Unmanned aerial vehicle, cargo handling method, and method for controlling flight movements

Abstract

To provide an unmanned flying body capable of safely load sorting while hovering, and a load sorting method.SOLUTION: An unmanned flying body 1 which is provided with a plurality of rotary wings and delivers a load 2 by hanging it with a rope 3 includes: a coordinate detection part detecting the current position; a height detection part detecting the current height; and a flight controller controlling flight operation based on a detection result by the coordinate detection part and the height detection part. The unmanned flying body 1 performs load sorting operation in which it lowers to load sorting height H where the load 2 lands when reaching a destination coordinate (coordinate X) of a destination, and moves to a port coordinate (coordinate Y) of a port 50 installed proximately to the coordinate X in the state that the rope 3 is loose by controlling the flight controller.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to an unmanned aerial vehicle equipped with multiple rotor blades and a cargo handling method. [Background technology]

[0002] Unmanned aerial vehicles equipped with multiple rotors are called drones or multicopters, and their use in various fields, such as cargo transport, is being planned and implemented. One known method of transporting cargo by unmanned aerial vehicles is to suspend the cargo with ropes (see, for example, Patent Document 1). This transport method is particularly effective when the size of the cargo is too large to fit inside the landing gear (skids) of the unmanned aerial vehicle. [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-200123 [Overview of the Initiative] [Problems that the invention aims to solve]

[0004] However, in order to perform cargo handling operations, such as attaching and detaching ropes from cargo, by landing an unmanned aerial vehicle (UAV), it is necessary to set up a large landing port (for example, 5m x 5m) for a certain period of time. A large landing port would interfere with other operations and would also incur high maintenance costs, such as equipment rental fees.

[0005] Therefore, the idea of ​​performing cargo handling operations while the unmanned aerial vehicle (UAV) is hovering is being considered. However, there are safety concerns because if a force other than a vertical force acts on the UAV while it is hovering, the flight may become unstable (and potentially crash).

[0006] This invention has been made in view of the above circumstances, and aims to solve the aforementioned problems and provide an unmanned aerial vehicle and a cargo handling method that can safely perform cargo handling operations while hovering. [Means for solving the problem]

[0007] The unmanned aerial vehicle of the present invention is equipped with multiple rotors and transports cargo suspended by ropes, and comprises a coordinate detection unit for detecting the current position, an altitude detection unit for detecting the current altitude, and a flight controller for controlling flight operations based on the detection results of the coordinate detection unit and the altitude detection unit. When it reaches the destination coordinates of the destination, it descends to the cargo handling altitude where the cargo will land, and then performs a cargo handling operation to move to the port coordinates of a port installed near the destination coordinates, with the ropes slackened under the control of the flight controller. Furthermore, in the unmanned aerial vehicle of the present invention, the cargo handling altitude is determined by L being the rope length, W being the separation distance between the destination coordinates and the port coordinates, and E being the horizontal error. h , the detection error of the vertical error is E v If we consider each of these cases, {L 2 -(W+E h ) 2}^ (1 / 2) -E v It is set to a value lower than and higher than the height of the port. Furthermore, upon receiving notification of the completion of the cargo handling operation, the unmanned aerial vehicle of the present invention moves to the destination coordinates and then ascends to an altitude equal to or greater than the length of the rope. Furthermore, the cargo handling method of the present invention is a method for handling cargo that is transported suspended by ropes from an unmanned aerial vehicle equipped with multiple rotor blades, wherein when the unmanned aerial vehicle reaches the destination coordinates of the destination, it descends to the cargo handling altitude at which the cargo will land, then moves to the port coordinates of a port installed near the destination coordinates, and after the unmanned aerial vehicle has moved horizontally to the port coordinates, workers waiting at the port perform the cargo handling work. Furthermore, in the cargo handling method of the present invention, the port is a temporarily installed scaffolding. The present invention relates to a method for controlling the flight motion of an unmanned aerial vehicle that transports cargo suspended by a rope, characterized in that when the unmanned aerial vehicle reaches the destination coordinates of a destination, the unmanned aerial vehicle is lowered to the cargo handling altitude where the cargo will land, while moving the unmanned aerial vehicle to the port coordinates of a port installed near the destination coordinates, and the rope is kept slack during the lowering and moving.

