Landing assistance device

Abstract

To prevent deformation and damage of a flying body caused by correction of an attitude of a position and a direction of the flying body, when the attitude is corrected after the flying body lands on a stage.SOLUTION: When a flying body 32 lands on a landing and takeoff surface 12a, a control device 16 moves any one position correction mechanism of position correction mechanisms 18R and 18L toward a center line O, and thereby corrects the attitude of the flying body 32. Then, the control device 16 moves the other position correction mechanism toward the center line O. Thereby, the flying body 32 is gripped by the position correction mechanisms 18R and 18L. When the flying body 32 lands on the position on the position correction mechanism 18 side, for example, the control device 16 previously moves the position correction mechanism 18R, and then moves the position correction mechanism 18L.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present disclosure relates to a device that assists the takeoff and landing of an aircraft, and more particularly to a device that corrects the attitude, such as the position and direction, of an aircraft that has landed on a stage. [Background technology]

[0002] BACKGROUND ART Air vehicles such as drones and unmanned aerial vehicles (UAVs) are known.

[0003] Patent Document 1 describes a drone port that allows drones to land on the roof of a vehicle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] German Patent Application Publication No. 102018205880 Summary of the Invention [Problem to be solved by the invention]

[0005] However, it is difficult for an aircraft to accurately land at a predetermined position on a stage such as a drone port in a predetermined orientation. Therefore, after the aircraft lands on the stage, a correction mechanism may be used to clamp the aircraft's legs from both sides to correct the aircraft's position, orientation, and other posture. However, depending on the orientation of the aircraft relative to the correction mechanism, such as when the angle of the aircraft's legs relative to the correction mechanism is large, the aircraft's legs may be excessively clamped by the correction mechanism before the aircraft's orientation is corrected, resulting in deformation or damage to the aircraft's legs.

[0006] The object of the present disclosure is to prevent deformation or damage to the aircraft caused by correcting its position, orientation, and other posture after it lands on a stage. [Means for solving the problem]

[0007] One aspect of the present disclosure is a stage where a flying object takes off and lands, a first position correction mechanism provided at one end of the stage and movable from the one end toward the inside of the stage, a second position correction mechanism provided at the other end facing the one end of the stage and movable from the other end toward the inside of the stage, and when the flying object lands on the stage, by moving either the first position correction mechanism or the second position correction mechanism, one of the position correction mechanisms, to the inside of the stage, the attitude of the flying object that has landed on the stage is corrected, and after that correction, by moving the other position correction mechanism to the inside of the stage, a control device that causes the first position correction mechanism and the second position correction mechanism to grip the flying object. The takeoff and landing assist device is characterized by having the above.

[0008] According to the above configuration, the attitude of the flying object is corrected by either the first position correction mechanism or the second position correction mechanism, and then by moving the other position correction mechanism inward, the flying object is sandwiched and gripped by the first position correction mechanism and the second position correction mechanism. When the first position correction mechanism and the second position correction mechanism are simultaneously moved inward to sandwich the flying object, depending on the orientation of the flying object that has landed on the stage, before the attitude of the flying object is corrected, the flying object may be excessively sandwiched by the first position correction mechanism and the second position correction mechanism, causing the flying object to deform or break. In contrast, by moving one of the position correction mechanisms inward to correct the attitude of the flying object and then moving the other position correction mechanism inward, it is possible to prevent the flying object from being excessively sandwiched by the first position correction mechanism and the second position correction mechanism before the attitude of the flying object is corrected. As a result, it is possible to correct the attitude of the flying object that has landed on the stage without deforming or damaging the flying object.

[0009] The takeoff and landing assistance device further includes means for detecting the type of the flying object that has landed on the stage, and the control device may change the amount of movement of the first position correction mechanism and the second position correction mechanism according to the detected type.

[0010] The takeoff and landing assistance device further includes means for detecting the position of the flying object that has landed on the stage, and the control device may change the order of moving the first position correction mechanism and the second position correction mechanism according to the detected position.

Advantages of the Invention

[0011] According to the present disclosure, when correcting the attitude of a flying object after the flying object has landed on a stage, it is possible to prevent deformation and damage of the flying object caused by the correction.

