Unmanned aerial vehicle recovery device

Abstract

To provide a recovery device of an unmanned air vehicle which can recover the unmanned air vehicle even when the unmanned air vehicle becomes unable to fly.SOLUTION: A recovery device of an unmanned air vehicle of the invention includes: a wire which may be connected to an unmanned air vehicle; a wire take-up part; a connection part which connects the wire to the unmanned air vehicle; and a start part which starts a falling relaxation mechanism included in the unmanned air vehicle. The start part starts the falling relaxation mechanism when an abnormality occurs in flying of the unmanned air vehicle.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a recovery device for unmanned aerial vehicles (UAVs), such as drones, that maintains the safety of the UAVs during flight. [Background technology]

[0002] In recent years, unmanned aerial vehicles such as drones have been used for a variety of purposes, including aerial photography of videos and still images, security surveillance, architectural imaging, and entertainment. Professionals use unmanned aerial vehicles for filming, such as location shooting by television stations, video shooting in film productions, and video shooting in documentaries.

[0003] Alternatively, unmanned aerial vehicles are used to photograph factories, outdoor buildings, large buildings, etc. from above or from the outside in order to monitor and inspect the safety of these buildings, etc. For bridges and other structures, photographing their foundations is carried out to check for deterioration.

[0004] Alternatively, photographs may be taken from above the solar power generation equipment using an unmanned aerial vehicle for the purpose of managing the solar power generation panels or inspecting for deterioration.

[0005] Unmanned aerial vehicles such as drones are also used for entertainment purposes, such as taking pictures of scenery or taking private videos from the sky. For this reason, there are various cases where unmanned aerial vehicles are used for work or business purposes, as well as for entertainment or personal purposes.

[0006] In recent years, to meet these demands and needs, the development and production of unmanned aerial vehicles such as drones has progressed, and they are now being used in a variety of places and situations. As a result, the demand for unmanned aerial vehicles is increasing, and the number of them being used is also on the rise.

[0007] On the other hand, unmanned aerial vehicles fly in the sky under radio control. Unlike so-called airplanes, they can be easily used by anyone, and as such, their dangers have been pointed out. For example, the presence of an unmanned aerial vehicle flying over residential, commercial, or tourist areas can be frightening for those in those areas. Furthermore, if an unmanned aerial vehicle actually falls or flies at a low altitude, it could collide with pedestrians or other people, leading to an accident.

[0008] Alternatively, in facilities that require extremely high levels of safety and information management, such as airports, port facilities, military facilities, and power plants, it is undesirable for unmanned aerial vehicles to fly above or near these facilities or to engage in photography or other activities.

[0009] In addition, the poor manners of users of unmanned aerial vehicles are often a problem.

[0010] In light of this situation, regulations are being introduced that prohibit the use of unmanned aerial vehicles without permission in places where safety management, public nature, or confidentiality are important, and permit systems are being required in residential and commercial areas, etc. In addition to these, various restrictions are being added to the size and functions of unmanned aerial vehicles that can be used.

[0011] Of course, there is also growing demand for users to improve their manners.

[0012] In an environment where safety is of paramount importance, more advanced safety performance and safety functions are being demanded of unmanned aerial vehicles. For example, adding a GPS function to radio control performance is improving autopilot capabilities. Also, by incorporating a GPS function, even if a malfunction occurs in the radio control, the GPS function can return to a safe location or land in a safe location.

[0013] In this way, having a GPS function improves safety functions and safety performance.

[0014] However, among unmanned aerial vehicles, there are lightweight and small drones called "toy drones." Lightweight and small unmanned aerial vehicles like these toy drones have a short flight altitude and distance, and are mainly used for entertainment and inspection of specific facilities.

[0015] Due to their light weight and limited flight range and purpose of use, these specific categories of small unmanned aerial vehicles (such as the toy drones mentioned above) often do not have GPS functionality. They also have the advantage of requiring little or no licensing for use. Of course, one reason for not having GPS functionality is to achieve light weight and small size.

[0016] Even if such unmanned aerial vehicles without GPS functionality are lightweight or small, they are at risk of falling if they become difficult to control or if they are hit by strong winds. Even if the battery runs out and there are no people in the flight area, if they fall into a facility, damage to the facility could occur.

[0017] Furthermore, if an unmanned aerial vehicle falls, it may become impossible to retrieve it depending on the location, which could lead to environmental damage, etc. Of course, there is also the problem that the owner will not be able to repair it and continue using it.

[0018] In such a situation, technologies have been proposed that enable the recovery of drones (see, for example, Patent Documents 1 and 2). [Prior art documents] [Patent documents]

[0019] [Patent Document 1] Japanese Patent Application Publication No. 2020-006738 [Patent Document 2] Utility Model Registration No. 3208050 Summary of the Invention [Problem to be solved by the invention]

[0020] Patent Document 1 discloses a technology in which a strong metal wire is stretched, and two side distance sensors 5 are used directly below the wire, using the principle of triangulation, to allow the drone to fly accurately while maintaining a constant distance from the wire in both horizontal and vertical directions.The technology also discloses a technology in which a metal rod with a safety hook 1 positioned above the wire is attached to the top of the drone while the drone is flying, so that if the drone falls, the hook part will catch on the wire, preventing the drone from falling.

