Multicopter launching device and multicopter launching method

Abstract

The present invention provides a multicopter launching device and a multicopter launching method that can calibrate a multicopter before launching it. [Solution] The multicopter ejection device 20 comprises a holding section 21 that holds the multicopter in a holding position, a slope section 23 formed to allow the multicopter to roll while changing direction, and an exit section 25 through which the multicopter rolls out into the air. The device is configured to perform calibration of the multicopter by having the multicopter 30 roll along the slope section 23 while changing direction.

Description

Technical Field

[0001] The present invention relates to a multi-copter injection device and a multi-copter injection method.

Background Art

[0002] In recent years, as shown in Patent Document 1, a docking station for a drone is known. When the remaining battery level of the drone decreases, it returns to the docking station and can take off again after charging.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the technology as shown in Patent Document 1, there is a problem that calibration cannot be performed when it is desired to perform calibration before taking off the drone.

[0005] In recent years, it has been considered to arrange a hovering platform at a position close to the stratosphere. When considering arranging the hovering platform at a high altitude and taking off the drone stored from the platform, it is necessary to start the stored drone, perform calibration, and then launch it. Thus, there is a problem that it is desired to launch the drone after performing calibration.

[0006] The present invention has been made to solve such problems, and an object thereof is to provide a multi-copter injection device and a multi-copter injection method capable of launching a multi-copter after performing calibration.

Means for Solving the Problems

[0007] To achieve the above objective, according to one embodiment of the present invention, a multicopter ejection device for ejecting a multicopter that can be rolled out of an aircraft is provided, comprising: a holding section for holding the multicopter in a holding position; a slope section formed so that the multicopter can roll while changing direction; and an exit section from which the multicopter rolls out into the air, wherein the device is configured to perform calibration of the multicopter by having the multicopter roll along the slope section while changing direction. According to this embodiment of the present invention, the multicopter can be calibrated by rolling along the slope while changing direction. This allows the multicopter to be launched after calibration.

[0008] According to one embodiment of the present invention, a multicopter ejection method for ejecting a multicopter capable of rolling ejection from an aircraft comprises: a holding step of holding the multicopter in a holding position; a calibration step of performing calibration of the multicopter by having the multicopter roll along a slope portion formed so that the multicopter can roll while changing direction; and an ejection step of having the multicopter roll out into the air from an exit portion. According to this embodiment of the present invention, the multicopter can be calibrated by rolling along the slope while changing direction. This allows the multicopter to be launched after calibration. [Effects of the Invention]

[0009] According to the multicopter launching device and multicopter launching method of the present invention, the multicopter can be launched after calibration. [Brief explanation of the drawing]

[0010] [Figure 1] This is a schematic diagram of a multicopter ejection system equipped with a multicopter ejection device according to one embodiment of the present invention. [Figure 2] This is a schematic diagram showing how an aircraft, a system control unit, and other components are connected via the internet in one embodiment of the present invention. [Figure 3] This is a schematic perspective view showing a multicopter being ejected by a multicopter ejection device according to one embodiment of the present invention. [Figure 4] This is a schematic perspective view showing the configuration of the slope section of a multicopter ejection device according to one embodiment of the present invention. [Figure 5] This is a schematic diagram showing the configuration of the holding section of a multicopter ejection device according to one embodiment of the present invention. [Figure 6] This is a block diagram showing the configuration of an aircraft according to one embodiment of the present invention. [Figure 7] This is a block diagram showing the configuration of a multicopter ejection device according to one embodiment of the present invention. [Figure 8] This is a flowchart illustrating the processing of a multicopter ejection method according to one embodiment of the present invention. [Figure 9] This is a schematic diagram showing a multicopter ejection device according to one embodiment of the present invention, in which the orientation of the holding section and the slope section has been changed to the vertical direction. [Figure 10] This is a schematic diagram showing how a multicopter rolls down a slope or the like in a multicopter launching device according to one embodiment of the present invention. [Modes for carrying out the invention]

[0011] A multicopter ejection system equipped with a multicopter ejection device according to one embodiment of the present invention will be described below with reference to the attached drawings. The embodiments described herein are illustrative and will be apparent to those skilled in the art that many modifications, changes, and substitutions are possible within the spirit and scope of the present invention. Therefore, the present invention is not limited to the embodiments disclosed, and various modifications, changes, etc., are possible in its form and details without departing from the claims. Furthermore, the components disclosed in the specification can be freely combined.

[0012] As shown in Figure 1, a multicopter ejection system 1 according to one embodiment of the present invention comprises a flying body 2 that flies in the air and stores a multicopter 30, and a multicopter ejection device 20. This provides a multicopter ejection system 1 that includes a flying body and a multicopter ejection device 20 that can eject the multicopter 30. In Figure 1, the stored multicopter 30 is shown by a dashed line.

[0013] Entity 2 forms a flying object in the air. Entity 2 is a high-altitude airship capable of reaching high altitudes such as the stratosphere, for example, an altitude of approximately 20 km above the ground (within the stratosphere), or the sub-stratosphere. Since the object can fly primarily by buoyancy, it forms a flying platform capable of long-term flight. Because Entity 2 is an airship capable of reaching the stratosphere, it is also called a stratospheric airship. Entity 2 is not limited to high altitudes such as the stratosphere or sub-stratosphere; it may also fly at lower altitudes, such as 50m or 100m above the ground. While an airship is preferred for Entity 2 due to its ability to sustain flight over long periods, it may also be formed from other aircraft, flying objects, drones, or other flyable devices.