Brief Description of the Drawings

[0012] [Figure 1] It is a perspective view showing a takeoff and landing assistance device and a flying object. [Diagram 2] It is a plan view of the takeoff and landing assistance device viewed from above. [Figure 3] It is an exploded perspective view of the takeoff and landing assistance device. [Figure 4A] It is a side view of the correction mechanism 14R viewed from the edge 12c side. [Figure 4B] It is a side view of the correction mechanism 14L viewed from the edge 12d side. [Figure 5] It is a block diagram showing the configuration of a flying object system. [Figure 6] It is a perspective view showing a flying object that has landed on the stage of the takeoff and landing assistance device. [Figure 7] It is a perspective view showing the takeoff and landing assistance device and the flying object when the position correction mechanism 18R is moved. [Figure 8] It is a perspective view showing the takeoff and landing assistance device and the flying object when the position correction mechanism 18R is moved. [Figure 9] It is a plan view showing the takeoff and landing assistance device and the flying object when the position correction mechanism 18R is moved. [Figure 10] FIG. 10 is a perspective view showing a state in which the flying object is sandwiched between position correction mechanisms 18R and 18L. [Figure 11] 18 is a plan view showing a state in which the flying object is sandwiched between position correction mechanisms 18R and 18L. FIG. [Figure 12] 18 is a plan view showing a state in which the flying object is sandwiched between position correction mechanisms 18R and 18L. FIG. [Figure 13] FIG. 10 is a front view of the gripping mechanism 20R as seen from the edge 12b side. [Figure 14] FIG. 10 is a front view of the gripping mechanism 20R as seen from the edge 12b side. [Figure 15] 10 is a plan view showing the state in which the support legs of the aircraft are gripped by the gripping mechanism, as viewed from above. FIG. [Figure 16] FIG. 10 is a perspective view showing a state in which the support legs of the aircraft are gripped by a gripping mechanism. [Figure 17] FIG. 10 is a perspective view showing a state in which the flying object has been moved to the edge 12b. [Figure 18] 12 is a plan view showing the flying object moved to the edge 12b as seen from above. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, a takeoff and landing assistance device 10 according to an embodiment will be described with reference to Figures 1 and 2. Figure 1 is a perspective view showing the takeoff and landing assistance device 10 and an aircraft 32, and Figure 2 is a plan view of the takeoff and landing assistance device 10 as seen from above.

[0014] The takeoff and landing assistance device 10 is a device that assists the takeoff and landing of an air vehicle 32 such as a drone or unmanned aerial vehicle. When a drone is used as the air vehicle 32, the takeoff and landing assistance device 10 is sometimes called a drone port. The takeoff and landing assistance device 10 is used for, for example, loading and unloading using the air vehicle 32, powering the air vehicle 32, replacing parts of the air vehicle 32, storing the air vehicle 32, etc.

[0015] The takeoff and landing assistance system 10 includes a stage 12, correction mechanisms 14R and 14L, and a control device 16.

[0016] The stage 12 has a generally rectangular shape as a whole and is a stage where the aircraft 32 takes off and lands. Specifically, the stage 12 has a flat takeoff / landing surface 12a, and the aircraft 32 lands on the takeoff / landing surface 12a and takes off from the takeoff / landing surface 12a. Also, the stage 12 has edges 12b, 12c, 12d, and 12e. The edge 12b and the edge 12e are opposed to each other, and the edges 12c and 12d are opposed to each other. A line connecting the center of the edge 12b and the center of the edge 12e is defined as the center line O of the stage 12.

[0017] Also, an opening 12f is formed in the takeoff / landing surface 12a of the stage 12. For example, the luggage mounted on the aircraft 32 is conveyed into the takeoff / landing assistance device 10 through the opening 12f, or the luggage is mounted on the aircraft 32 through the opening 12f. Also, power may be supplied to the aircraft 32 through the opening 12f. The opening 12f is provided with a lid that can be opened and closed. The lid opens when cargo handling or power supply is performed, and the lid is closed at other times. The opening and closing of the lid is performed by, for example, a motor or the like under the control of the control device 16. Note that the opening 12f may not be formed.

[0018] The correction mechanisms 14R and 14L are mechanisms for moving the aircraft 32 on the takeoff / landing surface 12a. The correction mechanism 14R includes a position correction mechanism 18R and a gripping mechanism 20R. The correction mechanism 14L includes a position correction mechanism 18L and a gripping mechanism 20L.

[0019] The position correction mechanisms 18R and 18L are rod-shaped members extending from the edge 12b to the edge 12e of the stage 12 and are arranged opposite to each other on the takeoff / landing surface 12a. The position correction mechanisms 18R and 18L correct the attitude of the aircraft 32 on the takeoff / landing surface 12a by moving the aircraft 32 on the takeoff / landing surface 12a. Specifically, the position correction mechanisms 18R and 18L correct the position and orientation of the aircraft 32 on the takeoff / landing surface 12a.