[0021] When the technology of Patent Document 1 is applied to drones without GPS functionality, safety is enhanced by controlling the flight path by wire. However, the flight path is limited by the wire, making it impossible to fly freely. This is undesirable for both recreational use and business use such as inspections.

[0022] Additionally, there are issues that make it unsuitable for application to small, inexpensive drones, such as the effort and cost of installing wires, and the cost of distance sensors, etc. These issues make it unsuitable for using inexpensive drones for various purposes while also improving safety and retrieval.

[0023] Patent Document 2 discloses a balloon-suspended small drone characterized by a buoyant balloon 1 and a small drone 2 connected by a wire to form an integrated unit, and the ascending device uses a wind vane 5 and anemometer 4 to activate the propeller drive unit and assist the drone in moving against winds that impede its progress. The landing descent device discloses technology that activates the propeller drive unit to descend the drone body when the weights of the buoyant balloon 1, the drone 2 body (including accessories), and the transported object are balanced.

[0024] However, like Patent Document 1, Patent Document 2 has the problem of making it difficult to fly the drone freely. Buoyancy also creates drawbacks in maneuverability and agility. In addition, although an emergency landing can be made using the buoyancy of the balloon, the location of the emergency landing cannot be controlled. Furthermore, the buoyancy of the balloon causes problems such as the drone being blown around by the wind and making it difficult to control the flight path.

[0025] Furthermore, prior art technologies such as those described in Patent Documents 1 and 2 are unable to recover a drone that has become unable to fly during flight. This poses the problem of not knowing where the drone will fall once it has become unable to fly. One way to prevent this is to connect the drone with a wire. However, even if the drone is connected with a wire, it is not known where the drone will fall once it has become unable to fly. This can lead to accidents where the drone falls. Alternatively, there is also the problem of the drone being damaged when it falls.

[0026] The present invention aims to provide a recovery device for an unmanned aerial vehicle that can be recovered even if it becomes unable to fly. [Means for solving the problem]

[0027] In view of the above problems, the recovery device for an unmanned aerial vehicle of the present invention comprises a wire connectable to the unmanned aerial vehicle; a winding portion of the wire; a connection portion that connects the wire to the unmanned aerial vehicle; An activation unit that activates a fall mitigation mechanism provided in the unmanned aerial vehicle, The activation unit activates the fall mitigation mechanism when an abnormality occurs in the flight of the unmanned aerial vehicle, The actuation unit actuates the drop mitigation mechanism by causing the winding unit to wind the wire at a speed equal to or greater than a predetermined speed. . [Effects of the Invention]

[0028] The unmanned aerial vehicle recovery device of the present invention connects the unmanned aerial vehicle with a wire. In this state, if the unmanned aerial vehicle becomes unable to fly, it can be recovered using the wire. This recovery capability prevents the unmanned aerial vehicle from falling into an unknown or dangerous location.

[0029] During this recovery, damage to the falling unmanned aerial vehicle can be reduced by slowing down the falling speed and absorbing the landing impact with cushions or the like. [Brief explanation of the drawings]

[0030] [Figure 1] 1 is a front view of an unmanned aerial vehicle according to an embodiment of the present invention. [Figure 2] 1 is a schematic diagram showing the actual flight of an unmanned aerial vehicle in an embodiment of the present invention. [Figure 3] 1 is a schematic diagram of a recovery device for an unmanned aerial vehicle according to an embodiment of the present invention. [Figure 4] 10A and 10B are schematic diagrams illustrating a state in which the fall mitigation mechanism according to the embodiment of the present invention is operating. [Figure 5] 1 is a schematic diagram of a recovery device for an unmanned aerial vehicle equipped with a cushioning material in an embodiment of the present invention. [Figure 6] 1 is a block diagram of an unmanned aerial vehicle recovery device according to an embodiment of the present invention. [Figure 7] 1 is a schematic diagram of a recovery device connected to an unmanned aerial vehicle in an embodiment of the present invention. [Figure 8] 1 is a schematic diagram of a recovery device for an unmanned aerial vehicle according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0031] The unmanned aerial vehicle recovery device according to the first aspect of the present invention comprises a wire connectable to the unmanned aerial vehicle; a winding portion of the wire; a connection portion that connects the wire to the unmanned aerial vehicle; An activation unit that activates a fall mitigation mechanism provided in the unmanned aerial vehicle, The activation unit activates the fall mitigation mechanism when an abnormality occurs in the flight of the unmanned aerial vehicle.

[0032] This configuration can prevent the unmanned aerial vehicle from crashing even if it is unable to fly, etc. As a result, damage caused by the crash of the unmanned aerial vehicle and the risk of danger at the crash site can be reduced.

[0033] In the unmanned aerial vehicle recovery device according to the second aspect of the present invention, in addition to the features of the first aspect, the fall mitigation mechanism includes a parachute.

[0034] This configuration reduces the falling speed in the event of a crash during an abnormal flight.

[0035] In the unmanned aerial vehicle recovery device relating to the third invention of the present invention, in addition to the first or second invention, the flight abnormality includes at least one of the unmanned aerial vehicle being unable to fly, the unmanned aerial vehicle being unable to control, and the unmanned aerial vehicle running out of power.

[0036] This configuration makes it possible to prevent the unmanned aerial vehicle from crashing even if it experiences flight abnormalities for various reasons.