[0014] As shown in Figure 1, the aircraft 2 comprises a gas bag 5 containing a lifting gas lighter than the surrounding atmosphere, an aircraft body 6 connected to the bottom of the gas bag 5, an altitude measuring device 7, a GPS device 8, a camera 13, an operating unit 10, a monitoring unit 11, and an airship-side control unit 12. The aircraft body 6 also includes a communication unit (not shown) for wireless communication with the operating unit 10 and the system control unit 9 (see Figure 1), etc.

[0015] As shown in FIG. 1, the airbag 5 is provided at the upper center of the flying object 2. The airbag 5 is configured to form a rugby ball shape in the deployed state. The airbag 5 may be formed in other shapes such as an oval or a circle. The airbag 5 is configured to be able to float and fly in the air for a long period of time. The airbag space 5a inside the airbag 5 forms a space independent of the external atmosphere. The airbag 5 is in a state where a relatively light gas such as helium gas H is filled in the airbag space 5a. Since the weights of the airbag 5, the airframe body 6, etc. and the helium gas H are lighter than the weight of the air pushed aside by the airbag 5, the flying object 2 floats by receiving the buoyancy of the outside air. The airbag 5 generates an upward lifting force in a state where the helium gas is filled in the airbag 5. In this way, the flying object 2 can fly, for example, it can fly even for a relatively long period of several days or more.

[0016] The airframe body 6 is provided, for example, on the airbag 5 of the flying object 2. The airframe body 6 at the lower part of the airbag 5 forms a box-shaped room, and measuring devices and the like are arranged inside. The airframe body 6 includes, for example, an altitude measuring device 7, a GPS device 8, a camera 13, an airship side control unit 12, and the like.

[0017] As shown in FIG. 3, the altitude measuring device 7 can measure the altitude (distance) of the flying object 2 with respect to the ground (the ground serving as a reference for altitude measurement). The altitude measuring device 7 is, for example, an air pressure altimeter. The altitude measuring device 7 may use a GPS altimeter or may be configured by combining a GPS altimeter and an air pressure altimeter. The altitude measuring device 7 can measure the altitude (distance) of the flying object 2.

[0018] The GPS device 8 can identify the current position of the flying object 2 using satellites

[0019] The camera 13 can photograph and visually recognize the surrounding situation from the flying object 2. The surrounding situation of the flying object 2 can be confirmed from a remote location by the camera 13.

[0020] The control unit 10 (see Figure 1) can issue control commands for the flight of the aircraft 2, attitude changes on the slope, and launch of the multicopter. The control unit 10 is located separately from the main body 6 of the aircraft 2 and is electrically connected via wireless communication to the airship-side control unit 12 and system control unit 9, which will be described later. The control unit 10 can be remotely operated by a user, for example. The user can also control the flight of the aircraft 2 by operating the control unit 10. In addition, various controls of the aircraft 2, such as flight control, may be controlled by the system control unit 9, which will be described later, but various controls may also be instructed and controlled by the user by operating the control unit 10. The control unit 10 can also control only any part of the flight or aircraft 2 operation commands. For example, flight control may be controlled by the control unit 10, and other operations may be automatically controlled by the airship-side control unit 12. The control unit 10 may also be displayed on the monitor unit 11 that displays images from the camera. Thus, the control unit 10 may be an information terminal device such as a smartphone or tablet terminal. Other examples include dedicated controllers or operating devices such as radio-controlled car controllers.

[0021] The monitor unit 11 has a screen that allows the user to view images from the camera and the contents of the control unit.

[0022] As shown in Figure 1, the airship-side control unit 12 is located in the main body 6 of the aircraft 2. The airship-side control unit 12 may also be located in a separate system control unit 9 or the like. The airship-side control unit 12 controls the flight of the aircraft 2 and transmits operation commands for various devices. The airship-side control unit 12 may be configured to control the operation of the multicopter launch device 20. The airship-side control unit 12 can also control the flight altitude, flight route, etc., of the aircraft 2. The airship-side control unit 12 incorporates a CPU 17 and a storage device 19 such as memory, and controls connected devices to execute predetermined controls based on predetermined control programs recorded in the memory, etc. The airship-side control unit 12 is electrically connected to the altitude measuring device 7, GPS device 8, camera 13, operation unit 10, monitor unit 11, system control unit 9, etc. These electrical connections may be made by wireless communication or the like.

[0023] As shown in Figure 1, the system control unit 9 is located at a position separate from the aircraft 2. In this embodiment, the system control unit 9 is provided separately from the airship-side control unit 12, but the system control unit 9 may be integrated with the airship-side control unit 12 to form a single control unit. When functioning as a single control unit, it may be integrally formed on either the airship-side control unit 12 or the system control unit 9.