[0020] The position correction mechanism 18R is arranged in a region on the takeoff / landing surface 12a closer to the edge 12c than the center line O. The position correction mechanism 18R is moved between the edge 12c and the center line O by the electric actuator 22R. For example, the position correction mechanism 18R slides between the edge 12c and the center line O. The position correction mechanism 18R corresponds to an example of the first position correction mechanism.

[0021] The electric actuator 22R is installed on the edge 12e closer to the edge 12c than the center line O along the edge 12e. As shown in FIG. 2, the electric actuator 22R has a slider 24R. The slider 24R is a member movable between the center line O and the edge 12c along the edge 12e by the electric actuator 22R. One end of the position correction mechanism 18R on the edge 12e side is connected to the slider 24R. By moving the slider 24R along the edge 12e by the electric actuator 22R, the position correction mechanism 18R connected to the slider 24R is moved.

[0022] The position correction mechanism 18L is arranged in a region on the takeoff / landing surface 12a closer to the edge 12d than the center line O. The position correction mechanism 18L is moved between the edge 12d and the center line O by the electric actuator 22L. For example, the position correction mechanism 18L slides between the edge 12d and the center line O. The position correction mechanism 18L corresponds to an example of the second position correction mechanism.

[0023] The electric actuator 22L is installed on the edge 12e closer to the edge 12d than the center line O along the edge 12e. As shown in FIG. 2, the electric actuator 22L has a slider 24L. The slider 24L is a member movable between the center line O and the edge 12d along the edge 12e by the electric actuator 22L. One end of the position correction mechanism 18L on the edge 12e side is connected to the slider 24L. By moving the slider 24L along the edge 12e by the electric actuator 22L, the position correction mechanism 18L connected to the slider 24L is moved.

[0024] The holding mechanism 20R is a member that can be moved along the position correction mechanism 18R on the position correction mechanism 18R by the electric actuator 26R. That is, the holding mechanism 20R is a member that can move between the edge 12b and the edge 12e of the stage 12. For example, the holding mechanism 20R slides on the position correction mechanism 18R. A groove 20Ra is formed in the holding mechanism 20R, and by sandwiching the leg portion of the flying object 32 in the groove 20Ra, the holding mechanism 20R holds the leg portion of the flying object 32.

[0025] The holding mechanism 20L is a member that can be moved along the position correction mechanism 18L on the position correction mechanism 18L by the electric actuator 26L. That is, the holding mechanism 20L is a member that can move between the edge 12b and the edge 12e of the stage 12. For example, the holding mechanism 20L slides on the position correction mechanism 18L. A groove 20La is formed in the holding mechanism 20L, and by sandwiching the leg portion of the flying object 32 in the groove 20La, the holding mechanism 20L holds the leg portion of the flying object 32.

[0026] With reference to FIGS. 2, 3, 4A, and 4B, the mechanism for moving the holding mechanisms 20R and 20L will be described. FIG. 3 is an exploded perspective view of the takeoff / landing assist device 10. FIG. 4A is a side view of the correction mechanism 14R as viewed from the edge 12c side. FIG. 4B is a side view of the correction mechanism 14L as viewed from the edge 12d side.

[0027] The holding mechanism 20R is moved by the electric actuator 26R, and the holding mechanism 20L is moved by the electric actuator 26L.

[0028] As shown in FIGS. 3 and 4A, the electric actuator 26R is installed along the position correction mechanism 18R on the position correction mechanism 18R. The electric actuator 26R has a slider 28R. The slider 28R is a member movable along the position correction mechanism 18R by the electric actuator 26R. A gripping mechanism 20R is installed on the slider 28R. The gripping mechanism 20R also moves as the slider 28R moves. Further, a rotating shaft 30R is installed along the position correction mechanism 18R on the position correction mechanism 18R. On the electric actuator 26R, a bearing 30Ra for supporting one end of the rotating shaft 30R is installed on the edge 12b side, and a bearing 30Rb for supporting the other end of the rotating shaft 30R is installed on the edge 12e side. The gripping mechanism 20R can rotate about the rotating shaft 30R. The rotation is realized by, for example, a motor.

[0029] As shown in FIGS. 3 and 4B, the electric actuator 26L is installed along the position correction mechanism 18L on the position correction mechanism 18L. The electric actuator 26L has a slider 28L. The slider 28L is a member movable along the position correction mechanism 18L by the electric actuator 26L. A gripping mechanism 20L is installed on the slider 28L. The gripping mechanism 20L also moves as the slider 28L moves. Further, a rotating shaft 30L is installed along the position correction mechanism 18L on the position correction mechanism 18L. On the electric actuator 26L, a bearing 30La for supporting one end of the rotating shaft 30L is installed on the edge 12b side, and a bearing 30Lb for supporting the other end of the rotating shaft 30L is installed on the edge 12e side. The gripping mechanism 20L can rotate about the rotating shaft 30L. The rotation is realized by, for example, a motor.

