Landing device for flying robots

Abstract

To provide a landing gear of a flight robot which can position a drone by surely guiding to a regular position even if the done is large-sized and has the heavy weight.SOLUTION: In a landing gear 1 including: a base part 8 on which a drone 2 lands; and a movable part 9 which is provided in a freely-openable / closable manner in an edge thereof and guides the drone to a regular position, a rotation part 10 which is lower by a step L is provided via an inclined surface 12 on the center of the base part 8, three protrusion parts 13 are provided in an equal interval in the rotation part 10. After the landing of the drone, the movable part moves in the closing direction and the rotation part rotates. The drone is pushed by the movable part to be close to the center, guided to the regular position on the center of the rotation part by receiving the rotation force from the protrusion parts of the rotation part and positioned.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a landing device for a flying robot for the returned flying robot to land, and particularly relates to a landing device for a flying robot that can surely position the landed flying robot at a regular position.

Background Art

[0002] In recent years, a patrol service using drones has been provided. This patrol service is, for example, to fly a drone along a predetermined route under autonomous control to check for abnormalities in a monitoring area, and a takeoff / landing device serving as a base for the drone to take off and land is used.

[0003] Patent Document 1 below discloses an invention of a takeoff / landing device for a drone that can be used for the above-described patrol service. In this takeoff / landing device, a base provided with a movable body that can be opened and closed at its periphery is vertically movable within a frame. When the drone lands in a state where the movable body is open, as the base descends, the movable body closes to push the drone and correct its position to position it at a regular position.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] According to the landing device as disclosed in Patent Document 1 above, if the drone is lightweight, it is possible to push the drone by the movement of the movable body in the closing direction to guide it to a regular position. However, in the case of a large drone having a certain weight, it was not possible to successfully guide the drone to a regular position only with such a mechanism.

[0006] This invention has been made in view of the problems of the prior art, and aims to provide a landing device for a flying robot in which a movable part is provided on the edge of the base on which the flying robot lands to guide the flying robot to its correct position by moving in an opening or closing direction, and which can reliably guide and position even a large and heavy flying robot to its correct position. [Means for solving the problem]

[0007] The landing device for a flying robot according to the present invention is The normal position of the flying robot after landing with its landing gear is on the base portion located on the upper surface, A movable part is provided to move freely on the edge of the base portion, A drive unit moves the movable part between an open state in which the movable part is spread outward from the base and a closed state in which the movable part is moved inward from the open state. It has, A landing device for a flying robot that moves the movable part in the direction of the closed state to guide the flying robot, which has landed on the base, back to the normal position, A rotatable rotating part with a projection on its upper surface is provided on the base portion. The aforementioned projection is provided on the upper surface other than the center of the rotating part, The invention is characterized by the fact that, while the movable part is in a closed state, the flying robot is pushed, and the rotating part is rotated, causing the projection to engage with the landing gear and rotate, thereby guiding the flying robot to the correct position. As a result, when the flying robot lands on the upper surface of the deployed base, the movable part moves in the closing direction and the rotating part rotates. The flying robot is pushed by the movable part towards the center of the base, and then rotated by the movement of the rotating part to be guided to the correct position on the base and positioned.

[0008] The landing device for a flying robot according to the present invention is The upper surface of the rotating part is lower than the upper surface of the base part. As a result, the flying robot is pushed towards the center of the base by the movable part and rotated by the movement of the rotating part, causing the flying robot to fall into the rotating part which is lower than the movable part and the base, thus making it easier to guide the flying robot to its correct position on the base.

[0009] The landing device for a flying robot according to the present invention is The upper surface of the rotating part and the upper surface of the base part It intersects the upper surface of the rotating part at an obtuse angle. It is characterized by being continuous on an inclined surface. As a result, when the flying robot is pushed by the movable part and rotates due to the movement of the rotating part and falls into the rotating part, the flying robot slides down along the obtuse-angled inclined surface connecting the base and the rotating part, thus enabling a more stable execution of guiding the flying robot to its correct position on the base.