[0024] As shown in Figure 2, the system control unit 9 is electrically connected to the aircraft 2, etc., via the Internet 3. The system control unit 9 may be installed in an electronic device that functions as a computer, such as a smartphone or tablet. The system control unit 9 has a built-in CPU 63 and a storage device 65 such as memory, and controls the connected device based on a predetermined control program recorded in the memory, etc. Therefore, the system control unit 9 functions as a computer. The electrical connection between the system control unit 9 and other devices may be connected in whole or in part by wireless communication such as infrared communication or other methods. The system control unit 9 has a predetermined program for executing predetermined control functions. The system control unit 9 may also be composed of multiple devices. The storage device 65 of the system control unit 9 stores a predetermined program, but it does not necessarily have to store all of the program; some or all of it may be stored in multiple devices, or on a server via the Internet. The system control unit 9 may be able to execute all or part of the functions of the airship-side control unit 12 and the ejection device control unit 50. The system control unit 9 is installed separately from the airship-side control unit 12 and the ejection device control unit 50, and spaced apart from the aircraft 2. For example, the airship-side control unit 12 mounted on the aircraft 2 may be configured to perform some or all of the control functions. The system control unit 9 is equipped with output devices 68 such as monitors and input devices 67 that can be operated, and various modes can be set.

[0025] The system control unit 9 may also be equipped with output devices 68 and input devices 67. The output devices 68 can be used to check control information and input control instructions. The input devices 67 consist of devices that input control commands, such as a mouse or keyboard.

[0026] The system control unit 9 may include an input device 67 that accepts operation inputs. The input device 67 can receive operation commands for control and operation by the system control unit 9. The user can also control the flight of the multicopter launch device 20 by operating the input device 67. The input device 67 may be displayed in the monitor unit that displays images as described above. Thus, the input device 67 may be an information terminal device such as a smartphone or tablet.

[0027] The multicopter launcher 20 forms a launcher that launches a multicopter 30 that can be rolled out from the aircraft 2. The multicopter ejection device 20 includes a holding section 21 for holding the multicopter 30, a slope section 23, an exit section 25, a support section 28, a rotational drive section 29, and an ejection device control section 50.

[0028] The multicopter 30 held by the holding unit 21 will now be described. The multicopter 30 is formed by a drone equipped with rotor blades. The multicopter 30 is an autonomously flying unmanned aerial vehicle. The multicopter 30 is formed to be able to roll out from the flying body 2. The multicopter 30 is an unmanned aerial vehicle, for example, a multicopter-type drone. The multicopter 30 comprises a multicopter body 31, a rotor 32 and blades (rotor blades) 33 for rotating blades 33 attached to arms 37 extending outward from the multicopter body 31, a frame 34, an acceleration sensor 56, a gyro sensor 57, a GPS device 58, and a multicopter control unit 35 for performing calibration of the multicopter 30. Four arms 37 extend outward from the multicopter body 31. Each arm 37 forms a 90-degree angle with the others. A rotor 32 and a blade 33 are provided at the tip of each arm 37. By controlling the rotation speed of each blade 33, the multicopter 30 is configured to move in the forward, backward, left, right, and up and down directions. In this embodiment, the multicopter 30 has four blades (a total of four blades) mounted on four arms, but this may be changed to a different number of arms and blades mounted on each arm. The multicopter 30 can autonomously fly along a predetermined position, altitude, and course, and take off and land fully automatically according to a predetermined program, controlled by a multicopter control unit 35, which will be described later. The multicopter 30 is also equipped with a manual control unit (not shown), and all or part of the control may be manually operated by the manual control unit.

[0029] The acceleration sensor 56 has the function of measuring the acceleration of the aircraft. The acceleration sensor 56 is attached to the multicopter body 31. The acceleration sensor 56 can measure the acceleration and tilt (attitude) of the aircraft. The acceleration sensor 56 is electrically connected to the multicopter control unit 35. Calibration is effective for the acceleration sensor to perform relatively accurate measurements.

[0030] The gyro sensor 57 has the function of measuring the angular velocity (rotation) of the aircraft. The gyro sensor 57 is attached to the multicopter body 31. The gyro sensor 57 can measure the angular velocity and rotation (rotation in the forward / backward direction, rotation in the left / right direction, and rotation of the aircraft's orientation). The gyro sensor 57 is electrically connected to the multicopter control unit 35. Calibration is effective for the gyro sensor 57 to perform relatively accurate measurements. The acceleration sensor and gyro sensor may be formed by an inertial measurement unit (IMU).

[0031] The GPS device 58 has the function of measuring the aircraft's position. The GPS device 58 is attached to the multicopter aircraft body 31. The GPS device 58 can measure the aircraft's current position using satellite signals. The GPS device 58 is electrically connected to the multicopter control unit 35. Calibration is effective for the GPS device 58 to perform relatively accurate measurements.

[0032] The frame portion 34 of the multicopter 30 is formed in a ball shape, for example, in the shape of a soccer ball. The frame portion 34 may be formed in the shape of a soccer ball, for example. The frame portion 34 may be formed in a shape such that it constitutes a truncated icosahedron by a combination of pentagons and hexagons. The frame portion 34 can also be said to have an outer shape that is approximately spherical. As shown in Figure 3, the frame portion 34 is formed by a combination of rod-shaped frame portions 34. In other words, the frame portion 34 is formed in a mesh-like manner. The surfaces between the rod-shaped members that form a grid form openings. The frame portion 34 forms a mesh-like frame. Therefore, air can freely pass through the mesh of the frame portion 34, and the airflow caused by the rotation of the rotor blades of the multicopter 30 can be directed outside the frame portion 34. Even when the multicopter 30 is placed inside the frame portion 34, it can take a flight attitude similar to that of a so-called drone, and it is also possible to perform flight control similar to that of a so-called drone. The frame section 34 is equipped with a column extending from its upper end to its lower end, and this column is connected to the aircraft body 31. Therefore, the frame section 34 flies in the same way as the aircraft body 31.