[0030] In addition, in the drawings other than FIGS. 2, 3, 4A, and 4B, for convenience of explanation, the illustrations of the electric actuators 26R, 26L, the sliders 28R, 28L, the rotating shafts 30R, 30L, and the bearings 30Ra, 30Rb, 30La, 30Lb are omitted.

[0031] Known actuators can be used as the electric actuators 22R, 22L, 26R, and 26L. For example, the electric actuators 22R, 22L, 26R, and 26L are configured by combining components such as ball screws, belt pulley mechanisms, rack and pinion mechanisms, linear guides, and motors. Note that the electric actuators are merely an example of means for moving the position correction mechanisms 18R, 18L and the gripping mechanisms 20R, 20L, and actuators other than the electric actuators may be used to control the movement of the position correction mechanisms 18R, and 18L and the gripping mechanisms 20R, 20L.

[0032] The control device 16 controls the operations of the correction mechanisms 14R, 14L, power supply to the flying object 32, etc. For example, the control device 16 corrects the position and orientation of the flying object 32 that has landed on the takeoff / landing surface 12a by controlling the movement of the position correction mechanisms 18R, 18L and the gripping mechanisms 20R, 20L.

[0033] The functions of the control device 16 can be realized by using hardware resources such as a processor or an electronic circuit. In the realization, devices such as a memory may be used as necessary. For example, the control device 16 is a computer. The functions of the control device 16 may be realized by the cooperation of hardware resources such as the CPU (Central Processing Unit) and memory provided in the computer and software (program) that defines the operations of the CPU and the like. The program is stored in the storage device via a recording medium such as a CD or DVD or via a communication path such as a network. As another example, the functions of the control device 16 may be realized by a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), or the like.

[0034] In addition, the control device 16 has a communication device and communicates with other devices using wireless communication technology or wired communication technology. For example, the control device 16 may communicate with other devices via a communication path such as the Internet, a dedicated line, or a LAN (Local Area Network), or may communicate with other devices using short-range wireless communication technology.

[0035] As shown in FIG. 1, the flying object 32 is a drone, an unmanned aircraft, etc. For example, it includes a fuselage 34, a flying propeller 36, and a pair of legs 38R and 38L. As the flying object 32, a known drone or unmanned aircraft can be used.

[0036] The flying object 32 includes a battery, a motor for driving the propeller 36, various sensors (for example, a gyro sensor, an acceleration sensor, a geomagnetic sensor, a pressure sensor, a GPS (Global Positioning System), etc.), a flight computer for controlling the flying object 32, various drivers, and a communication device using wireless communication technology or wired communication technology, etc.

[0037] The flight computer of the flying object 32 controls the flight of the flying object 32 (for example, ascending, descending, horizontal movement, etc.) by controlling the motor, or controls the attitude of the flying object 32 based on the information acquired by the gyro sensor.

[0038] The leg 38R includes a support leg 40R and a horizontal leg 42R. The support leg 40R is a rod-shaped member extending downward from the fuselage 34. A horizontal leg 42R is connected to the lower end of the support leg 40R. The horizontal leg 42R is a rod-shaped member extending in the horizontal direction, and supports the fuselage 34 via the support leg 40R when the flying object 32 lands on the stage 12.

[0039] The leg 38L includes a support leg 40L and a horizontal leg 42L. The support leg 40L is a rod-shaped member extending downward from the fuselage 34. A horizontal leg 42L is connected to the lower end of the support leg 40L. The horizontal leg 42L is a rod-shaped member extending in the horizontal direction, and supports the fuselage 34 via the support leg 40L when the flying object 32 lands on the stage 12.

[0040] For example, the horizontal legs 42R and 42L are arranged apart from each other with a parallel or nearly parallel angular relationship.

[0041] Hereinafter, with reference to FIG. 5, an example of a flying object system will be described. FIG. 5 is a block diagram showing the configuration of the flying object system.

[0042] As an example, the flying object system includes a control device 16, a flying object 32, a terminal device 44, and a server 46. The control device 16, the flying object 32, the terminal device 44, and the server 46 communicate via a communication path N such as the Internet or a dedicated line.

[0043] The flying object 32 is controlled by, for example, the terminal device 44 or the server 46. The terminal device 44 is a device held by the user, specifically, a controller for a drone, a smartphone, a tablet terminal, or the like. The server 46 is a cloud server or the like. The terminal device 44 and the server 46 control the flying object 32 by transmitting a control command signal indicating a control command for the flying object 32 to the flying object 32. The communication device of the flying object 32 receives the control command signal transmitted from the terminal device 44 or the server 46, and the flight computer of the flying object 32 controls the flight and attitude of the flying object 32 according to the control command signal. Note that the flying object 32 may be controlled by the control device 16.