[0037] In the unmanned aerial vehicle recovery device relating to the fourth invention of the present invention, in addition to any one of the first to third inventions, the activation unit activates the fall mitigation mechanism by causing the winding unit to wind the wire at a speed greater than or equal to a predetermined speed.

[0038] This configuration allows the fall mitigation mechanism to be automatically activated. For example, a wire is connected to the parachute's activation nozzle, and a sudden reel in activates the activation nozzle, allowing the parachute to open instantly.

[0039] In the unmanned aerial vehicle recovery device relating to the fifth invention of the present invention, in addition to any one of the first to third inventions, the activation unit activates the fall mitigation mechanism by an electrical signal transmitted through the wire.

[0040] This configuration allows the fall mitigation mechanism to be activated immediately.

[0041] In the unmanned aerial vehicle recovery device according to the sixth aspect of the present invention, in addition to any one of the first to fifth aspects of the present invention, the wire is capable of charging the unmanned aerial vehicle.

[0042] This configuration allows for effective use of the wires and, of course, prevents the unmanned aerial vehicle from running out of charge.

[0043] In the seventh aspect of the present invention, in addition to any one of the first to sixth aspects, the unmanned aerial vehicle recovery device is provided with a shock absorbing material that can be popped out on the bottom side, The starting part causes the cushioning material to pop out to the bottom side of the unmanned aerial vehicle.

[0044] This configuration can better prevent damage to the unmanned aerial vehicle when it lands.

[0045] In the unmanned aerial vehicle recovery device relating to the eighth invention of the present invention, in addition to any one of the first to seventh inventions, the winding section winds up the wire while the unmanned aerial vehicle is falling due to the function of the fall mitigation mechanism, causing the unmanned aerial vehicle to land on the winding section.

[0046] This configuration allows the unmanned aerial vehicle to be recovered to an appropriate location even in the event of a flight abnormality, making it easy for the user to recover the unmanned aerial vehicle without causing damage to the surrounding area.

[0047] In the unmanned aerial vehicle recovery device according to the ninth invention of the present invention, in addition to the eighth invention, the winding section is provided with an impact absorbing member at the position where the unmanned aerial vehicle lands when the wire is wound.

[0048] This configuration more reliably prevents damage to the unmanned aerial vehicle when it lands.

[0049] The unmanned aerial vehicle recovery device relating to the 10th invention of the present invention, in addition to any of the 1st to 9th inventions, further includes an alarm generation unit that issues an alarm in the form of at least one of audio and light while the fall mitigation mechanism is operating.

[0050] This configuration can encourage those around to ensure safety in the event of a fall due to a flight abnormality.

[0051] In the unmanned aerial vehicle recovery device according to the eleventh aspect of the present invention, in addition to any one of the first to tenth aspects of the present invention, the unmanned aerial vehicle does not have a GPS function.

[0052] This configuration allows for safe recovery even for unmanned aerial vehicles that do not have GPS functionality.

[0053] A twelfth aspect of the present invention provides a recovery device for an unmanned aerial vehicle according to any one of the first to eleventh aspects of the present invention, wherein the wire has a specific portion having a predetermined length from the connection portion and a normal portion other than the specific portion; The specific portion is less flexible than the normal portion.

[0054] This configuration prevents the wire from becoming entangled in the propeller due to wind or other factors.

[0055] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0056] (Overview) FIG. 1 is a front view of an unmanned aerial vehicle according to an embodiment of the present invention.

[0057] As shown in Figure 1, the unmanned aerial vehicle 100 is a radio-controlled aerial vehicle, such as a drone. Of course, there is no pilot involved; the pilot flies the unmanned aerial vehicle 100 using a control device. In addition to radio control, the unmanned aerial vehicle may also fly based on a program that pre-programs the flight path and flight method.

[0058] Of course, you can also fly using a mix of programming and radio control.

[0059] The unmanned aerial vehicle 100 comprises a main body 101 and a propeller 102. The unmanned aerial vehicle 100 in Figure 1 is configured with a pair of propellers 102 on both sides of the main body 101. The pair of propellers 102 may be a single pair (i.e., two propellers 102) or two pairs (i.e., four propellers 102). Furthermore, by providing propellers on both sides as in Figure 1, the flight attitude is stabilized and maneuverability is improved.

[0060] Equipping the unmanned aerial vehicle 100 with a propeller 102 having such characteristics also increases the freedom of flight. For example, if there is a need to monitor or inspect buildings or facilities, the pilot needs to be able to fly evenly around these buildings or facilities. Alternatively, if the unmanned aerial vehicle is used for entertainment purposes, it is preferable for the pilot to have a high degree of freedom of flight so that the pilot can enjoy it.

[0061] Therefore, the unmanned aerial vehicle 100 has a configuration as shown in FIG. 1 and can fly with a high degree of freedom.

[0062] Figure 2 is a schematic diagram showing the actual flight of an unmanned aerial vehicle in an embodiment of the present invention. For example, an unmanned aerial vehicle 100 flies around a bridge 200 as shown in Figure 2. The purpose of the flight may be to inspect or monitor the bridge, or to capture a video of the scenery. Of course, it may also be simply for entertainment purposes.

[0063] For recreational or other purposes, it may be possible to film a valley from a bridge, either for personal enjoyment or for a video program.