[0033] The multicopter control unit 35 performs the flight control necessary for the flight of the multicopter 30. The multicopter control unit 35 controls the rotation speed of the rotor blades, etc., enabling the multicopter 30 to fly towards its intended course and destination. The multicopter control unit 35 also performs the calibration necessary for flight control. For example, calibration is performed before flight as an inspection and adjustment to ensure that measuring instruments such as acceleration sensors mounted on the multicopter 30 show the correct values. The multicopter control unit 35 can control the flight altitude, flight route, etc. of the multicopter 30. Furthermore, the multicopter control unit 35 can perform calibration of the acceleration sensor, gyro sensor, and GPS device for flight preparation. The multicopter control unit 35 can perform each of these calibrations while changing the direction of the multicopter 30, for example, the direction of the front of the multicopter 30, each time. The multicopter control unit 35 incorporates a CPU 38 and a memory or other storage device 39, and controls connected devices to execute predetermined controls based on a predetermined control program recorded in the memory or other storage device. The multicopter control unit 35 is electrically connected to the rotor 32, acceleration sensor 56, gyro sensor 57, GPS device 58, system control unit 9, etc. These electrical connections may be made by wireless communication or the like.

[0034] Let me explain the multicopter ejection device 20 again. As shown in Figure 5, the holding portion 21 holds the multicopter 30 in the holding position. The holding portion 21 is formed to extend in a rod shape from the outside to the inside of the cylindrical tube. In the first position, the holding portion 21 extends horizontally. The holding portion 21 extends inward from the wall surface of the tube by a predetermined distance, for example, to inside the frame portion 34. The holding portion 21 extends inward from, for example, two locations on the outer circumference of the tube. The two holding portions are formed at an angle of 180 degrees. The holding portion 21 is formed to a length of a value within the range of 0.5 cm to 2 cm.

[0035] The holding portion 21 comprises a first holding portion 21a, a second holding portion 21b, a third holding portion 21c, a fourth holding portion 21d, and a lower support portion 21e. The first holding portion 21a extends inward from the first wall 26 on the first side. The second holding portion 21b extends inward from the second wall 27 on the second side, opposite to the first holding portion 21a. The first holding portion 21a and the second holding portion 21b are positioned symmetrically with respect to the central axis of the tube. The first holding portion 21a and the third holding portion 21c are arranged parallel to each other. The first holding portion 21a and the second holding portion 21b are configured to support the upper portion of the multicopter 30.

[0036] The third retaining portion 21c extends inward from the first wall 26 on the first side at a different height from the first retaining portion 21a. The fourth retaining portion 21d extends inward from the second wall 27 on the second side, opposite to the third retaining portion 21c. The third retaining portion 21c and the fourth retaining portion 21d are located symmetrically with respect to the central axis of the tube. The third retaining portion 21c and the fourth retaining portion 21d are positioned opposite each other. The third retaining portion 21c and the fourth retaining portion 21d extend parallel to the first retaining portion 21a and the second retaining portion 21b, but are formed at different heights. For example, the third holding part 21c is positioned parallel to the first holding part 21a. Alternatively, for example, the fourth holding part 21d may be positioned parallel to the second holding part 21b. In this case, the third holding part 21c and the fourth holding part 21d are positioned opposite each other. The third holding part 21c and the fourth holding part 21d are provided at different heights than the first holding part 21a and the second holding part 21b. The third holding part 21c and the fourth holding part 21d are configured to support the lower part of the multicopter. The distance between the first holding part 21a and the third holding part 21c is shorter than the length from the top to the bottom of the multicopter 30.

[0037] The first retaining section 21a is configured to change between a retaining state extending inward from the first wall 26 and a storage state extending outward from the first wall 26. The second retaining section 21b is configured to change between a retaining state extending inward from the second wall 27 and a storage state extending outward from the second wall 27. The third retaining section 21c is configured to change between a retaining state extending inward from the first wall 26 and a storage state extending outward from the first wall 26. The fourth retaining section 21d is configured to change between a retaining state extending inward from the second wall 27 and a storage state extending outward from the second wall. The first retaining section 21a, the second retaining section 21b, the third retaining section 21c, and the fourth retaining section 21d change from the retaining state to the storage state synchronously. The first holding part 21a, the second holding part 21b, the third holding part 21c, and the fourth holding part 21d can change from the stored state to the held state in a synchronized manner. The first holding part 21a, the second holding part 21b, the third holding part 21c, and the fourth holding part 21d do not need to move in a synchronized manner. When the first holding part 21a, the second holding part 21b, the third holding part 21c, and the fourth holding part 21d detach from the multicopter, the multicopter 30 begins to roll downwards.