[0044] In addition, the position information of the flying object 32 (for example, GPS coordinates) and the attribute information of the flying object 32 (for example, information indicating the type, size, shape, weight, and model of the flying object 32, etc.) may be transmitted from the flying object 32, the terminal device 44, or the server 46 to the control device 16.

[0045] The sensor 48 includes a camera, a position sensor (for example, a laser type or ultrasonic type position sensor), etc., and is installed on the takeoff / landing surface 12a or around the stage 12. For example, when the flying object 32 on the takeoff / landing surface 12a is photographed by the camera included in the sensor 48, the attributes of the flying object 32 and the position of the flying object 32 on the takeoff / landing surface 12a are detected. Also, the position of the flying object 32 on the takeoff / landing surface 12a may be detected by the position sensor included in the sensor 48.

[0046] Hereinafter, the operation of the takeoff / landing assistance device 10 will be described.

[0047] When the flying object 32 lands on the takeoff and landing surface 12a, the control device 16 corrects the attitude (e.g., position and orientation) of the flying object 32 that has landed on the takeoff and landing surface 12a by moving either the position correction mechanism 18R or the position correction mechanism 18L from the end of the stage 12 inward (toward the center line O) and after the correction, the control device 16 moves the other position correction mechanism from the end of the stage 12 inward, and grasps the flying object 32 by sandwiching it from both sides with the position correction mechanism 18R and the position correction mechanism 18L.

[0048] The control device 16 changes the movement amount of the position correction mechanisms 18R, 18L depending on the attributes (e.g., type, size, shape, etc.) of the flying object 32. Specifically, the movement amount of the position correction mechanisms 18R, 18L is determined so that the center of the flying object 32 is positioned on the center line O when the flying object 32 is sandwiched between the position correction mechanisms 18R, 18L. For example, the size and shape of the flying object 32 may vary depending on the type of flying object 32, and the control device 16 changes the movement amount of the position correction mechanisms 18R, 18L depending on the type of flying object 32. Specifically, when the size of the flying object 32 is small, the position correction mechanisms 18R, 18L need to be moved further inward in order to sandwich the flying object 32 between the position correction mechanisms 18R, 18L compared to when the size of the flying object 32 is large. Therefore, the smaller the size of the flying object 32, the greater the movement amount of the position correction mechanisms 18R, 18L. When the size of the flying object 32 is large, the position correction mechanisms 18R, 18L can clamp the flying object 32 even if the movement amount of the position correction mechanisms 18R, 18L is smaller than when the size of the flying object 32 is small. Therefore, the larger the size of the flying object 32, the smaller the movement amount of the position correction mechanisms 18R, 18L.

[0049] Specific examples of the operation of the takeoff and landing assistance device 10 will be described below with reference to Figures 6 to 11. Figures 6 to 8 and 10 are perspective views showing the takeoff and landing assistance device 10 and the aircraft 32. Figures 9 and 11 are plan views of the takeoff and landing assistance device 10 and the aircraft 32 as viewed from above. Note that the opening 12f is not shown in Figures 6 to 11, and the propeller 36 is not shown in Figures 9 and 11.

[0050] As shown in Fig. 6, the aircraft 32 has landed on the takeoff and landing surface 12a. Here, as an example, the aircraft 32 has landed at a position closer to the edge 12c (i.e., closer to the position correction mechanism 18R) than the center line O. The flight computer of the aircraft 32 adjusts the attitude of the aircraft 32 to land the aircraft 32 on the takeoff and landing surface 12a so that the horizontal leg 42R faces the position correction mechanism 18R and the horizontal leg 42L faces the position correction mechanism 18L. This orientation is an example, and the aircraft 32 may also land on the takeoff and landing surface 12a so that the horizontal leg 42R faces the position correction mechanism 18L and the horizontal leg 42L faces the position correction mechanism 18R.

[0051] When the flying vehicle 32 lands on the takeoff and landing surface 12a, the position correction mechanism 18R is disposed at edge 12c, and the position correction mechanism 18L is disposed at edge 12d. The gripping mechanism 20R is disposed on the edge 12e side of the position correction mechanism 18R, and the gripping mechanism 20L is disposed on the edge 12e side of the position correction mechanism 18L.

[0052] 6, when the flying object 32 lands on the takeoff and landing surface 12a, a signal indicating that the flying object 32 has landed on the takeoff and landing surface 12a is transmitted from the flying object 32, the terminal device 44, or the server 46 to the control device 16. By receiving the signal, the control device 16 recognizes that the flying object 32 has landed on the takeoff and landing surface 12a.