Advantages of the Invention

[0008] According to the present invention, since the risk of contact between the unmanned aerial vehicle and the worker can be reduced by the port, the effect that the unloading operation can be safely performed during hovering is achieved.

Brief Description of the Drawings

[0009] [Figure 1] It is an explanatory diagram for explaining the unloading method using the unmanned aerial vehicle according to the present invention. [Figure 2] It is an explanatory diagram for explaining the unloading method using the unmanned aerial vehicle according to the present invention. [Figure 3] It is a block diagram showing the configuration of the unmanned aerial vehicle according to the present invention. [Figure 4] It is a diagram showing an example of the display on the display unit provided in the control terminal shown in FIG. 3.

Modes for Carrying Out the Invention

[0010] Next, modes for carrying out the present invention (hereinafter, simply referred to as "embodiments") will be specifically described with reference to the drawings.

[0011] Referring to FIGS. 1 and 2, the unmanned aerial vehicle 1 in the present embodiment horizontally moves between the coordinates (latitude and longitude) X of the destination and the coordinates (latitude and longitude) Y of the port 50 while maintaining the unloading altitude H. In FIGS. 1 and 2, (a) is a view of the unmanned aerial vehicle 1 seen from the side, and (b) is a view of the unmanned aerial vehicle 1 seen from above. In the present embodiment, string-like members such as a fiber rope, a wire rope, a chain, and a tape for suspending the load 2 are collectively referred to as a rope 3.

[0012] (Unloading operation) When arriving at the coordinates X of the destination, the unmanned aerial vehicle 1 lowers its altitude to the unloading altitude H where the load 2 touches the ground, as shown in FIG. 1.

[0013] The loading height H is calculated based on the rope length L of the rope 3, the separation distance W between the coordinates X of the destination and the coordinates Y of the port 50, the horizontal error E h (m), and the vertical error E v (m). The horizontal error E h is the detection error and control error of the coordinates by the unmanned aerial vehicle 1. The vertical error E v is the detection error and control error of the altitude by the unmanned aerial vehicle 1.

[0014] The loading height H is calculated with {L 2 -(W + E h ) 2}^ (1 / 2) - E v as the reference altitude H0, and for example, by subtracting a preset value or multiplying by a preset coefficient less than 1, it is a value calculated lower than the reference altitude. Thereby, when the unmanned aerial vehicle 1 lowers its altitude to the loading height H, the rope 3 becomes slack.

[0015] Next, as shown in FIG. 2, the unmanned aerial vehicle 1 performs horizontal movement from the coordinates X of the destination to the coordinates Y of the port 50 while maintaining the loading height H. Even during this horizontal movement, the rope 3 remains slack.

[0016] The port 50 is a structure provided with a top plate 51 that prevents the unmanned aerial vehicle 1 from falling to the ground, and the lower part of the top plate 51 serves as a waiting and evacuation space for workers. The port 50 does not need to assume the landing of the unmanned aerial vehicle 1, and it is sufficient to ensure a minimum space where workers can wait and evacuate. Therefore, the port 50 can be small in size, and construction costs and maintenance management costs can be suppressed. Also, there are no particular restrictions on the shape and material of the top plate 51.

[0017] The port 50 can be installed, for example, as a temporary structure using a scaffold such as a wedge - tied scaffold or a framework scaffold. By being a temporary structure, the port 50 can simply be moved and is also easy to remove, so it can be easily moved if it gets in the way.

[0018] In this embodiment, the port 50 is provided with a canopy 52 made of a blanket scaffold or the like, facing the destination (the area where loading, retrieval, and exchange of cargo are performed). By providing the canopy 52, it is possible to enter and exit the area under the canopy 52 without being obstructed by support members such as the legs 53 that support the top plate 51, improving the work efficiency of cargo handling and safety when evacuating. The canopy 52 may be fixed or sliding.

[0019] The workers will wait at port 50 (below the top plate 51 and canopy 52) until the unmanned aerial vehicle 1 reaches the airspace above coordinate Y of port 50, thereby avoiding the risk of contact with the unmanned aerial vehicle 1. When the unmanned aerial vehicle 1 reaches the airspace above coordinate Y of port 50 and is hovering, the workers will leave port 50 to perform cargo handling operations and retrieve and replace cargo 2. If the unmanned aerial vehicle 1 flies to port 50 empty, the cargo handling operations will consist only of loading cargo 2.

