate the length of the string member 51 more accurately. (Item B4) The aforementioned string member 51 is wrapped around the pair of pulleys 36, 37 in the flying device 11 according to any one of items B1 to B3.

[0132] According to the flight device 11 related to item B4, the string member 51 is wrapped around a pair of pulleys 36 and 37, so that the string member 51 does not fall off the pulleys 36 and 37. Therefore, the pair of pulleys 36 and 37 can rotate appropriately when the string member 51 is wound up or unwound, and the detection device 110 detects the rotation of the pulleys 36 and 37 with a rotation sensor 46a1. This allows for accurate detection of changes in the length of the string member 51.

[0133] Although the present invention has been described above, the embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of the present invention is indicated by the claims rather than by the foregoing description, and all modifications within the meaning and scope equivalent to the claims are intended to be included. [Explanation of symbols]

[0134] 11: Flight equipment 12: Aircraft 15: Rotor 31: Drive unit 36: 1st pulley (pulley) 36a1: Winding section 36b: First pivot shaft (rotation axis) 37:Second pulley (pulley) 37a1: Winding section 37b: Second support shaft (rotation axis) 38: Bracket 39: Auxiliary pulley 46a1: Rotation sensor 46b1: Load sensor 51: String component 61: Work equipment 110: Detection device

Claims

1. The aircraft and, Multiple rotors attached to the aircraft, capable of changing the altitude of the aircraft, A drive device that is attached to the machine body and capable of changing the relative position of the work device with respect to the machine body by winding and unwinding a string member connected to the work device, A detection device that detects the length over which the drive device has wound up or unwound the string member, Equipped with, The detection device is A pair of pulleys arranged with their axes of rotation parallel to each other and spaced apart, A rotation sensor that detects the rotation of at least one of the pair of pulleys, It has, The aforementioned string member is a flying device that is wound between the pair of pulleys.

2. The pair of pulleys each have a winding portion around which the string member is wound, The flight device according to claim 1, wherein the vertical range of the winding portion of one of the pair of pulleys overlaps at least a portion with the vertical range of the winding portion of the other pulley.

3. The aforementioned pulley is located closer to the working device than the other pulley. The flying device according to claim 2, wherein the upper end of the winding portion of one pulley is located above the lower end of the winding portion of the other pulley.

4. The detection device has an auxiliary pulley positioned adjacent to the other pulley, with the pair of pulleys and the rotating shaft spaced parallel to each other. The flight device according to claim 3, wherein the string member is wrapped between the other pulley and the auxiliary pulley.

5. The flight device according to claim 3, wherein the string member is wrapped around the pair of pulleys in a substantially S-shape.

6. The flight device according to any one of claims 1 to 5, wherein the detection device has a load sensor that detects the load acting on the pulley of the pair of pulleys that is on the working device side.

7. The detection device has a bracket that holds the pair of pulleys so as to be able to swing around an axis parallel to the rotation axis of the pair of pulleys relative to the load sensor, The flight device according to claim 6, wherein the load sensor detects the load acting on the bracket.

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