[0053] The camera included in the sensor 48 photographs the flying object 32 on the takeoff / landing surface 12a, and the control device 16 identifies the position of the flying object 32 on the takeoff / landing surface 12a by analyzing the image acquired by the photographing. The position of the flying object 32 on the takeoff / landing surface 12a may be detected by a position sensor included in the sensor 48, and the control device 16 may identify the position of the flying object 32 on the takeoff / landing surface 12a based on the detection result of the position sensor. The control device 16 may recognize that the flying object 32 has landed on the takeoff / landing surface 12a by analyzing the image acquired by the camera.

[0054] The control device 16 changes the order of moving the position correction mechanisms 18R and 18L according to the position of the flying object 32 on the takeoff / landing surface 12a. That is, the control device 16 moves one of the position correction mechanisms, either the position correction mechanism 18R or the position correction mechanism 18L, toward the center line O ahead of the other position correction mechanism according to the position of the flying object 32 on the takeoff / landing surface 12a, and then moves the other position correction mechanism toward the center line O. Specifically, when the landing position of the flying object 32 is a position on the edge 12c side (that is, the position correction mechanism 18R side) of the center line O, the control device 16 moves the position correction mechanism 18R toward the center line O ahead of the position correction mechanism 18L, and then moves the position correction mechanism 18L toward the center line O. When the landing position of the flying object 32 is a position on the edge 12d side (that is, the position correction mechanism 18L side) of the center line O, the control device 16 moves the position correction mechanism 18L toward the center line O ahead of the position correction mechanism 18R, and then moves the position correction mechanism 18R toward the center line O.

[0055] In the example shown in FIG. 6, since the flying object 32 has landed at a position closer to the edge 12c than the center line O, as shown in FIG. 7, the control device 16 moves the position correction mechanism 18R toward the center line O prior to the position correction mechanism 18L. The control device 16 operates the electric actuator 22R to move the position correction mechanism 18R from the edge 12c toward the center line O as indicated by the arrow A1 in FIG. 7. At this stage, the control device 16 does not move the position correction mechanism 18L toward the center line O. When the position correction mechanism 18R moves toward the center line O, the inner surface of the position correction mechanism 18R (the surface opposite to the surface facing the edge 12c) contacts the horizontal leg portion 42R of the flying object 32. When the position correction mechanism 18R further moves toward the center line O, the position correction mechanism 18R pushes the flying object 32 toward the center line O and moves it to the position of the center line O.

[0056] The size of the flying object 32 may vary depending on the type of the flying object 32, and accordingly, the amount of movement of the position correction mechanism 18R required to move the flying object 32 to the position of the center line O varies. Therefore, the control device 16 changes the amount of movement of the position correction mechanism 18R according to the type of the flying object 32. The amount of movement of the position correction mechanism 18R is the amount of movement required to push the flying object 32 by the position correction mechanism 18R and move the flying object 32 to the position of the center line O.

[0057] As described above, the control device 16 may receive attribute information including information indicating the type of the flying object 32 from the flying object 32, the terminal device 44, or the server 46, or may identify the attribute of the flying object 32 by analyzing an image obtained by photographing with a camera.

[0058] The control device 16 moves the position correction mechanism 18R toward the center line O according to the amount of movement corresponding to the size of the flying object 32. As a result, as shown in FIGS. 8 and 9, the position correction mechanism 18R pushes the flying object 32 toward the center line O and slides it to the position of the center line O.

[0059] Also, as the position correction mechanism 18R moves, the orientation of the flying body 32 is also corrected so that the horizontal leg portion 42R becomes parallel to the center line O. That is, at the stage shown in FIG. 7, the side surface of the position correction mechanism 18R on the center line O side contacts the tip of the horizontal leg portion 42R. When the position correction mechanism 18R further moves toward the center line O from that stage, the horizontal leg portion 42R is pushed by the position correction mechanism 18R, and the flying body 32 slides toward the center line O while the orientation of the flying body 32 gradually changes so that the side surface of the horizontal leg portion 42R contacts the side surface of the position correction mechanism 18R on the center line O side. Finally, as shown in FIGS. 8 and 9, the entire side surface of the horizontal leg portion 42R contacts the entire side surface of the position correction mechanism 18R, and the horizontal leg portion 42R becomes parallel to the center line O. In this way, while the flying body 32 is moved to the position of the center line O, the orientation of the flying body 32 is corrected.