[0020] Once the cargo handling operation is complete, the worker returns to port 50 and uses the transmitting terminal 60 to send a work completion notification to the hovering unmanned aerial vehicle 1. The transmitting terminal 60 may be a dedicated terminal with the function of sending work completion notifications to the unmanned aerial vehicle 1, or it may be a multi-purpose terminal with other functions such as controlling the unmanned aerial vehicle 1 (for example, the pilot who receives the notification sends it from the control terminal).

[0021] Upon receiving the completion notification, the unmanned aerial vehicle 1 maintains its loading altitude H and moves horizontally from the port 50 coordinate Y to the destination coordinate X. During this horizontal movement, the rope 3 remains slack, and the unmanned aerial vehicle 1 is positioned vertically above the cargo 2 (destination coordinate X) with the rope 3 slack, as shown in Figure 1. Alternatively, the unmanned aerial vehicle 1 may recognize the completion of the task after a predetermined time has elapsed since it reached the port 50 coordinate Y or the destination coordinate X.

[0022] Next, the unmanned aerial vehicle 1 ascends vertically to an altitude greater than or equal to the rope length L of rope 3, and then begins flying toward the next designated destination. Even if only cargo 2 is recovered during the cargo handling operation, moving the unmanned aerial vehicle 1 horizontally to the destination coordinates X prevents rope 3 from becoming entangled in port 50.

[0023] In the above cargo handling operations, the horizontal movement of the unmanned aerial vehicle 1 is performed with the rope 3 slack. Therefore, no forces other than vertical forces act on the unmanned aerial vehicle 1 from the rope 3, and the risk of the unmanned aerial vehicle 1 crashing is reduced.

[0024] Referring to Figure 3, the unmanned aerial vehicle 1 comprises multiple rotor units 4, a transmitting / receiving unit 5, a coordinate detection unit 6, an altitude detection unit 7, an heading detection unit 8, an electronic speed controller (hereinafter referred to as ESC) 9, and a flight controller (hereinafter referred to as FC) 10. The unmanned aerial vehicle 1 is also equipped with a battery (not shown) that supplies power to these components.

[0025] The rotor unit 4 comprises a motor 41 and a rotor 42. The rotor 42, which is a rotating blade, is attached to the rotation axis of the motor 41 and rotates in conjunction with the rotational drive of the motor 41. The rotation of the rotor 42 generates lift, enabling the unmanned aircraft 1 to fly.

[0026] The transmitting / receiving unit 5 has the function of receiving various flight information such as flight routes and takeoff / landing condition settings transmitted from the management terminal 20, which consists of an information processing device such as a personal computer, and various control information from the radio control terminal 30, such as a radio control transmitter. There are no particular restrictions on the communication method of the transmitting / receiving unit 5.

[0027] The coordinate detection unit 6 detects the current position (latitude and longitude) of the unmanned aerial vehicle 1. The altitude detection unit 7 detects the current altitude of the unmanned aerial vehicle 1. The direction detection unit 8 detects the direction of the unmanned aerial vehicle 1. The coordinate detection unit 6, altitude detection unit 7, and direction detection unit 8 can use various sensors individually or in combination, such as GPS sensors that use GPS signals, distance sensors that use lasers or millimeter waves, barometric pressure sensors, image sensors, and compasses.

[0028] ESC9 is a controller that controls the rotational speed (rotational rate) of motor 41 through its control.

[0029] FC10 is an information processing unit such as a microcomputer equipped with a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), and flash memory. The ROM stores a control program for controlling the flight of the unmanned aerial vehicle 1. ESC9 reads the control program stored in the ROM and loads it into the RAM, thereby controlling the flight of the unmanned aerial vehicle 1 and executing the takeoff and landing operations described above.

[0030] FC10 functions as a flight information storage unit 11 that stores various flight information, and a cargo handling altitude calculation unit 12 that calculates the cargo handling altitude H.

[0031] The flight information storage unit 11 is composed of, for example, a rush memory that retains information even when the power is turned off. The flight information storage unit 11 stores flight information including the flight route and cargo handling information.