[0010] The landing device for a flying robot according to the present invention is The rotating part is circular, The projection is located from the center of the rotating part. The aforementioned circular edge It is characterized by being located in a position close to [a certain point]. As a result, when the flying robot is pushed by the movable part towards the center of the base and then rotated by the movement of the rotating part to guide it to its correct position on the base, the projection on the upper surface of the rotating part engages with the flying robot. Therefore, the rotating part does not spin freely relative to the flying robot, and the rotational force of the rotating part is reliably transmitted to the flying robot, causing it to rotate reliably. Thus, the flying robot is reliably positioned at the center of the rotating part, which is the correct position on the base. [Effects of the Invention]

[0011] According to the landing device for a flying robot according to the present invention, When the flying robot lands on the upper surface of the deployed base, the movable part moves in the closing direction and the rotating part rotates. The flying robot is pushed by the movable part towards the center of the base, and then rotated by the movement of the rotating part to be guided to the correct position on the base and positioned. [Brief explanation of the drawing]

[0012] [Figure 1] It is a continuous diagram showing the operation when the drone lands on the landing device of the embodiment. [Figure 2] It is the first figure of the continuous diagram showing the operation when the drone lands on the landing device of the embodiment and is positioned at the normal position. Sub - figure (a) is a schematic side cross - sectional view, and sub - figure (b) is a schematic plan view. [Figure 3] It is the second figure of the continuous diagram showing the operation when the drone lands on the landing device of the embodiment and is positioned at the normal position. Sub - figure (a) is a schematic side cross - sectional view, and sub - figure (b) is a schematic plan view. [Figure 4] It is the third figure of the continuous diagram showing the operation when the drone lands on the landing device of the embodiment and is positioned at the normal position. Sub - figure (a) is a schematic side cross - sectional view, and sub - figure (b) is a schematic plan view. [Figure 5] It is the fourth figure of the continuous diagram showing the operation when the drone lands on the landing device of the embodiment and is positioned at the normal position. Sub - figure (a) is a schematic side cross - sectional view, and sub - figure (b) is a schematic plan view.

Embodiments for Carrying out the Invention

[0013] The landing device according to an embodiment of the present invention will be described with reference to FIGS. 1 to 5. This landing device 1 is a take - off and landing base for an unmanned autonomous flying robot (hereinafter referred to as drone 2), and can store the drone 2 inside. This landing device 1 is installed at a predetermined position within the monitoring area as a base for the drone 2 performing the above - mentioned patrol service, for example. When the patrolling drone 2 returns and lands, it stores the drone 2 inside the device and can automatically replace the used battery attached to the drone 2 with a charged battery prepared in advance.

[0014] First, referring to FIG. 1, the basic structure and functions of the landing device 1 and an overview of the landing operation of the drone 2 in the landing device 1 will be described. Referring to FIG. 1, the basic structure of the landing device 1 will be described. As shown in FIG. 1, the landing device 1 includes a frame 3 as the main body, a take-off / landing platform 4 provided inside the frame 3, and a storage unit 6 composed of a ceiling 5 that opens and closes an opening 3a on the upper surface of the frame 3. Further, although not shown in the figure, the landing device 1 has a control unit that controls communication with the drone 2 and the operation of the mechanism unit.

[0015] As shown in FIG. 1, the frame 3 of the storage unit 6 has a substantially hexagonal prism-shaped framework with a hexagonal opening on the upper surface. Although not shown in FIG. 1 to illustrate the internal mechanism, actually, exterior panels are attached to the outer peripheral side and the bottom surface of the framework, and the internal mechanism and the drone 2 stored inside are protected.

[0016] As shown in FIG. 1, an opening / closing ceiling 5 is provided in the upper opening of the frame 3. The ceiling 5 is composed of six equilateral triangular cover plates 5a obtained by dividing a regular hexagon into six parts, and each cover plate 5a can gather in a regular hexagonal shape to close the opening as shown in FIG. 1(1). Also, as indicated by the arrow from FIG. 1(1) to FIG. 1(2), the opening can be opened by moving each cover plate 5a in a direction parallel to each outer edge side, and as indicated by the arrow from FIG. 1(7) to FIG. 1(8), the opening can be closed by moving each cover plate 5a in a direction parallel to each outer edge side.

[0017] As shown in Figure 1, particularly (4), a landing platform 4 is provided inside the frame 3. The landing platform 4 has a hexagonal base 8 that moves up and down inside the frame 3, six plate-shaped movable parts 9 that are pivotally supported on each side of the periphery of the base 8 so as to move in an opening or closing direction and swing and open / close as needed by a drive unit, and a circular rotating part 10 that is rotatably mounted in the center of the base 8 and rotates when the drone 2 is placed on it and descends. The detailed configuration and operation of the rotating part 10 of the landing platform 4 will be described in detail later. This landing platform 4 can move up and down inside the frame 3, and when it is retracted into the frame 3, the movable parts 9 are raised (see Figures 1(2) and (7)), and when it is extended out of the opening of the frame 3, the movable parts 9 are deployed outwards to form a wide circular landing space for the drone 2 to land (see Figure 1(4)).