[0038] The holding unit 21 is configured to perform a horizontal attitude holding mode that can hold the multicopter 30 in a horizontal position. This allows the holding unit 21 to hold the multicopter 30 in a horizontal position for a predetermined period, enabling the multicopter 30 to perform horizontal attitude calibration. As shown in Figure 5, the horizontal attitude holding mode of the holding unit 21 controls the holding unit 21 so that its central axis X1 extends vertically while it is holding the multicopter 30, and also controls the holding unit 21 to maintain a horizontal position. The horizontal position of the multicopter 30 is such that the central axis X2 (see Figure 3) of the multicopter body 31 extends roughly vertically, and the arms 37 of the multicopter body 31 extend horizontally. As shown in Figures 1 and 9, for example, when the attitude and orientation of the holding unit 21 and the slope unit 23 can be controlled between a lateral first attitude and a longitudinal second attitude, the attitude of the holding unit 21, etc. is controlled, and when the holding unit 21, etc. takes the longitudinal second attitude (see Figure 9), the central axis X1 of the holding unit 21 (see Figure 5) extends vertically, and the multicopter 30 can be held in a horizontal attitude. This allows the holding unit 21 and slope unit 23, etc. to be stored in a lateral first attitude under normal circumstances, and at the time of launch, the holding unit 21 is set to the second attitude (see Figure 9), allowing the multicopter to perform calibration in a horizontal attitude. The first attitude of the holding unit 21 and slope unit 23, etc. is shown, for example, in Figure 1. According to the first attitude, the holding unit 21 and slope unit 23, etc. can be held and stored in a lateral orientation so as not to interfere with flight. The second attitude of the holding unit 21 and slope unit 23, etc. is shown, for example, in Figure 9. In the second attitude, the holding unit 21 and the slope unit 23 can be held vertically so that the multicopter 30 can be launched. When in the second attitude, the horizontal attitude holding mode of the holding unit 21 is also executed.

[0039] As shown in Figure 5, the lower support portion 21e is formed in a flat plate shape extending from the first wall 26 to the second wall 27. The lower support portion 21e is formed in a flat plate shape and is inserted laterally across the circular tube of the holding portion 21. The lower support portion 21e is configured to support the bottom of the multicopter 30. In the horizontal attitude holding mode, the bottom of the multicopter 30 is supported by the lower support portion 21e. The lower support portion 21e may be formed from a rod-shaped member. The lower support portion 21e is formed to be slidable laterally. The lower support portion 21e is configured to change between a holding state in which it extends from the first wall 26 to the second wall 27 and a stowed state in which it is moved horizontally to the outside of the holding portion 21 and extends outward from the first wall 26 or the second wall 27. The lower support portion 21e can change from a holding state to a stored state in synchronous motion with the first holding portion 21a, the second holding portion 21b, the third holding portion 21c, and the fourth holding portion 21d. The lower support portion 21e can also change from a stored state to a holding state in synchronous motion with the first holding portion 21a, the second holding portion 21b, the third holding portion 21c, and the fourth holding portion 21d. However, the lower support portion 21e does not have to operate in synchronous motion with the first holding portion 21a, the second holding portion 21b, the third holding portion 21c, and the fourth holding portion 21d. When the lower support portion 21e is moved to the outside of the holding portion 21 and detached from the multicopter, the multicopter begins to roll downwards. The state in which the lower support portion 21e has been moved to the outside of the holding portion 21 is shown by a dashed line in Figure 5. Similarly, the state in which the first retaining part 21a, etc., has been moved to the outside of the retaining part 21 is also shown by a dashed line in Figure 5. To simplify the illustration, only the movement of the first retaining part 21a is illustrated, and the movement states of the second retaining part 21b, the third retaining part 21c, and the fourth retaining part 21d are omitted from the illustration.

[0040] As shown in Figure 4, the slope section 23 is formed so that the multicopter 30 can roll while changing direction. The slope section 23 forms a ramp designed so that the multicopter 30 rolls in a predetermined direction and with a predetermined rotation. Changing direction means, for example, that if the front of the multicopter 30 is set, this front changes its orientation in various directions. The slope section 23 is formed so that calibration of the multicopter 30 can be performed by having the multicopter 30 roll while changing direction. The slope section 23 forms a cylindrical conduit. As shown in Figure 4, the slope section 23 is formed so that a cylindrical conduit continues from the holding section 21 to the outlet section 25. This makes it easier for the multicopter 30 to roll along the conduit and makes it easier to orient the multicopter 30 in various directions. Also, even when the multicopter 30 changes orientation in various ways, it can roll inside the slope section 23 without coming off the slope section 23. Furthermore, since the multicopter 30 is less likely to come off the slope section 23, it becomes easier to make bold adjustments to the direction in which the slope section 23 curves when the multicopter 30 rolls along the curved section.

[0041] As shown in Figure 4, the slope section 23 comprises a first section 41 formed at the entrance, a second section 42 formed following the first section 41, and an exit section 25 formed following the second section 42 and forming the exit section.

[0042] The first part 41 extends in a straight line. The first part 41 extends vertically. The first part 41 extends linearly following the holding part 21. The first part 41 is formed to a relatively short first length. The first part 41 is connected to the second part 42. The first part 41 has an elastic member 44 on its inner surface that allows the multicopter 30 to roll easily.

[0043] The shape of the second part 42 will be described assuming that the slope section 23 is in a second orientation (a vertically extending orientation), as shown in Figures 4 and 9. The second part 42 forms a conduit that curves and extends laterally from the vertical first part 41. The second part 42 forms a curved conduit. In a top view, the second part 42 extends, for example, in a loop shape. The second part 42 also forms a ramp that gradually descends toward the outlet. The second part 42 of the slope section 23 is equipped with a curved section that bends the ramp to change the rotation direction of the multicopter 30. Because the slope section 23 is equipped with a curved section, the orientation of the multicopter 30 can be changed, and the number of calibration directions for the multicopter 30 can be increased. The slope section 23 is not limited to a helical shape and can be set to any course shape.

