Landing assist system

Abstract

The present invention provides a landing assistance device comprising dollies 30 that can move over a port and catchers 31 which are disposed on the dollies 30 and which can engage with an attachment 11 attached to a drone 10. When the drone 10 descends to the port, the catchers 31 are made to approach and engage the attachment 11 from a lateral direction. The attachment 11 and the catchers 31 are spring-shaped.

Description

Technical Field

[0001] The present invention relates to a landing assistance device and a landing assistance method.

Background Art

[0002] In recent years, the industrial use of drones has been expanding. There are various types of ports for drones to land depending on their applications. For example, there are ports equipped with markers for drones to recognize the ports, ports that observe the wind conditions around the ports, or ports that have a function to realize safe landing of drones by detecting intruders into the ports (Non-Patent Document 1).

Prior Art Documents

Non-Patent Documents

[0003]

Non-Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in conventional ports, there is a problem that safe landing cannot be achieved under difficult landing conditions such as wind blowing around the port or on a swaying ship where the landing location is unstable.

[0005] The present invention has been made in view of the above, and an object thereof is to enable safe landing even under difficult landing conditions of a flying object.

Means for Solving the Problems

[0006] A landing assist device according to one aspect of the present invention comprises a trolley that can move over the landing site of an aircraft, and a catcher positioned on the trolley and capable of engaging with an attachment mounted on the aircraft, wherein when the aircraft descends to the landing site, the catcher is brought closer to the attachment from the side and engages with it. The catcher is a spring-shaped or comb-shaped projection, and the attachment is engaged between the windings of the spring or between the comb-shaped projections. . [Effects of the Invention]

[0008] According to the present invention, an aircraft can be safely landed even in situations where landing is difficult. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 shows an example of the configuration of the landing assist device in Example 1. [Figure 2] Figure 2 shows the drone being captured by the landing assist device. [Figure 3] Figure 3 shows an example of a configuration in which a trolley moves along rails. [Figure 4] Figure 4 shows an example of the configuration of the landing assist device in Example 2. [Figure 5] Figure 5 shows an example of the configuration of the landing assist device in Example 3. [Figure 6] Figure 6 shows an example of how a drone looks when tilted. [Figure 7] Figure 7 shows an example of how a port can be tilted. [Figure 8] Figure 8 shows an example of attachment variations. [Figure 9] Figure 9 shows an example of attachment variations. [Figure 10] Figure 10 shows an example of a catcher variation. [Figure 11] Figure 11 shows an example of a catcher variation. [Modes for carrying out the invention]

[0010] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0011] [Example 1] FIG. 1 and FIG. 2 are diagrams showing an example of the configuration of the landing assistance device according to Example 1. The landing assistance device according to Example 1 includes an attachment 11 attached to the leg or the lower part of the drone 10 and a catcher 31 installed on the carriage 30. As shown in FIG. 2, the attachment 11 and the catcher 31 are engaged with each other to assist the landing of the drone 10.

[0012] The drone 10 is an unmanned flying body. The present invention is applicable not only to the drone 10 but also to various flying bodies.

[0013] The attachment 11 and the catcher 31 have a spring shape with a wide pitch between the windings. The pitch between the windings only needs to be an interval that allows the windings to be engaged with each other between the windings. If the attachment 11 and the catcher 31 have appropriate flexibility, the impact when the attachment 11 and the catcher 31 do not engage well can be reduced. Also, since the drone 10 must be supported after being captured, the catcher 31 also requires appropriate strength.

[0014] The length of the catcher 31 is preferably longer than the length of the attachment 11. Thereby, when engaging the catcher 31 and the attachment 11, even if the drone 10 or the landing point is swaying, the length of the catcher 31 can absorb the vertical distance change due to the sway.

[0015] The carriage 30 on which the catcher 31 is installed can move freely on the port. A person may move the carriage 30, or the carriage 30 may move by itself. As shown in FIG. 3, the carriage 30 may be made to move on the rail 50 installed on the port. FIG. 3 is a view of the drone 10, the carriage 30, and the rail 50 seen from above.