[0060] The control device 16 moves the position correction mechanism 18R toward the center line O according to the movement amount corresponding to the size of the flying body 32, and then moves the position correction mechanism 18L toward the center line O. The control device 16 operates the electric actuator 22L to move the position correction mechanism 18L from the edge 12d toward the center line O as indicated by the arrow A2 in FIGS. 10 and 11. The movement amount of the position correction mechanism 1 during this time is also determined based on the size of the flying body 32. The control device 16 moves the position correction mechanism 18L toward the center line O until the position correction mechanism 18L contacts the horizontal leg portion 42L of the flying body 32 arranged on the center line O. The movement amount at that time is determined according to the size of the flying body 32.

[0061] By the above operation, the position correction mechanism 18R contacts the horizontal leg portion 42R, the position correction mechanism 18L contacts the horizontal leg portion 42L, and the flying object 32 is gripped by being sandwiched from both sides by the position correction mechanism 18R and the position correction mechanism 18L. Thereby, the attitude (for example, position and orientation) of the flying object 32 is corrected. Specifically, the flying object 32 is arranged on the center line O, and the orientation of the flying object 32 is corrected so that the horizontal leg portions 42R and 42L are parallel to the center line O. For example, as shown in FIG. 6, even when the flying object 32 lands on the takeoff / landing surface 12a in a state of being inclined obliquely with respect to the edge 12b, the flying object 32 can be directed toward the edge 12b by sandwiching the flying object 32 with the position correction mechanisms 18R and 18L. That is, the orientation of the flying object 32 can be corrected so that the horizontal leg portions 42R and 42L are arranged parallel to the center line O.

[0062] As described above, in the embodiment, after moving one position correction mechanism (for example, the position correction mechanism 18R), the other position correction mechanism (for example, the position correction mechanism 18L) is moved, so that the flying object 32 is gripped by the position correction mechanisms 18R and 18L. Thereby, regardless of the magnitude of the angle of the horizontal leg portions 42R and 42L with respect to the position correction mechanisms 18R and 18L, the attitude such as the position and orientation of the flying object 32 can be corrected without deforming or damaging the leg portions 38R and 38L.

[0063] Regarding this point, consider the case where the angle of the horizontal leg 42R with respect to the position correction mechanism 18R is large and the angle of the horizontal leg 42L with respect to the position correction mechanism 18L is large. When the position correction mechanisms 18R and 18L are simultaneously moved toward the center line O according to the amount of movement corresponding to the size of the flying object 32, the side surface of the position correction mechanism 18R on the center line O side contacts the tip (or rear end) of the horizontal leg 42R, and the side surface of the position correction mechanism 18L on the center line O side contacts the rear end (or tip) of the horizontal leg 42L. When the position correction mechanisms 18R and 18L are further moved simultaneously toward the center line O, the horizontal legs 42R and 42L may be pinched by the position correction mechanisms 18R and 18L from their front-rear directions. Depending on the lengths of the horizontal legs 42R and 42L in the front-rear direction and the amount of movement corresponding to the size of the flying object 32, the horizontal legs 42R and 42L may be excessively pinched from their front-rear directions, and as a result, the horizontal legs 42R and 42L may be deformed or damaged.

[0064] In contrast, in the embodiment, even when the angles of the horizontal legs 42R and 42L with respect to the position correction mechanisms 18R and 18L are large, by moving one of the position correction mechanisms (for example, the position correction mechanism 18R) toward the center line O, the orientation of the flying object 32 is corrected so that the horizontal leg (for example, the horizontal leg 42R) in contact with the one position correction mechanism becomes parallel to the one position correction mechanism. Thereafter, by moving the other position correction mechanism (for example, the position correction mechanism 18L) toward the center line O, the flying object 32 is pinched by the position correction mechanisms 18R and 18L. In this way, since the horizontal legs 42R and 42L are not pinched by the position correction mechanisms 18R and 18L from their front-rear directions, deformation and damage of the horizontal legs 42R and 42L can be prevented.

[0065] Also, by moving the position correction mechanisms 18R and 18L according to the amount of movement corresponding to the size and shape, it is possible to prevent the horizontal legs 42R and 42L from being excessively pinched, and as a result, deformation and damage of the legs 38R and 38L can be prevented.

[0066] Hereinafter, with reference to FIGS. 12 to 18, the operation of the gripping mechanisms 20R and 20L will be described. FIGS. 12, 15, and 18 are plan views when the takeoff / landing assist device 10 and the flying object 32 are viewed from above. FIGS. 13 and 14 are front views when the gripping mechanism 20R is viewed from the edge 12b side. FIGS. 16 and 17 are perspective views showing the takeoff / landing assist device 10 and the flying object 32. In FIGS. 12 and 15 to 18, the illustration of the opening 12f is omitted, and in FIGS. 12, 15, and 18, the illustration of the propeller 36 is omitted.