[0044] The second section 42 extends in a spiral shape that descends vertically toward the outlet. The diameter of the conduit in the second section 42 is formed to be approximately the same from the connection point with the first section 41 to the connection point with the outlet section 25. The diameter of the conduit in the second section 42 is larger than the diameter of the ball-shaped multicopter 30. The second section 42 is formed such that the bottom surface of the conduit has a downward slope at a predetermined angle. The second section 42 is formed to have a slope angle of, for example, a value in the range of 3 to 30 degrees, or for example, a value in the range of 3 to 15 degrees. The slope angle of the conduit in the second section 42 is formed to be approximately the same from the connection point with the first section 41 to the connection point with the outlet section 25. However, the slope angle of the conduit in the second section 42 does not have to be approximately the same from the connection point with the first section 41 to the connection point with the outlet section 25. For example, the slope angle of the conduit in the second section 42 may be formed to have any angle at any position. Furthermore, Part 2, section 42 may include a straight pipeline.

[0045] The second part 42 is formed to a length such that, for example, the multicopter 30 having a ball-shaped frame 34 rotates a number of times in the range of 10 to 40 rotations while rolling along the second part 42. The second part 42 of the slope 23 is formed to a length such that the multicopter 30 can roll while rotating, for example, 10 or more times. For example, the second part 42 of the slope 23 is formed to a length greater than 10 times the circumference of the multicopter 30. The second part 42 of the slope 23 may be formed to a length such that the multicopter 30 can roll while rotating, for example, 20 or more times.

[0046] Part 2 42 is formed to have a course length that is, for example, within the range of 2m to 10m. Part 2 42 is equipped with an elastic member 44 on its inner surface that makes it easy for the multicopter 30 to roll along the surface. This makes it easier for the multicopter 30 to roll along the inner surface of Part 2 42, making it easier to orient the multicopter 30 in various directions compared to when the multicopter 30 slides along the inner surface of Part 2 42. In addition, by making it easier for the multicopter 30 to roll along the inner surface of Part 2 42, it becomes easier to predict the direction and number of rotations of the multicopter 30, and it becomes easier to rotate it as predicted. As the multicopter 30 rolls down inside Part 2 42, the direction of the multicopter 30 changes successively, as shown by arrows F1 to F12 in Figure 10, thereby allowing calibration to be performed by changing the direction of the multicopter 30. This is because, in order to proceed with the calibration of the multicopter 30, it is necessary to change the orientation of the multicopter 30 in various ways.

[0047] Part 2 42 is formed to repeat a spiral loop of the same diameter at regular intervals, allowing the multicopter 30 to take on similar orientations. Furthermore, the conduit course of Part 2 42 can be freely designed to facilitate calibration of the multicopter 30 in a specific orientation. The shape of the conduit course allows for the determination of the orientation in which the multicopter 30 will perform calibration.

[0048] The second section 42 of the slope section 23 is formed with consideration for the orientation of the multicopter 30, for example, the direction in which the multicopter 30 is directed by rotation, and also for consideration for the way the multicopter 30 rolls (for example, the number of rotations), and is formed as a course such that the multicopter 30 completes the rotations necessary for calibration while rolling down the slope section. As a result, the multicopter 30 can complete the rotations necessary for calibration while rolling down the second section 42, and when the multicopter 30 reaches the exit section, the calibration of the multicopter 30 can be completed.

[0049] The outlet section 25 forms an exit portion through which the multicopter 30 rolls into the air. The outlet section 25 is connected to the second section 42. The outlet section 25 extends in the intended ejection direction. The outlet section 25 is formed to a relatively short second length. The outlet section 25 extends in a straight line. The outlet section 25 forms an opening that opens towards the atmosphere. The outlet section 25 functions as an ejection section for ejecting the multicopter 30. Note that the outlet section 25 may be omitted. The outlet section 25 is provided with an elastic member 44 on its inner surface to facilitate the multicopter 30 rolling along its surface.

[0050] The holding part, slope part 23, and outlet part 25 described above are connected so that they move as a single unit. The holding part 21, slope part 23, and outlet part 25 can be changed between a horizontal first posture and a vertical second posture by the support part 28. In the first posture, as shown in Figure 1, the holding part and slope part 23 are positioned so that they extend in the vertical direction. In this case, the slope part 23 extends in a spiral shape so that its central axis is in the vertical direction. In the second posture, as shown in Figure 9, the holding part 21 and slope part 23 are positioned so that they extend in the horizontal direction. In this case, the slope part 23 extends in a spiral shape so that its central axis is in the horizontal direction.

[0051] The support portion 28 is formed in a rod shape and is attached to the holding portion 21. The support portion extends laterally from the main body of the aircraft 2. The support portion 28 is engaged with the rotary drive portion 29 and is configured to be rotatable by the rotary drive portion 29. When the support portion 28 is rotated about its axis, the holding portion 21 is configured to move from the first attitude to the second attitude.

[0052] The rotary drive unit 29 is formed by a drive unit such as a motor. A gear (not shown) of the rotary drive unit 29 engages with a gear (not shown) of the support unit 28, and the rotation of the rotary drive unit 29 is transmitted as the rotation of the support unit 28. The rotary drive unit 29 is electrically connected to the injection device control unit 50 and is configured to be controllable by the injection device control unit 50.