[0018] Referring to Figures 1(1) to (8), the basic operation of the landing gear 1 will be explained for each figure number (1) to (8). (1) While the drone 2 is in flight, the takeoff and landing platform 4 is inside the frame 3 and the ceiling 5 is closed. (2) When drone 2 approaches to land, ceiling 5 opens. (3) Takeoff and landing platform 4 rises. (4) The movable part 9 of the takeoff and landing platform 4 is extended and preparation for landing is complete. (5) Drone 2 lands on the landing platform 4. (6) The movable part 9 of the landing platform 4 closes to guide the drone 2 to the center of the base 8. (7) The rotating part 10 (not shown) rotates to position the drone 2 in the center of the rotating part 10, and the take-off and landing platform 4 descends. This operation will be described in detail later with reference to Figures 2 to 5. (8) The landing platform 4 lowers and positions the drone 2 in a position where the battery can be replaced. The drone 2 is fixed in the replacement position and the battery is replaced here. After the battery replacement is complete, the drone 2 takes off by following the reverse order of steps (1) to (8) described above.

[0019] Next, with reference to Figures 2 to 5, the configuration of the takeoff and landing platform 4, and in particular the configuration of the rotating section 10, will be described in detail. As shown in Figure 2 and mentioned above, the takeoff and landing platform 4 has a base section 8 that moves up and down within the frame 3, six movable sections 9 that are pivotally supported on each side of the base section 8 and open and close, and a circular rotating section 10 that is rotatably provided in the center of the base section 8. Between the six movable sections 9, 9, there are foldable auxiliary plates 11 that are pulled out from the movable sections 9 when the movable sections 9 are opened and retracted into the movable sections 9 when the movable sections 9 are closed.

[0020] As shown in each subdivision (a) of Figures 2 to 5, the upper surface of the rotating part 10 is lower than the upper surface of the base part 8 by a step L (see Figure 4(a)). Furthermore, the upper surface of the rotating part 10 and the upper surface of the base part 8 are continuous by an inclined surface 12 that intersects the surface of the rotating part 10 at an obtuse angle (approximately 120° to 130° in the figures as an example).

[0021] The drone 2, as described in Figures 2 to 5, has two straight landing legs 15 on the underside of its body that make contact with the landing surface. It is equipped with multiple rotors, the plane of rotation of which is approximately horizontal, and as the rotors generate airflow downwards, the air pressure above the plane of rotation is lower than that below, generating lift, which allows the drone 2 to float and fly. As shown in subdivision (b) of Figures 2 to 5, the diameter of the rotating part 10 is approximately twice the length of the landing gear 15 of the drone 2. Three protrusions 13 are provided on the upper surface of the rotating part 10. The protrusions 13 are cube-shaped, and the length of their edges (i.e., their height) is approximately equal to the length of the step L. That is, the upper surface of the base part 8 and the upper surface of the protrusions 13 are at roughly the same height. The three protrusions 13 are arranged on the outer circumference of the upper surface of the rotating part 10 at equal intervals (i.e., approximately 120° intervals) in the direction of rotation, forming the three vertices of an equilateral triangle, but the distance between them (i.e., the length of one side of the equilateral triangle) is slightly longer than the length of the landing gear 15 of the drone 2. Note that the thick line in Figures 2 to 5 (b) represents the circumscribed circle of the drone 2.

[0022] Next, with reference to Figures 2 to 5, the operation of the takeoff and landing platform 4, particularly the positioning operation of the drone 2 by the movable part 9 and the rotating part 10, will be described in detail. Figure 2 shows the landing platform 4 in a state ready for landing, with the movable part 9 extended in the open direction. The drone 2 lands on this landing platform 4, but in Figure 2, the drone 2 has its two landing legs 15, 15 in contact with the base 8 and auxiliary plate 11, respectively. In other words, the drone 2 is in a position deviating from its normal position.

[0023] As shown in Figure 3, the movable part 9 moves in the closing direction. The drone 2 is pushed by the movable part 9 and moved towards the center of the base 8, but one of the landing legs 15 is still attached to the base 8 and the movable part 9, and is in a position away from its normal position.

