Collection system

Abstract

This system provides a recovery mechanism that allows a memory device to reach the ground from an aircraft using a recovery device. [Solution] The recovery system 1 comprises a flying body 2, a recovery device, and a trigger mechanism. The flying body comprises a first terminal section 8 and a storage section 10 for storing a parafoil. The recovery device comprises a storage device 34, a first terminal section and a second terminal section 36 that can input and output data to and from the first terminal section when inserted, and a parafoil 38. The trigger mechanism 60 is provided to connect the flying body and the recovery device and is configured to generate a force between the first terminal section and the second terminal section that pulls the second terminal section away from the first terminal section. The trigger mechanism 60 generates a force between the first terminal section and the second terminal section that pulls the second terminal section 36 away from the first terminal section 8, thereby separating the recovery device 30 from the flying body 2, and the recovery device 30, along with the storage device 34, reaches the ground.

Description

Technical Field

[0001] The present invention relates to a recovery system.

Background Art

[0002] Conventionally, as shown in Patent Document 1, there is known a technique of flying a flying ship to the stratosphere and keeping the flying ship in the stratosphere as a stratospheric platform for a long time.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In order to deliver observation data from a flying ship installed in the stratosphere to the ground, satellite communication can be considered. However, communication may become unstable or interrupted due to power limitations, weather conditions, device failures, etc. <0OO0026>As a solution for recovering observation data and the like in such a case, as shown in Patent Document 1, a plan in which the flying ship itself returns from the stratosphere can also be considered. However, there is a problem that the possibility of the flying ship safely returning decreases in a state where power is lost or the device is malfunctioning. In addition, when communication with the flying ship is interrupted, the state of the flying ship is unknown, and if simply waiting in a state where it is unclear whether communication can be restored, there is also a problem that the risk of being unable to recover observation data and the like increases. <00000Z8>

[0005] The present invention has been made to solve such problems, and an object thereof is to provide a recovery system in which a storage device can reach the ground from a flying object by a recovery device.

Means for Solving the Problems

[0006] To achieve the above objective, according to one embodiment of the present invention, a recovery system for bringing a memory device from an aircraft to the ground comprises an aircraft that flies in the air, a recovery device that separates from the aircraft and recovers it to the ground, and a trigger mechanism, wherein the aircraft comprises an aircraft body, an aircraft-side control unit that controls the flight of the aircraft body, a first terminal unit provided on the aircraft body that can input and output data with the second terminal unit when the second terminal unit is inserted, and a storage unit provided on the aircraft body that stores a parafoil, and the recovery device comprises a recovery device body, the memory device attached to the recovery device body, and the first terminal unit and the insertion The device comprises a second terminal section that allows data input and output with the first terminal section when in the ON state, a parafoil connected to the recovery device body via a string-like member, and a recovery device control unit that controls the flight of the recovery device. The trigger mechanism is provided to connect the aircraft and the recovery device and is configured to generate a force between the first and second terminal sections that pulls the second terminal section away from the first terminal section. The trigger mechanism generates a force between the first and second terminal sections that pulls the second terminal section away from the first terminal section, separating the recovery device from the aircraft, and the recovery device, along with the memory device, reaches the ground. According to the embodiment of the present invention configured in this manner, the trigger mechanism is provided to connect the aircraft and the recovery device, and is configured to generate a force between the first terminal and the second terminal that pulls the second terminal out of the first terminal. The trigger mechanism generates a force between the first terminal and the second terminal that pulls the second terminal out of the first terminal, thereby separating the recovery device from the aircraft, and the recovery device, along with the memory device, reaches the ground. Therefore, even in situations where communication from the aircraft is not possible, a recovery system can be provided that allows the memory device to reach the ground from the aircraft using the recovery device. [Effects of the Invention]

[0007] According to the recovery system of the present invention, a memory device can be brought to the ground from an aircraft by a recovery device. [Brief explanation of the drawing]

[0008] [Figure 1] This figure shows how a storage device is recovered by a recovery device in a recovery system according to one embodiment of the present invention. [Figure 2] This is a schematic diagram of a recovery system according to one embodiment of the present invention. [Figure 3] This is a top view of the storage compartment of a recovery system according to one embodiment of the present invention, viewed from above. [Figure 4] This is a side view of the inside of the storage compartment of a recovery system according to one embodiment of the present invention, as seen from the opening side. [Figure 5] This is a schematic diagram showing the general configuration of the aircraft of a recovery system according to one embodiment of the present invention. [Figure 6] This is a schematic diagram showing the general configuration of a recovery device for a recovery system according to one embodiment of the present invention. [Figure 7] This flowchart illustrates the operation of recovering a memory device from an aircraft to the ground in a recovery system according to one embodiment of the present invention. [Modes for carrying out the invention]

[0009] Hereinafter, a recovery system 1 according to one embodiment of the present invention will be described 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. Accordingly, 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.