[0016] Here, an example of a landing assistance method using the landing assistance device of Example 1 will be described.

[0017] The drone 10 flies up to the sky above the port and descends aiming at the port. The port may be a landing point installed on the ground or a landing point installed on a ship.

[0018] Place two carts 30 on both sides of the planned landing position. The two carts 30 may be placed at both ends of the port. The drone 10 may descend with the intermediate point between the two carts 30 as the planned landing position. When moving the carts 30 manually, arrange a person to move each of the two carts 30.

[0019] When the drone 10 descends, measure the timing visually, move the cart 30 closer to the drone 10, and capture the drone 10 by engaging the catcher 31 of the cart 30 and the attachment 11 of the drone 10 from the side. For example, when the lower end of the attachment 11 is lower than the upper end of the catcher 31, move the cart 30 closer to the drone 10. The interval between the carts 30 may be narrowed according to the height of the drone 10.

[0020] When the cart 30 is self-propelled, a person remotely operates the cart 30 to move it. When a person presses a switch, the cart 30 may automatically run.

[0021] The drone 10 may hover at a height where the catcher 31 and the attachment 11 engage.

[0022] When the cart 30 moves on the rail 50, the drone 10 descends aiming at the rail 50. The two carts 30 may be moved according to the descending position of the drone 10, or the drone 10 may descend aiming between the two carts 30.

[0023] After the catcher 31 and attachment 11 engage, the drone 10 enters a control mode that prevents it from ascending or circling. The drone 10 may cease functioning after capture. The drone 10 may automatically switch control modes upon detecting that it has been captured by the catcher 31, or it may switch control modes via an external signal or operation.

[0024] [Example 2] Figure 4 shows an example of the configuration of the landing assist device of Embodiment 2. Similar to Embodiment 1, the landing assist device of Embodiment 2 consists of an attachment 11 that is attached to the legs or bottom of the drone 10 and a catcher 31 that is installed on the trolley 30. The landing assist device of Embodiment 2 is further equipped with sensors 12 and 32 on the bottom of the attachment 11 and on the top of the catcher 31, respectively. The sensors 12 and 32 determine the positional relationship between the bottom of the attachment 11 and the top of the catcher 31 and determine whether the attachment 11 has entered the capture area of ​​the catcher 31.

[0025] Sensors 12 and 32 can be infrared sensors or cameras, etc.

[0026] When the cart 30 is moved manually, a buzzer sounds or a light turns on to notify the user when the attachment 11 enters the catcher 31's capture area. The buzzer or light is placed on the cart 30 or the drone 10. Upon receiving the notification, the person moves the cart 30.

[0027] If the trolley 30 is capable of self-propulsion, when it is detected that the attachment 11 has entered the capture area of ​​the catcher 31, the trolley 30 moves toward the drone 10. If the trolley 30 is moving along the rail 50, the trolleys 30 move toward each other.

[0028] [Example 3] Figure 5 shows an example of the configuration of the landing assist device of Embodiment 3. Similar to Embodiments 1 and 2, the landing assist device of Embodiment 3 consists of an attachment 11 that is attached to the legs or bottom of the drone 10 and a catcher 31 that is installed on a trolley 30. The landing assist device of Embodiment 3 further includes an extendable section 33 that allows the height of the catcher 31 to be changed. By extending the extendable section 33, the drone 10 can be captured at a higher position.

[0029] The telescopic section 33 is positioned on the trolley 30, with the catcher 31 positioned on top of it. The height of the catcher 31 can be changed using the telescopic section 33. The telescopic section 33 may be, for example, a hydraulic cylinder, a pneumatic cylinder, or an electric cylinder, or a linkage mechanism such as a magic hand may be used.