[0024] As shown in Figure 4, the movable part 9 moves further in the closing direction, and the rotating part 10 rotates. The inward pressure from the movable part 9 and the rotation of the rotating part 10 guide the drone 2 towards the correct position where all of its landing gear 15 rest on the base 8. At this time, as shown in Figure 4(a), one of the landing gear 15 that was on the movable part 9 moves away from the movable part 9 and smoothly along the inclined surface 12 toward the upper surface of the rotating part 10, making the movement of guiding the drone 2 to the correct position on the base 8 more stable.

[0025] As shown in Figure 5, as the rotating part 10 rotates further, the rotating part 10 does not slip relative to the drone 2, and the projection 13 engages with the landing gear 15 of the drone 2, thereby imparting rotation. That is, since the height of the projection 13 is approximately the same as the depth of the rotating part 10 relative to the base 8, the landing gear 15 of the drone 2, which rests on the upper surface of the rotating part 10, engages securely with the projection 13, and the projection 13, which moves in the rotational direction, does not get under the landing gear 15 and disengage from the landing gear 15. Therefore, the rotational force of the rotating part 10 is reliably transmitted to the drone 2, causing it to rotate and reliably positioning the drone 2 in the center of the rotating part 10, which is the normal position on the base 8.

[0026] In the embodiments described above, the diameter of the rotating part 10 was set to approximately twice the length of the landing gear 15 of the drone 2. However, since there are various forms of structures for the drone's landing gear, the above value is merely an example, and the rotating part only needs to have a shape and size that is sufficient for the drone to be mounted on. Furthermore, the rotating part 10 has three protrusions 13, which are positioned at the three vertices of an equilateral triangle. However, since the protrusions 13 are components that lock onto the drone and rotate together with the rotating part to enable the drone to rotate, they need to be located at positions other than the center of the rotating part 10. Nevertheless, as long as the above function can be achieved, there are no particular limitations on the number, arrangement, shape, etc. For example, four protrusions 13 could be arranged along the outer circumference of the upper surface of the rotating part 10 at 90° intervals in the direction of rotation, so that they correspond to the vertices of a square.

[0027] As described above, in this embodiment, the landing device 1 comprises a base portion 8 on which the drone 2 lands, and a movable portion 9 attached to its edge so as to be openable and closable, which guides the drone 2 to the correct position. Since the rotating portion 10 with a projection 13 is provided in the center of the base portion 8, the drone 2 can be rotated by the rotating portion 10 and the projection 13 while being pressed by the movable portion 9, thereby reliably guiding and positioning the drone 2 to the correct position, which is the center of the rotating portion 10. Furthermore, in the guidance and movement of the drone 2, the drone 2 slides down the inclined surface 12 from the base portion 8 and enters the rotating portion 10, so the operation is smooth and reliable. Therefore, with the landing device of this embodiment, even large and heavy drones can be reliably guided and positioned to the correct position. [Explanation of Symbols]

[0028] 1…Landing gear for flying robots 2...Drone as a flying robot 4…Takeoff and landing platform 6... Storage Unit 8... Base 9...Movable part 10... Rotating part 12…Slope surface 13...Protrusion 15…Landing gear

Claims

1. The normal position of the flying robot after landing with its landing gear is on the base portion located on the upper surface, A movable part is provided to move freely on the edge of the base portion, A drive unit moves the movable part between an open state in which the movable part is spread outward from the base and a closed state in which the movable part is moved inward from the open state. It has, A landing device for a flying robot that moves the movable part in the direction of the closed state to guide the flying robot, which has landed on the base, back to the normal position, A landing device for a flying robot, characterized in that a rotatable rotating part with a projection on its upper surface is provided on the base, the projection is provided on the upper surface of the rotating part other than the center, and by rotating the rotating part while pushing the flying robot with the movable part in a closed state, the projection engages with the landing leg and rotates, thereby guiding the flying robot to the correct position.

2. The landing device for a flying robot according to claim 1, characterized in that the upper surface of the rotating part is lower than the upper surface of the base part.

3. The landing device for a flying robot according to claim 2, characterized in that the upper surface of the rotating part and the upper surface of the base part are continuous inclined surfaces that intersect the upper surface of the rotating part at an obtuse angle.

4. The landing device for a flying robot according to any one of claims 1 to 3, characterized in that the rotating part is circular and the projection is positioned closer to the circular edge than to the center of the rotating part.

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