[0010] As shown in Figure 1, the recovery system 1 comprises a platform-type flying body 2 that floats and flies in the air at a predetermined altitude, a recovery device 30 that separates from the flying body 2 and is recovered on the ground, and a trigger mechanism 60.

[0011] The aircraft 2 is an aircraft that flies in the air above the ground G. The aircraft 2 is a high-altitude aircraft that can reach, for example, the stratosphere from the ground, for example, an altitude of approximately 20 km from the ground (height within the stratosphere). However, the aircraft 2 does not necessarily have to reach the stratosphere, and may be a high-altitude aircraft that can reach an altitude of approximately 7 km to 10 km from the ground, such as in the sub-stratosphere. In this embodiment, the aircraft 2 is a high-altitude airship. Since the aircraft 2 is an airship that can reach the sub-stratosphere or the stratosphere, it can also be called a sub-stratospheric airship or a stratospheric airship. By flying in, for example, the stratosphere or sub-stratosphere, the aircraft 2 experiences reduced air resistance and is less affected by air currents, allowing it to fly in the stratosphere for a relatively long period of time, thus forming a platform-type aircraft. The aircraft 2 is an unmanned aircraft that operates without a pilot.

[0012] The aircraft 2 comprises an aircraft body 4, an aircraft side control unit 6, a first terminal unit 8, and a storage unit 10. As a flying object, the aircraft 2 is configured to take off from the ground, reach the stratosphere, and return to the ground after performing predetermined operations, through the control of the aircraft side control unit 6 and the system control unit 50 or the operation of the operation unit 35.

[0013] The aircraft body 4 comprises a gas sac section 14 for containing gas and a gondola section 16 for housing equipment. The aircraft body 4 is also equipped with other devices necessary for flight, and the aircraft-side control unit 6 is configured to also control these other devices necessary for flight.

[0014] The gas bag section 14 is configured to contain helium gas and generate buoyancy for the aircraft 2.

[0015] The gondola part 16 is provided below the airbag part 14. The gondola part 16 is formed in a shape close to a rectangular parallelepiped, and an internal space 16a (see FIG. 2) for arranging equipment and the like is formed inside it. The internal space 16a of the gondola part 16 forms a space capable of accommodating a plurality of equipment inside, for example, the aircraft-side control part 6 and other observation equipment. The gondola part 16 is formed of a material such as resin.

[0016] The first terminal part 8 is provided below the aircraft main body 4. The first terminal part 8 is configured to be able to input and output data with the second terminal part 36 in an insertion state where the second terminal part 36 is inserted. The first terminal part 8 is formed on the lower surface of the aircraft main body 4, and forms a receiving-side terminal having a shape that is recessed inward upward. The first terminal part 8 is formed downward. The first terminal part 8 is configured such that the second terminal part 36 can be pulled out downward from the first terminal part 8. The first terminal part 8 is open downward. The first terminal part 8 and the second terminal part 36 form a plug-in connection structure. The first terminal part 8 is electrically connected to the aircraft-side control part 6. The first terminal part 8 forms the receptacle-side terminal among the terminals of the connector, for example, forms a female receiving-side terminal of the USB Type A. The first terminal part 8 may be formed of the terminals of other types of connectors, for example, may be formed of the receiving-side terminals of SSDs.

[0017] The first terminal part 8 is configured to be in an insertion state where it is fitted and inserted with the second terminal part 36. The first terminal part 8 is configured such that when a force of a predetermined magnitude is applied downward to the second terminal part 36 between the first terminal part 8 and the second terminal part 36, the second terminal part 36 is pulled out from the first terminal part 8. For example, when the first terminal part 8 and the second terminal part 36 form a USB Type A connector, for example, the extraction force required to pull out the second terminal part 36 from the first terminal part 8 can be set to a force within the range of 10 N to 35 N. Therefore, the force of a predetermined magnitude for pulling out the second terminal part 36 is, for example, a force within the range of 35 N to 70 N. As a modification, for example, in a case where the first terminal portion 8 and the second terminal portion 36 form a connector of an SSD, etc., the first terminal portion 8 and the second terminal can be formed such that the pulling force required to pull out the second terminal portion 36 from the first terminal portion 8 is a force having a value within the range of 50 N to 70 N. Therefore, the force of a predetermined magnitude for pulling out the second terminal portion 36 is a force having a value within the range of, for example, 70 N to 90 N. Also, as a modification, for example, in a case where the first terminal portion 8 and the second terminal form a USB Type-C connector, etc., the first terminal portion 8 and the second terminal portion 36 can be formed such that the pulling force required to pull out the second terminal from the first terminal portion 8 is a force having a value within the range of 20 N to 70 N. Therefore, the force of a predetermined magnitude for pulling out the second terminal portion 36 is a force having a value within the range of, for example, 70 N to 90 N.