[0064] Here, the unmanned aerial vehicle 100 may be a simple one without a GPS function. This is because it is small, lightweight, and less expensive. By providing such features, it can fly more freely. Furthermore, it is less bound by various regulations, allowing beginners and those who prioritize entertainment to enjoy it.

[0065] Naturally, it can also be used for business purposes such as monitoring and inspection. Even in this case, there are advantages in that there are few regulations and the introduction cost (the cost of the unmanned aerial vehicle 100 itself, as well as the cost of training personnel to learn to operate it) is low. This allows it to be used for a variety of purposes, including entertainment and business purposes.

[0066] Furthermore, the absence of a GPS function allows for lighter weight, smaller size, and lower cost.

[0067] On the other hand, as explained in the section on conventional technology, the lack of a GPS function means that radio control becomes impossible, and if the drone is blown around by the wind, it becomes difficult to right or return it to its original position by radio control. In some cases, there is also the risk of it falling or flying far away.

[0068] If such an incident occurs, the unmanned aerial vehicle 100 will be lost. Of course, there is also the risk of it falling. Furthermore, if the fallen unmanned aerial vehicle 100 cannot be recovered, not only will there be a cost loss, but there will also be the problem of environmental impact. There is also concern about pollution to the natural world.

[0069] In order to address such problems, the present invention provides a recovery device 1 for an unmanned aerial vehicle, as shown in Figure 3. Figure 3 is a schematic diagram of a recovery device for an unmanned aerial vehicle in an embodiment of the present invention. As this is a schematic diagram, some parts may not match the correlations such as actual size. The diagram is intended to show the configuration and features.

[0070] The unmanned aerial vehicle recovery device 1 (hereinafter referred to as "recovery device" as necessary) comprises a wire 3, a winding unit 2, a connection unit 4, and an activation unit 6. The unmanned aerial vehicle 100 also comprises a main body unit 101, a propeller 102, a fall mitigation mechanism 5, and an activation processing unit 7.

[0071] A wire 3 is connected to the winding section 2 so that it can be retracted and retracted. The wire 3 is connected to the unmanned aerial vehicle 100 by a connection section 4. That is, the connection section 4 connects the wire 3 to the unmanned aerial vehicle 100. In Figure 3, the wire 3 is connected to the bottom of the main body section 101. By connecting the wire 3 to the bottom of the main body section 101, the load on the unmanned aerial vehicle 100 can be reduced.

[0072] As a result, the unmanned aerial vehicle 100 is connected to the reeling unit 2 by the wire 3. In other words, the unmanned aerial vehicle 100 flies while connected to the reeling unit 2 by the wire 3. The unmanned aerial vehicle 100 can maintain a state of being connected by the wire 3, rather than being in a hands-off state.

[0073] The winding unit 2 can wind and let out the wire 3. Like a so-called bobbin of thread or rope recovery machine, the wire 3 can be let out in accordance with the flight of the unmanned aerial vehicle 100, and the wire 3 can be wound up as needed.

[0074] Since the reeling unit 2 can reel in the wire 3, for example, when the unmanned aerial vehicle 100 lands, the wire 3 may also be reeled in at the same time. This allows the unmanned aerial vehicle 100 to return to the location where the reeling unit 2 is located (i.e., where the recovery device 1 is located) and land.

[0075] If there are no problems with the flight of unmanned aerial vehicle 100 and it lands normally in accordance with piloting and programming instructions, reeling unit 2 may reel in wire 3. Alternatively, unmanned aerial vehicle 100 may land normally in accordance with piloting and programming instructions without reeling in wire 3.

[0076] As described above, the unmanned aerial vehicle 100 is equipped with a fall mitigation mechanism 5 and an activation processing unit 7. The fall mitigation mechanism 5 reduces the fall speed to prevent (mitigate) the unmanned aerial vehicle 100 from crashing if a flight abnormality occurs in the unmanned aerial vehicle 100. The activation processing unit 7 also operates the fall mitigation mechanism 5 in accordance with an activation instruction for the fall mitigation mechanism 5 from the activation unit 6. In other words, the activation unit 6 activates the fall mitigation mechanism 5 in the event of a flight abnormality. In response to this, the activation processing unit 7 operates the fall mitigation mechanism 5. Through this operation, the fall mitigation mechanism 5 reduces the fall speed of the unmanned aerial vehicle 100, preventing damage due to a crash.

[0077] (flight abnormality) Flight abnormalities include at least one of the following: the unmanned aerial vehicle 100 is unable to fly, the unmanned aerial vehicle 100 is unable to be controlled, and the unmanned aerial vehicle 100 runs out of power. For example, the unmanned aerial vehicle 100 may be unable to control its programming, or may be unable to control its flight due to a sudden gust of wind. It may also be that the unmanned aerial vehicle 100 is being controlled wirelessly, such as by a remote control, and the control is not accepted.

[0078] The activation unit 6 has a function to detect flight abnormalities of the unmanned aerial vehicle 100. For example, if the flight trajectory of the unmanned aerial vehicle 100 differs significantly from the flight path that it is programmed to fly, this is detected as a flight abnormality. Problems with the flight trajectory can be detected by capturing video or by the activation unit 6 having a GPS mechanism that detects the position of the unmanned aerial vehicle 100.