[0032] The flight route is information that includes the coordinates of the departure point, the coordinates X of the destination, the flight path, and the designated altitude. The flight route received from the management terminal 20 and the pilot terminal 30 by the transmitting / receiving unit 5 is stored in the flight information storage unit 11.

[0033] The cargo handling information includes the destination coordinates X, separation distance W, separation direction A, and rope length L of rope 3. The separation distance W is the distance between the destination coordinates X and the port 50 coordinates Y. The separation direction A is the direction from the destination coordinates X to the port 50 coordinates Y.

[0034] The separation distance W and separation direction A can be determined by receiving the coordinates Y of port 50 from the management terminal 20 or pilot terminal 30 via the transmitting / receiving unit 5, and using the coordinates Y of port 50 and the coordinates X of the destination. Alternatively, the separation distance W and separation direction A can be received by the transmitting / receiving unit 5 from the management terminal 20 or pilot terminal 30, and the coordinates Y of port 50 can be determined from the separation distance W and separation direction A and the coordinates X of the destination.

[0035] Furthermore, the cargo handling information includes the cargo handling altitude H. The cargo handling altitude H, calculated by the cargo handling altitude calculation unit 12, is stored in the flight information storage unit 11.

[0036] The cargo handling altitude calculation unit 12 calculates the rope length L of the rope 3, the separation distance W, and the horizontal error E. h And the vertical error E v Based on this, the cargo handling altitude H is calculated. Horizontal error E h This is the detection error in the coordinate detection unit 6 and the horizontal control error by FC10. Vertical error E v This is the detection error in the altitude detection unit 7 and the vertical control error by FC10. Because the attachment position of the rope 3 differs depending on the size and shape of the load 2, an error occurs in the rope length L, but this error is also a horizontal error E. h or vertical error E v It would be good to include it.

[0037] The cargo handling altitude calculation unit 12 is {L 2 -(W+E h ) 2}^ (1 / 2) -E vThe system calculates a loading height H lower than the reference height H0 by subtracting a predetermined value from the reference height H0 or multiplying it by a predetermined coefficient less than 1. The loading height calculation unit 12 calculates the loading height H using the height H1 of the port 50 as the lower limit of the loading height H.

[0038] The cargo handling altitude calculation unit 12 may be located in the management terminal 20. In this case, the cargo handling altitude H received from the management terminal 20 by the transmitting / receiving unit 5 is stored in the flight information storage unit 11.

[0039] The FC10 controls the flight of the unmanned aircraft 1 based on various flight information stored in the flight information storage unit 11. This allows the unmanned aircraft 1 to autonomously perform the flight along the set flight route and the takeoff and landing operations described above.

[0040] Some or all of the flight operations of the unmanned aircraft 1 can be switched to control by the control terminal 30. When the above-mentioned takeoff and landing operations are switched to control by the control terminal 30, the unmanned aircraft 1 transmits the departure distance W, departure direction A, and cargo handling altitude H, as well as actual operation information during takeoff and landing, to the control terminal 30 to assist the control.

[0041] Actual operation information during takeoff and landing includes the current altitude detected by the altitude detection unit 7. In addition, the actual operation information during takeoff and landing includes the distance traveled and direction of travel detected by the coordinate detection unit 6 after the current altitude reaches the cargo handling altitude H (due to ascent during takeoff and descent during landing).

[0042] Figure 4 shows an example of a display unit 31 provided on the control terminal 30. The display unit 31 includes an assist display field that displays the departure distance W, departure direction A, and cargo handling altitude H, along with actual operation information during takeoff and landing. This allows the operator of the control terminal 30 to safely control the unmanned aircraft 1 to the airspace above port 50 and perform cargo handling operations based on the departure distance W, departure direction A, and cargo handling altitude H.

[0043] As described above, this embodiment is an unmanned aerial vehicle 1 equipped with multiple rotors (rotors 42) that transports cargo 2 suspended by ropes 3, and comprises a coordinate detection unit 6 for detecting the current position, an altitude detection unit 7 for detecting the current altitude, and a flight controller (FC) 10 that controls flight operations based on the detection results from the coordinate detection unit 6 and the altitude detection unit 7. When the unmanned aerial vehicle 1 reaches the destination coordinates (coordinates X) of the destination, it descends to the cargo handling altitude H where the cargo 2 will land, and then performs a cargo handling operation to move to the port coordinates (coordinates Y) of a port 50 installed near coordinates X, with the ropes 3 slack, under the control of the FC 10. This configuration allows for communication between the unmanned aircraft 1 and the worker via port 50. contact Because it reduces risk, cargo handling operations can be performed safely while hovering.