[0053] The ejection device control unit 50 performs the necessary controls for ejecting the multicopter 30. The ejection device control unit 50 executes a multicopter ejection method, for example, to eject a multicopter 30 that can be rolled out from the aircraft 2. The ejection device control unit 50 has a function to change the holding unit 21 and the slope unit 23, etc., from a first attitude to a second attitude, for example, when the holding unit 21 and the slope unit 23 are in a first attitude of sideways orientation. The ejection device control unit 50 can also execute a holding step S1, for example, in which the holding unit 21 holds the multicopter 30 in the holding position. Furthermore, the ejection device control unit 50 can execute the necessary controls for executing a calibration step S2 and an ejection step S3, for example. The ejection device control unit 50 incorporates a CPU 53 and a storage device 54 such as memory, and controls connected equipment to execute predetermined controls based on a predetermined control program recorded in the memory, etc. A program that enables the ejection device control unit 50 to execute the above-described functions and steps is stored in the storage device. The injection device control unit 50 is electrically connected to, for example, the rotary drive unit 29 and the multicopter control unit 35. These electrical connections may be made by wireless communication or the like.

[0054] Next, with reference to Figure 8, a multicopter ejection method for ejecting a multicopter capable of rolling ejection from an aircraft will be described. Figure 8 is a flowchart illustrating the process of a multicopter ejection method for ejecting a multicopter from a multicopter ejection device according to one embodiment of the present invention. As an example, the ejection device control unit 50 of the multicopter ejection device is described as performing the control, but the system control unit 9 may perform all or part of the control.

[0055] First, as shown in Figure 5, the multicopter 30 is held within the holding section 21 of the multicopter ejection device 20 in its stored state. The holding section 21 and the slope section 23 are in a sideways first attitude (see Figure 1). For example, the aircraft 2 is flying in the air. When the ejection device control unit 50 intends to perform ejection control of the multicopter 30, the ejection device control unit 50 starts the multicopter ejection method as shown in Figure 8 and proceeds to S1. If the holding section 21 and the slope section 23 are in a sideways first attitude, the holding section 21 and the slope section 23 are changed from the first attitude to the second attitude. Specifically, the support section connected to the holding section 21 is rotated to change the orientation of the holding section 21 and the slope section 23 so that the central axis X1 of the holding section 21 (see Figure 5) extends in the vertical direction.

[0056] In S1, the holding step S1 is performed, in which the holding unit 21 holds the multicopter 30 in the holding position. The ejection device control unit 50 starts control toward ejection of the multicopter 30, and the multicopter control unit 35 also starts preparations for the flight of the multicopter. Upon receiving a command from the system control unit 9, the multicopter control unit 35 is started and starts calibration toward flight.

[0057] The injection device control unit 50, using the holding unit 21, executes a horizontal attitude holding mode in the holding step S1, thereby controlling the multicopter 30 to maintain a horizontal attitude. This allows the multicopter control unit 35 to position the multicopter 30 horizontally, as shown in Figure 5, and to perform calibration in the horizontal attitude. After the holding step S1 is executed, the process proceeds to S2.

[0058] In step S2, the calibration step S2 can be performed by having the multicopter 30 roll along the slope section 23, which is formed so that the multicopter 30 can roll while changing direction, as shown in Figure 10. For example, a ball-shaped multicopter 30 rolls within the slope section 23 with a predetermined lateral rotation, for example, 20 rotations in the lateral direction. The orientation of the multicopter 30, for example, the orientation of the front, changes with rotation as shown in F1 to F12. For example, the orientation of the front of the multicopter 30 is illustrated by arrows F1 to F12. Note that arrows F1 to F12 are illustrative and do not represent the exact orientation, but rather illustrate how the orientation of the front of the multicopter 30 changes. At this time, for example, the multicopter control unit 35 repeatedly performs calibration while the multicopter rolls along the slope section 23 in each orientation as shown in F1 to F12. The slope section 23 is formed with a length and course that allows for sufficient calibration as the multicopter 30 rolls along it. Therefore, when the multicopter 30 rolls out of the slope section 23, the multicopter control unit 35 has finished performing the calibration necessary for flight, for example, calibration of the multicopter 30 in different directions. For example, if the multicopter 30 requires calibration in different directions as part of pre-flight calibration, the multicopter 30 is designed to roll along the slope section 23 with sufficient rotation so that calibration in different directions can be performed as the multicopter 30 rolls along the slope section 23. Alternatively, the multicopter 30 may be designed to continue rotating in the air after rolling out of the slope section 23, and complete the calibration. In other words, the calibration of the multicopter 30 does not need to be completed at the exit section 25. After calibration step S2 is performed, the process proceeds to S3.

[0059] In S3, the ejection step S3 can be performed, in which the multicopter 30 rolls out of the exit 25 into the air. The multicopter 30 is released from the exit 25 into the air directed towards the exit 25. As described above, the multicopter 30 has been calibrated at the exit 25. Therefore, as the multicopter 30 falls through the air, it can activate its rotor 32, rotate its blades 33, and begin flight. In this way, a drone-type multicopter 30 can be ejected from a platform such as an aerial aircraft 2, after preparation including calibration, and made to fly properly. After the ejection step S3 is performed, proceed to the end.