[0079] Alternatively, the recovery device 1 may detect a flight abnormality when the amount of wire 3 let out is greater than a predetermined amount, indicating that the unmanned aerial vehicle 100 is about to deviate from its flight trajectory and fly too far away. Alternatively, the recovery device 1 may detect a flight abnormality when a strong wind is detected, indicating that there is a high possibility that this will lead to a flight abnormality. Furthermore, a flight abnormality may be detected by monitoring the remaining battery charge.

[0080] Alternatively, a control device such as a remote control used by the pilot may detect a flight abnormality and notify the startup unit 6 of the detection result. If the pilot determines that control using the control device is difficult, the pilot notifies the startup unit 6 of the flight abnormality through the control device. Alternatively, if the pilot determines that the unmanned aerial vehicle 100 does not respond to the control signal output by the control device, the control device detects the flight abnormality. The detection result of the flight abnormality is notified to the startup unit 6.

[0081] The control device may also monitor the remaining battery power of the unmanned aerial vehicle 100 and detect flight abnormalities. Collisions with other aerial vehicles or animals such as birds may also be detected by collision sensors or image sensors and detected as flight abnormalities. Alternatively, if there is a sudden increase or decrease in the amount of power supplied to rotate the propellers, it may be possible that there is an abnormality in the propeller rotation, resulting in a deterioration in flight capabilities. Flight abnormalities may also be detected based on such sudden increases or decreases in power.

[0082] When the starting unit 6 recognizes that such a flight abnormality has occurred, the starting unit 6 can start the fall mitigation mechanism 5.

[0083] (Fall mitigation mechanism) The fall mitigation mechanism 5 may be provided in the unmanned aerial vehicle 100. Figure 4 is a schematic diagram showing the fall mitigation mechanism in operation in an embodiment of the present invention. The fall mitigation mechanism 5 reduces the fall speed of the unmanned aerial vehicle 100 that is falling due to a flight abnormality. This reduction in the fall speed can prevent damage to the unmanned aerial vehicle 100 that would otherwise be caused by a crash. Naturally, damage to items, equipment, etc. at the fall location caused by the fall (crash) of the falling unmanned aerial vehicle 100 can also be reduced.

[0084] The fall mitigation mechanism 5 may include a parachute 51 as shown in Fig. 4. The activation unit 6 activates the fall mitigation mechanism 5 in the event of a flight abnormality. At this time, upon receiving an activation command signal from the activation unit 6, the activation processing unit 7 operates the fall mitigation mechanism 5. In the case of Fig. 4, the parachute 51 opens according to the operating procedure of the activation unit 6 and activation processing unit 7.

[0085] By opening the parachute 51, the unmanned aerial vehicle 100 that has experienced a flight abnormality can fall gently, preventing it from crashing and preventing damage or injury that would result from the crash.

[0086] 4 shows a parachute 51 as an example of the fall-mitigation mechanism 5, but other mechanisms may be used. For example, instead of the parachute 51, a mechanism that can mitigate the fall speed may be a large piece of cloth that unfolds.

[0087] (Starting by the start-up section) In the event of a flight abnormality, the activation unit 6 activates the fall mitigation mechanism 5. The detection of a flight abnormality is as described above.

[0088] When the startup unit 6 detects a flight abnormality, it generates a startup command to operate the fall mitigation mechanism 5. For example, this is an electrical signal. The electrical signal corresponding to this startup command may be transmitted to the startup processing unit 7 via the wire 3. Alternatively, it may be transmitted to the startup processing unit 7 as a wireless signal.

[0089] The activation processing unit 7, which has received the electrical signal corresponding to the activation command, activates the fall mitigation mechanism 5. For example, it causes the parachute 51 to pop out and open. This activates the parachute 51, thereby slowing down the falling speed.

[0090] The activation processing unit 7 may use an electric signal to open the parachute 51 in the same way as an airbag is opened.

[0091] Alternatively, the activation unit 6 may activate the fall mitigation mechanism 5 by causing the reeling unit 2 to reel in the wire 3 at a speed greater than or equal to a predetermined speed. When a flight abnormality is detected, the reeling unit 2 starts reeling in the wire 3 at a high speed. During this high-speed reeling, a constant load is applied to the unmanned aerial vehicle 100. The activation processing unit 7 utilizes this constant load to operate the fall mitigation mechanism 5.

[0092] For example, if the fall mitigation mechanism 5 is a parachute 51, the parachute 51 can be opened using a certain load as a base point. The force of the load is applied, so the parachute 51 can be opened. This load can be linked to the tension mechanism that opens the parachute 51. The activation processing unit 7 executes this linking.

[0093] When the fall mitigation mechanism 5 is activated through high speed winding, the fall speed becomes gentler thereafter.

[0094] In this way, the actuation unit 6 may actuate the drop mitigation mechanism 5 by electrical or physical means such as an electrical signal or high-speed winding.

[0095] It is also preferable that the reeling unit 2 continue reeling when the fall mitigation mechanism 5 has been activated and the fall has slowed. When the fall speed is slow and the risk of a crash is prevented, the reeling unit 2 reels in the wire 3. This allows the unmanned aerial vehicle 100 to approach the reeling unit 2 and land.

[0096] That is, the unmanned aerial vehicle 100 can be retrieved by the reeling unit 2 while the falling speed is reduced.