[0044] Furthermore, in this embodiment, the handling height H is determined by the rope length L of rope 3, the separation distance W, and the horizontal error E. h Vertical error E v Using the formula {L 2 -(W+E h ) 2}^ (1 / 2) -E v It is set to a value lower than the calculated reference altitude H0, and higher than the height H1 of port 50. This configuration prevents the rope 3 from fully extending during cargo handling operations, thus preventing strong forces from acting on the unmanned aircraft 1 in directions other than vertical, and thus allowing cargo handling operations to be performed safely.

[0045] Furthermore, in this embodiment, upon receiving notification of the completion of the cargo handling operation, the unmanned aerial vehicle 1 moves to the destination coordinates X, and then ascends to an altitude equal to or greater than the rope length L of the rope 3. This configuration prevents strong forces from acting on the unmanned aerial vehicle 1 from the rope 3 in directions other than vertical when suspending cargo 2. Furthermore, if cargo 2 is not attached, it prevents the rope 3 from becoming entangled in port 50.

[0046] The present invention has been described above based on the embodiments. These embodiments are illustrative, and it will be understood by those skilled in the art that various modifications are possible in the combination of these components, and that such modifications also fall within the scope of the present invention. [Explanation of symbols]

[0047] 1. Unmanned aircraft 2 Luggage 3 ropes 4 rotor units 5 Transmitter / Receiver 6. Coordinate detection unit 7. Altitude detection unit 8. Direction detection unit 9. Electronic Speed ​​Controller (ESC) 10 Flight Controllers (FC) 11 Flight information storage section 12 Cargo handling altitude calculation section 20 Management terminals 30. Operating terminal 31 Display section 41 Motor 42 rotors 50 ports 51 Top plate 52 Canopy 53 legs 60 Transmitting terminal

Claims

1. An unmanned aerial vehicle equipped with multiple rotors that transports cargo suspended by ropes, A coordinate detection unit that detects the current position, An altitude detection unit that detects the current altitude, The system includes a flight controller that controls flight operations based on the detection results from the coordinate detection unit and the altitude detection unit, An unmanned aerial vehicle characterized in that, upon reaching the destination coordinates of the destination, it descends to the cargo handling altitude where the cargo will land, and then moves to the port coordinates of a port installed near the destination coordinates, performing the cargo handling operation with the rope slack under the control of the flight controller.

2. The aforementioned cargo handling altitude is calculated by L being the rope length, W being the distance between the destination coordinates and the port coordinates, and E being the horizontal error. h , vertical error E v If we consider each of these cases, {L 2 - (W + E h ) 2 }^ (1 / 2) -E v The unmanned aerial vehicle according to claim 1, characterized in that it is set to a value lower than and higher than the height of the port.

3. The unmanned aerial vehicle according to claim 2, characterized in that, upon receiving notification of the completion of cargo handling work, it moves to the destination coordinates and then ascends to an altitude greater than or equal to the length of the rope.

4. A method for handling cargo that is transported by being suspended by ropes from an unmanned aerial vehicle equipped with multiple rotor blades, Upon reaching the destination coordinates of the destination, the unmanned aerial vehicle descends to the cargo handling altitude where the cargo will land, and then moves to the port coordinates of a port located near the destination coordinates. A cargo handling method characterized in that, after the unmanned aircraft moves horizontally to the port coordinates, workers waiting at the port perform cargo handling operations.

5. The loading and unloading method according to claim 4, characterized in that the port is a temporarily installed scaffolding.

6. A method for controlling the flight operation of an unmanned aerial vehicle that transports a load suspended by a rope, wherein when the unmanned aerial vehicle reaches the destination coordinates of the destination, The unmanned aircraft is lowered to the cargo handling altitude where the cargo will land. The unmanned aircraft is moved to the port coordinates of a port located near the destination coordinates. During the aforementioned descent and movement, the rope is kept in a slack state. A method for controlling the flight movements of an unmanned aerial vehicle, characterized by the following features.

Images