[0030] The telescopic section 33 may automatically change the height of the catcher 31 based on information from sensors 12 and 32, or a person may visually determine the position of the drone 10 and change the height of the catcher 31 by directly or remotely operating the telescopic section 33. If the catcher 31 captures the drone 10 at a high position, the telescopic section 33 may lower the position of the catcher 31 manually or automatically when retrieving the drone 10.

[0031] The telescopic sections 33 of the two trolleys 30 may be linked to each other to make the height of the catcher 31 the same, or the height of the catcher 31 may not be made the same.

[0032] Figure 6 shows an example where the drone 10 is tilted for some reason (e.g., malfunction or strong wind). In this case, each of the telescopic sections 33 can be adjusted to match the height of each catcher 31 to the position of each attachment 11, making it easier to capture the drone 10.

[0033] Figure 7 shows an example of a port located on a ship or the like that is tilted. In this case, the telescopic section 33 is extended to match the tilt of the port and cancel out the difference in height of the catcher 31 caused by the tilt. The trolley 30 may be equipped with a tilt sensor and the telescopic section 33 may be extended according to the measurement value of the tilt sensor, or the telescopic section 33 may be extended on each of the trolleys 30 based on information from sensors 12 and 32.

[0034] [Example 4] Example 4 describes variations of the attachment 11 and catcher 31. The attachment 11 and catcher 31 shown in Example 4 can be applied to any of Examples 1 to 3.

[0035] The attachment 11 in Figure 8 is a single coil of wire. The shape of the attachment 11 is not limited to a spring; any shape that can be captured by the catcher 31 is acceptable.

[0036] The attachment 11 in Figure 9 is designed so that the catcher 31 can catch on the legs of the drone 10. Any structure in which the legs of the drone 10 can be captured by the catcher 31 may be used as the attachment 11.

[0037] The catcher 31 in Figure 10 has a comb-like structure. The catcher 31 in Figure 11 has barbs 34 on the comb-like structure. By providing barbs 34, it is possible to prevent the captured drone 10 from detaching from the catcher 31 and falling. Barbs may also be provided on each winding of a spring-shaped catcher 31.

[0038] In Examples 1 to 3, two attachments 11 are attached to the drone 10, but this is not the only option. One attachment 11 may be attached to the drone 10, or three or more attachments 11 may be attached.

[0039] Furthermore, while two carts 30 are used to capture the drone 10 in Examples 1 to 3, this is not the only option. One cart 30 may be used to capture the drone 10, or three or more carts 30 may be used. The number of attachments 11 and the number of catchers 31 do not have to be the same.

[0040] As described above, the landing assist device of this embodiment includes a trolley 30 that can move on the port and a catcher 31 positioned on the trolley 30 that can engage with an attachment 11 attached to the drone 10. When the drone 10 descends to the port, the catcher 31 is brought closer to the attachment 11 from the side and engages with it. By engaging the attachment 11 and the catcher 31, the drone 10 can be captured in mid-air before it lands on the port, allowing for a safe landing even in strong winds or when the ship is rocking. [Explanation of symbols]

[0041] 10 Drones 11 Attachments 12 sensors 30 carts 31 Catcher 32 sensors 33 Telescopic part 50 rails

Claims

1. A trolley that can move over the landing site of the aircraft, The trolley is equipped with a catcher that can engage with an attachment mounted on the aircraft, When the aircraft descends to the landing site, the catcher is brought closer to the attachment from the side and engages with it. The catcher is spring-shaped or has comb-like protrusions, and the attachment is interlocked between the windings of the spring or between the comb-like protrusions. Landing assist system.

2. A landing assist device according to claim 1, The system includes a sensor for detecting the positional relationship between the attachment and the catcher. Landing assist system.

3. A landing assist device according to claim 1, The catcher is equipped with an extendable part that moves vertically. Landing assist system.

4. A landing assist device according to claim 1, The aforementioned trolley moves along the rails. Landing assist system.

Images