[0097] If the unmanned aerial vehicle 100 is in a state where it is capable of normal flight, it can be controlled to land at an appropriate landing position. Alternatively, if it is in a state where it is capable of normal flight, it can be controlled or programmed to land at an appropriate landing position in accordance with the winding of the wire 3 at the winding unit 2.

[0098] On the other hand, in the event of a flight abnormality, neither control nor programming can be accepted, and if nothing is done, the drone will fall at a rapid rate. The fall mitigation mechanism 5 prevents this, allowing the drone to fall gently even in the event of loss of control or flight abnormality. As the drone falls gently, the winding part 2 winds up the wire 3, preventing it from crashing and allowing it to land softly in an appropriate position.

[0099] The starting unit 6 starts the fall mitigation mechanism 5 by rapidly winding up the wire 3 using the winding unit 2. Similarly, the starting unit 6 starts the fall mitigation mechanism 5 by winding up the wire 3 using the winding unit 2. This allows the unmanned aerial vehicle 100 to land by winding up the wire 3.

[0100] The activation unit 6 detects abnormal flight of the unmanned aerial vehicle 100, activates the fall mitigation mechanism 5, and controls the winding of the wire 3 by the winding unit 2. This control makes it possible to prevent the unmanned aerial vehicle 100 from crashing and the associated problems in the event of abnormal flight.

[0101] In addition to the activation unit 6, a control unit may be provided, and the control unit may perform at least part of the functions of the activation unit 6.

[0102] (buffer material)

[0103] Figure 5 is a schematic diagram of a recovery device for an unmanned aerial vehicle according to an embodiment of the present invention, in which the unmanned aerial vehicle is equipped with a cushioning material. In Figure 5, the unmanned aerial vehicle 100 is equipped with a cushioning material 8. The unmanned aerial vehicle 100 is equipped with a pop-out cushioning material 8. It is sufficient that the cushioning material 8 is stored in the main body 101.

[0104] The activation unit 6 causes the stored buffer material 8 to pop out to the bottom side in the same way as activating the fall mitigation mechanism 5. For example, the buffer material 8 can be controlled to pop out in conjunction with the activation of the fall mitigation mechanism 5. Figure 5 shows the state after it has popped out. By having the buffer material 8 pop out to the bottom side, it is possible to mitigate the impact at the time of landing and prevent damage to the unmanned aerial vehicle 100. It is also possible to prevent damage to the landing site.

[0105] The buffer material 8 may be similar to an airbag in a car, may be an inflatable material like a balloon, or may be made of a cushioning material. These will help to cushion the impact.

[0106] It is also preferable that the cushioning material 8 is lightweight, because this will not interfere with the flight of the unmanned aerial vehicle 100.

[0107] (shock absorbing material) The winding unit 2 retrieves the unmanned aerial vehicle 100 that has become abnormally oriented by winding up the wire 3 (while the fall mitigation mechanism 5 is operating). This retrieval allows the unmanned aerial vehicle 100 to fall at a gentle rate and be retrieved without crashing.

[0108] Here, it is also preferable that the reeling unit 2 is provided with a shock absorbing member at the position where the unmanned aerial vehicle 100 will land when the wire 3 is reeled in. For example, the shock absorbing member may be a cushion member or an inflatable member. The unmanned aerial vehicle 100 retrieved by the reeling unit 2 will land on this shock absorbing member.

[0109] This landing reduces the likelihood of damage to the unmanned aerial vehicle 100.

[0110] By combining the above-mentioned buffer material 8 with a shock-absorbing material, damage can be further prevented. If damage can be prevented, the unmanned aerial vehicle 100 can be reused. This also brings about benefits in terms of cost and the environment.

[0111] (Alarm generation part) Figure 6 is a block diagram of a recovery device for an unmanned aerial vehicle in an embodiment of the present invention. The recovery device 1 in Figure 6 further includes an alarm generation unit 9. The alarm generation unit 9 is provided in the recovery device 1, but depending on the function and execution method, at least some of its functions may be provided in the unmanned aerial vehicle 100.

[0112] The alarm generation unit 9 issues an alarm by at least one of sound and light while the fall mitigation mechanism 5 is operating. The period while the fall mitigation mechanism 5 is operating is the period during which the unmanned aerial vehicle 100 is falling due to a flight abnormality. For this reason, it is preferable to alert those in the surrounding area.

[0113] To call attention to this, the warning generation unit 9 issues a warning using at least one of sound and light, for example, a sound warning or flashing light.

[0114] The sound and light may be emitted on the ground where the winding unit 2 is located, or may be emitted inside the unmanned aerial vehicle 100.

[0115] (Charging by wire) The wire 3 connects the main body of the recovery device 1 and the unmanned aerial vehicle 100. The wire 3 may also be made of metal. In this case, the wire 3 may be capable of charging the unmanned aerial vehicle 100. The main body of the recovery device 1, which includes the winding unit 2, is equipped with a charger, and charging power is supplied from this charger to the unmanned aerial vehicle 100 via the wire 3.

[0116] Of course, it would also be good if the wire 3 had a material or structure suitable for charging, making charging possible or easy. Charging the unmanned aerial vehicle 100 via the wire 3, which is connected to the recovery device 1 by the wire 3, is preferable for the unmanned aerial vehicle 100 to continue flying.