[0060] An example of one embodiment of the present invention may be provided in the following embodiments.

[0061] (1) A multicopter ejection device for ejecting a multicopter that can be rolled out of an aircraft, comprising: a holding section for holding the multicopter in a holding position; a slope section formed to allow the multicopter to roll while changing direction; and an exit section from which the multicopter rolls out into the air, wherein the device is configured to perform calibration of the multicopter as the multicopter rolls along the slope section while changing direction.

[0062] (2) The multicopter launching device according to (1), wherein the slope section includes a curved section that bends the ramp to change the rotation direction of the multicopter.

[0063] (3) The multicopter ejection device according to (1), wherein the slope portion is formed with the orientation of the multicopter in mind, and is formed as a course such that the multicopter completes the rotation necessary for calibration while rolling down the slope portion.

[0064] (4) The multicopter ejection device according to (1), wherein the slope portion is provided with an elastic member on its inner surface that facilitates the multicopter from rolling along the surface.

[0065] (5) The multicopter ejection device according to (1), wherein the slope portion forms a cylindrical conduit.

[0066] (6) The multicopter ejection device according to (1), wherein the holding portion is formed to perform a horizontal attitude holding mode that can hold the multicopter in a horizontal position.

[0067] (7) The horizontal attitude holding mode of the holding part is controlled so that, when the holding part is holding the multicopter, the central axis of the holding part extends in the vertical direction and the multicopter is held in a horizontal position. The multicopter ejection device as described in (6).

[0068] (8) The multicopter ejection device according to (1), comprising a support part that supports the holding part or the slope part, and a rotational drive part that can rotate the support part.

[0069] A multicopter launch system comprising a multicopter launch device as described in any one of paragraphs (9)(1) to (8), and an aircraft that flies in the air.

[0070] (10) A multicopter ejection method for ejecting a multicopter capable of rolling ejection from an aircraft, comprising: a holding step of holding the multicopter in a holding position; a calibration step of performing calibration of the multicopter by having the multicopter roll along a slope portion formed so that the multicopter can roll while changing direction; and an ejection step of the multicopter rolling out into the air from an exit portion.

[0071] The embodiments for carrying out the present invention are not limited to those described above, and further variations can be applied. Various alternative embodiments and examples will be apparent to those skilled in the art based on the disclosed technology.

[0072] For example, in a modified example, the multicopter ejector 20 has a third holding section 21c that extends inward from the third wall on the third side, forming a 90-degree angle with the first wall 26 on the first side. The fourth holding section 21d extends inward from the fourth wall on the fourth side, opposite the third holding section 21c. The third holding section 21c and the fourth holding section 21d are positioned symmetrically with respect to the central axis X1 of the holding section 21. The third holding section 21c and the fourth holding section 21d are arranged parallel to each other. The third holding section 21c and the fourth holding section 21d extend in directions 90 degrees different from the first holding section 21a and the second holding section 21b.

[0073] Another variation is that the multicopter 30 may be configured to form a ball shape when its arms and other parts are folded. For example, the multicopter 30 may omit the frame 34 and form a ball shape by the folded shape of the multicopter 30 itself. Such a multicopter 30 may be formed by a rotary-wing retractable multicopter. [Explanation of Symbols]

[0074] 1: Multicopter launch system 2: Flying object 20: Multicopter ejection device 21: Holding part 23: Slope section 25:Exit part 28: Support part 29: Rotary drive unit 30: Multicopter

Claims

1. A multicopter launching device that launches a multicopter capable of rolling out from an aircraft, A holding part that holds the multicopter in the holding position, A slope section formed so that the multicopter can roll while changing direction, The multicopter is provided with an exit section from which it rolls out into the air, A multicopter ejection device is configured such that the multicopter performs calibration by rolling along the slope section while changing direction.

2. The multicopter ejection device according to claim 1, wherein the slope section includes a curved section that bends the ramp to change the rotation direction of the multicopter.

3. The multicopter ejection device according to claim 1, wherein the slope portion is formed with the orientation of the multicopter in mind, and is formed as a course such that the multicopter completes the rotation necessary for calibration while rolling along the slope portion.

4. The multicopter ejection device according to claim 1, wherein the slope portion is provided with an elastic member on its inner surface that facilitates the multicopter from rolling along the surface.

5. The multicopter ejection device according to claim 1, wherein the slope portion forms a cylindrical conduit.

6. The multicopter ejection device according to claim 1, wherein the holding portion is formed to perform a horizontal attitude holding mode that can hold the multicopter in a horizontal position.

7. The horizontal attitude holding mode of the holding unit is controlled so that, while the holding unit is holding the multicopter, the central axis of the holding unit extends in the vertical direction, and the multicopter is held in a horizontal position. The multicopter ejection device according to claim 6.

8. The multicopter ejection device according to claim 1, comprising a support portion for supporting the holding portion or the slope portion, and a rotational drive portion capable of rotating the support portion.

9. A multicopter launch system comprising a multicopter launch device according to any one of claims 1 to 8, and an aircraft flying in the air.

10. A method for launching a multicopter that can be rolled out from an aircraft, A holding step of holding the multicopter in the holding position, A calibration step is performed by having the multicopter roll along a slope section formed so that the multicopter can roll while changing direction, while the multicopter changes direction. A method for launching a multicopter, comprising: an ejection step in which the multicopter rolls out into the air from an exit.

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