[0067] The control device 16 moves the gripping mechanisms 20R and 20L by operating the electric actuators 26R and 26L. Specifically, as shown in FIG. 12, the control device 16 moves the gripping mechanisms 20R and 20L from the edge 12e side to the edge 12b side as indicated by the arrow B.

[0068] With reference to FIGS. 13 and 14, the operation of the gripping mechanisms 20R and 20L at this time will be described.

[0069] As shown in FIG. 13, the control device 16 rotates the gripping mechanism 20R about the rotation axis 30R to the center line O side and tilts it to the center line O side or tilts it down, and moves the gripping mechanism 20R from the edge 12e side to the edge 12b side. Similarly for the gripping mechanism 20L, the control device 16 rotates the gripping mechanism 20L about the rotation axis 30L to the center line O side and tilts it to the center line O side or tilts it down, and moves the gripping mechanism 20L from the edge 12e side to the edge 12b side.

[0070] During the movement, when the tilted gripping mechanism 20R contacts the support leg 40R of the flying object 32, as shown in FIG. 14, the control device 16 rotates the gripping mechanism 20R in a direction opposite to the center line O side about the rotation axis 30R to make the gripping mechanism 20R stand upright. The control device 16 adjusts the position of the gripping mechanism 20R so that the position of the groove 20Ra of the gripping mechanism 20R matches the position of the support leg 40R of the flying object 32, and rotates the gripping mechanism 20R toward the center line O side as shown in FIG. 14. Similarly, for the gripping mechanism 20L, when the tilted gripping mechanism 20L contacts the support leg 40L of the flying object 32, the control device 16 rotates the gripping mechanism 20L in a direction opposite to the center line O side about the rotation axis 30L to make the gripping mechanism 20L stand upright. The control device 16 adjusts the position of the gripping mechanism 20L so that the position of the groove 20La of the gripping mechanism 20L matches the position of the support leg 40L of the flying object 32, and rotates the gripping mechanism 20L toward the center line O side.

[0071] As a result, as shown in FIGS. 15 and 16, the support leg 40R is sandwiched in the groove 20Ra, and the support leg 40R is gripped by the gripping mechanism 20R. Similarly, the support leg 40L is sandwiched in the groove 20La, and the support leg 40L is gripped by the gripping mechanism 20L.

[0072] As shown in FIGS. 17 and 18, in a state where the horizontal legs 42R and 42L are sandwiched by the position correction mechanisms 18R and 18L and the support legs 40R and 40L are gripped by the gripping mechanisms 20R and 20L, the control device 16 moves the gripping mechanisms 20R and 20L to the edge 12b.

[0073] For example, the control device 16 moves the flying object 32 to the position of the opening 12f. As a result, it becomes possible to perform cargo handling through the opening 12f and supply power to the flying object 32.

[0074] The takeoff / landing assist device 10 may be installed on a moving body (for example, a vehicle, a ship, an airplane, or other vehicles), on the roof of a building, or on the ground. For example, it may be installed on a vehicle or on the roof of a building.

Explanation of Reference Numerals

[0075] 10 Landing assistance device, 12 Stage, 12a Landing surface, 12b, 12c, 12d, 12e Edge, 12f Opening, 14R, 14L Correction mechanism, 16 Control device, 18R, 18L Position correction mechanism, 20R, 20L Gripping mechanism, 32 Flying object, 38R, 38L Legs, 40R, 40L Support legs, 42R, 42L Horizontal legs.

Claims

1. A stage for a flying object to take off and land, A first position correction mechanism provided at one end of the stage and movable from the one end toward the inside of the stage, A second position correction mechanism provided at the other end of the stage opposite to the one end and movable from the other end toward the inside of the stage, When the flying object lands on the stage, by moving either the first position correction mechanism or the second position correction mechanism of the two position correction mechanisms to the inside of the stage, the attitude of the flying object that has landed on the stage is corrected, and after that correction, by moving the other position correction mechanism to the inside of the stage, a control device for gripping the flying object between the first position correction mechanism and the second position correction mechanism, Means for detecting the position of the flying object that has landed on the stage, having, The control device changes the order of moving the first position correction mechanism and the second position correction mechanism according to the detected position, A takeoff and landing assistance device characterized by this.

2. In the takeoff and landing assistance device according to Claim 1, further having means for detecting the type of the flying object that has landed on the stage, The control device changes the amount of movement of the first position correction mechanism and the second position correction mechanism according to the detected type, A takeoff and landing assistance device characterized by this.

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