[0117] (specific part of the wire) 7 is a schematic diagram of a recovery device connected to an unmanned aerial vehicle according to an embodiment of the present invention. Here, the advantages of the difference between the specific portion 31 and the normal portion 32 of the wire 3 will be described.

[0118] The wire 3 has a specific portion 31 that is a predetermined length from the connection portion 4, and a normal portion 32 that is the remaining portion. The specific portion 31 has lower flexibility than the normal portion 32. In other words, the specific portion 31 is in a state in which it is less likely to deform than the normal portion 32.

[0119] The wire 3 is wound by the winding section 2, and therefore naturally has flexibility that allows it to be deformed, similar to general wires.

[0120] In particular, the wire 3 is connected to the unmanned aerial vehicle 100 at the connection part 4. As a result, the unmanned aerial vehicle 100 flies with the wire 3 hanging down, and is subjected to a weight load. The unmanned aerial vehicle 100 must fly while bearing this weight load. From this perspective, the wire 3 is required to be as light as possible.

[0121] On the other hand, if the wire 3 is lightweight, its flexibility can easily be deformed by air currents, wind, and the like. In some cases, the wire 3 may become tangled in the propeller 102. If the wire 3 becomes tangled in the propeller 102, the propeller 102 may become unable to rotate or the weight balance may be disrupted. This may make it difficult for the unmanned aerial vehicle 100 to continue flying.

[0122] Based on this analysis, the flexibility of the specific portion 31 is made lower than that of the normal portion 32. The lower flexibility suppresses deformation due to air currents, convection, wind, etc. This suppression makes it possible to prevent the deformed wire 3 from becoming entangled with the propeller 102, etc. Of course, it also makes it possible to prevent the wire 3 from becoming entangled with the main body portion 101.

[0123] To reduce the flexibility of the specific portion 31, the material of the specific portion 31 may be changed from that of the normal portion 32, or a resin or hardener may be impregnated therein, or the flexibility may be reduced by using paint or the like.

[0124] The unmanned aerial vehicle 100 flies by rotating the propeller 102. This causes a difference in air pressure between above and below the propeller 102. This difference in air pressure makes the propeller 102 prone to entangle the wire 3. Even in such a situation, the specific portion 31 on the unmanned aerial vehicle 100 has relatively low flexibility, so it can cope with this prone-to-entanglement condition. In other words, entanglement can be prevented.

[0125] On the other hand, there is a concern that reducing flexibility may lead to an increase in the weight of the wire 3. For this reason, the flexibility of the normal portion 32 other than the specific portion 31, such as the propeller 102, which is likely to become entangled in the unmanned aerial vehicle 100, is made relatively low. This makes it possible to minimize the increase in weight.

[0126] For example, the specific portion 31 is subjected to a treatment such as impregnating the wire 3 with a hardener (to reduce flexibility). Such treatment increases the weight of the wire 3 in the specific portion 31. However, normal portions other than the specific portion 31 are not subjected to such treatment, so the increase in the total weight as a whole is minimal.

[0127] In this way, a balance can be achieved between minimizing the increase in the total weight of the wire 3 to minimize the impact on the flight of the unmanned aerial vehicle 100 and preventing the wire 3 from becoming entangled in the unmanned aerial vehicle 100.

[0128] Achieving this balance will have the following effects:

[0129] (1) Being connected by wire 3 makes it easy to recover and search for unmanned aerial vehicle 100 in the event of a fall or other incident.

[0130] (2) By being connected by wire 3, the unmanned aerial vehicle 100 can be forcibly retrieved in an emergency before it falls or crashes (by winding up the wire 3 using the winding unit 2).

[0131] (3) The total weight of the wire 3 can be reduced, minimizing the impact on the free flight of the unmanned aerial vehicle 100.

[0132] (4) The relatively low flexibility of the specific portion 31 prevents the wire 3 from becoming entangled around the unmanned aerial vehicle 100. In particular, by positioning the specific portion 31 close to the unmanned aerial vehicle 100, which is prone to becoming entangled, entanglement can be effectively prevented by balancing the weight.

[0133] In this way, the unmanned aerial vehicle can be recovered while optimally balancing the advantages and disadvantages of connection with wire 3.

[0134] (length of specific part) The unmanned aerial vehicle 100 is equipped with multiple pairs of propellers 102 for flight, as shown in Figure 1. In Figure 1 and other figures, the unmanned aerial vehicle 100 is equipped with pairs of propellers 102 on both sides. If there is one pair, there are two propellers 102, and if there are two pairs, there are four propellers 102.

[0135] Here, it is also preferable that the specific portion 31 has a relationship as shown in Fig. 8. Fig. 8 is a schematic diagram of a recovery device for an unmanned air vehicle in an embodiment of the present invention.

[0136] The length from the center of the unmanned aerial vehicle 100 to the outer end of one of the propellers 102 is designated as "A" as shown in FIG. 8. The length of the specific portion 31 is designated as "B". B ≧ A It is also preferable to have the relationship: That is, it is also preferable to specify the length of the specific portion 31 according to this relationship. By having such a length, the flexibility of the wire 3 is low in the range from the center of the unmanned aerial vehicle 100 to the outer end of the propeller 102 (this becomes the specific portion 31). The specific portion 31 with low flexibility is the length from the connection part 4 to the outer end of the propeller 102. If the low flexibility in this range is guaranteed, the specific portion 31 is less likely to deform even if the wire 3 is deformed by air currents or wind, etc.

[0137] Because the length of this deformed portion 31 satisfies the above relationship, deformation is unlikely to occur at a position of the wire 3 that may become entangled with the propeller 102. Therefore, even if deformation occurs in the wire 3, it is in the normal portion 32 below the specific portion 31. Since deformation occurs only in the portion below the length that ensures the distance to the outer end of the propeller 102, even if deformation occurs in the wire 3, the possibility of the wire 3 becoming entangled with the propeller 102 can be greatly reduced.

[0138] In particular, the multiple propellers 102 are provided in pairs on both sides of the unmanned aerial vehicle 100 and are elements that enable the flight of the unmanned aerial vehicle 100. The wire 3 does not get tangled here, ensuring flight safety and maintaining functionality. As a result, even if strong winds or changes in air currents occur, the unmanned aerial vehicle 100 can be prevented from falling or other accidents.

[0139] Alternatively, the length "B" of the particular portion 31 may have the following relationship: B ≧ 2A

[0140] In this way, by defining the area that covers the entire pair of propellers 102 as specific portion 31, the area that is less flexible becomes the area that covers the entire pair of propellers 102. This makes it possible to more reliably prevent the wire 3 from becoming entangled with the propellers 102 even if the wire 3 is deformed due to strong winds, changes in air currents, or the like.

[0141] By optimizing the length of such a specific portion 31, it is possible to prevent the wire 3 from becoming entangled with the propeller 102 (and thus the unmanned aerial vehicle 100) even if the wire 3 is deformed due to strong winds, gusts of wind, changes in air currents, changes in the attitude of the unmanned aerial vehicle 100, or other events.

[0142] In particular, the inventor analyzed that when the wire 3 is deformed, the wire 3 becomes entangled with the propeller 102 as it is sucked into the airflow generated by the rotation of the propeller 102. Based on the results of this analysis, the inventor has concluded that the specific portion 31 having the length relationship described above can prevent the wire 3 from becoming entangled with the propeller 102.

[0143] Furthermore, by specifying the length of the specific portion 31 based on the above-mentioned relationship, it is possible to minimize the specific portion 31, which has reduced flexibility and increases the weight. As a result, it is possible to reduce the weight of the entire wire 3. This minimizes the impact on the flight of the unmanned aerial vehicle 100.

[0144] The unmanned aerial vehicle recovery device described in the embodiment is an example for explaining the spirit of the present invention, and includes modifications and alterations within the scope that does not deviate from the spirit of the present invention. [Explanation of symbols]

[0145] 1. Unmanned aerial vehicle recovery device 2 Winding section 3 wire 4 Connection 5 Fall mitigation mechanism 6 Starting part 7 Startup processing section 100 Unmanned Aerial Vehicles 101 Main body 102 Propeller

Claims

1. a wire connectable to an unmanned aerial vehicle; a winding portion of the wire; a connection portion that connects the wire to the unmanned aerial vehicle; An activation unit that activates a fall mitigation mechanism provided in the unmanned aerial vehicle, The activation unit activates the fall mitigation mechanism when an abnormality occurs in the flight of the unmanned aerial vehicle, The activation unit activates the fall mitigation mechanism by causing the winding unit to wind the wire at a speed greater than or equal to a predetermined speed, in an unmanned aerial vehicle recovery device.

2. The unmanned aerial vehicle recovery device of claim 1 , wherein the fall mitigation mechanism includes a parachute.

3. The unmanned aerial vehicle recovery device according to claim 1 , wherein the flight abnormality includes at least one of the unmanned aerial vehicle being unable to fly, being unable to control the unmanned aerial vehicle, and the unmanned aerial vehicle running out of power.

4. The unmanned aerial vehicle recovery device according to claim 1 , wherein the activation unit activates the fall mitigation mechanism by an electrical signal transmitted through the wire.

5. The unmanned aerial vehicle recovery device according to claim 1 , wherein the wire is capable of charging the unmanned aerial vehicle.

6. The unmanned aerial vehicle is provided with a shock absorber that can be popped out on the bottom side, The unmanned aerial vehicle recovery device according to claim 1 , wherein the activation unit causes the buffer material to pop out toward the bottom side of the unmanned aerial vehicle.

7. The unmanned aerial vehicle recovery device of claim 1, wherein the winding section winds up the wire while the unmanned aerial vehicle is falling due to the function of the fall mitigation mechanism, causing the unmanned aerial vehicle to land on the winding section.

8. The unmanned aerial vehicle recovery device according to claim 7 , wherein the winding section is provided with an impact absorbing member at a position where the unmanned aerial vehicle lands when the wire is wound.

9. The unmanned aerial vehicle recovery device according to claim 1 , further comprising an alarm generating unit that issues an alarm using at least one of audio and light while the fall mitigation mechanism is operating.

10. The unmanned aerial vehicle recovery device according to claim 1 , wherein the unmanned aerial vehicle does not have a GPS function.

11. the wire has a specific portion having a predetermined length from the connection portion and a normal portion other than the specific portion, The unmanned aerial vehicle recovery device according to claim 1 , wherein the specific portion is less flexible than the normal portion.

Images