[0018] As shown in FIGS. 2 and 3, the storage unit 10 is provided in the gondola unit 16 of the airframe main body 4 and is configured to store the parafoil 38. As will be described later, the storage unit 10 is a semi-deployment storage that is configured to be able to store the parafoil 38 in a state where it is semi-deployed to a planar state. The storage unit 10 is located below the gondola unit 16. The storage unit 10 includes a right side wall 41 that forms a right vertical wall, a left side wall 42 that forms a left vertical wall, a rear side wall 43 that forms a rear vertical wall, an arrangement table 44 that is fixed to the lower portions of the right side wall 41, the left side wall 42, and the rear side wall 43 and on which the parafoil 38 can be arranged in a semi-deployed state, and an opening 45 that opens toward the recovery device 30 between the arrangement table 44 and the lower surface of the gondola unit 16 of the airframe main body 4.

[0019] The right side wall 41 forms a vertical wall that extends downward from the lower surface of the gondola unit 16 of the airframe main body 4. The right side wall 41 extends substantially parallel to the left side wall 42. The right side wall 41, together with the left side wall 42 and the rear side wall 43, forms a U-shaped vertical wall and forms an internal space inside.

[0020] The left side wall 42 forms a vertical wall that extends downward from the underside of the gondola section 16 of the aircraft body 4. The left wall 42 extends roughly parallel to the right wall 41. The left wall 42, together with the right wall 41 and the rear side wall 43, forms a U-shaped vertical wall, creating an interior space on its inside.

[0021] As shown in Figure 3, the placement table 44 has a half-unfolded storage section that allows the parafoil 38 to be placed in a half-unfolded state, with the parafoil 38 partially opened in a planar shape. The placement table 44 has a plate-like section and a flat surface that extends in the left-right direction of the parafoil 38. The placement table 44 is formed in a rectangular shape when viewed from above. The placement table 44 has a plate-like flat surface on which the parafoil 38 can be placed in a half-unfolded state. This makes it possible to place the parafoil 38 on the placement table 44 in a half-unfolded state with the parafoil 38 partially opened in a planar shape. Therefore, the parafoil 38 placed on the placement table 44 can fall from the opening while maintaining its half-unfolded state, and the parafoil 38 can be further unfolded relatively easily and stably. In addition, the reliability of unfolding the parafoil 38 from half-unfolded to fully unfolded can be improved. The placement table 44 is configured to place the parafoil 38 in a half-unfolded state, with the parafoil 38 spread out planarly from the right end 38a to the left end 38b. Therefore, the width W1 of the placement table 44 in the left-right direction is greater than the width W2 of the parafoil 38 in the left-right direction. The length L1 of the placement table 44 in the front-rear direction is longer than the length L2 of the parafoil 38 in the front-rear direction. Since the parafoil 38 is considered to be in a half-deployed state when it is extended from its right end to its left end, the parafoil 38 is already extended in the left-right direction, and when it falls from the opening, the parafoil 38 can reach the intended flight configuration relatively quickly and accurately. The half-deployed state of the parafoil 38 does not reach a fully deployed state in the air, but is a state in which the parafoil 38 is partially deployed planarly in the width direction on the floor surface. In the half-deployed state, the parafoil 38 has a thickness in the range of 0.5 mm to 5 cm, for example, a thickness in the range of 0.5 mm to 3 cm. The half-deployed state of the parafoil 38 can also be described as a state in which the parafoil 38 is simply placed on a plane while being extended in the width direction. The partially unfolded state of Parafoil 38 does not have to be fully unfolded to its right or left edge; for example, some of the fabric may overlap, fold, or wrinkle.

[0022] The placement table 44 forms an inclined surface that slopes from the rear to the front at an angle within the range of 1 to 5 degrees. The placement table 44 is formed so that it is approximately the same height in the left-right direction. That is, the placement table 44 is formed so that it is approximately horizontal in the horizontal direction. In addition, the upper surface of the plate-like part of the placement table 44 is formed as a smooth surface. Therefore, the placement table 44 is formed so that the parafoil 38 placed on it can easily slide out smoothly toward the front opening while maintaining its semi-deployed state. In this way, a rectangular space is formed between the placement table 44 and the lower surface of the aircraft body 4. The placement table 44 forms a shelf section beneath the aircraft body. The placement table 44 has a right-side wall at its right end and a left-side wall at its left end, forming a space in which the parafoil 38 is stored in a shelf-like manner.

[0023] The storage unit 10 is equipped with a holding mechanism 46 that holds the parafoil 38 in a partially deployed state on the placement table 44. This allows the parafoil 38 to be stored in a partially opened state, and the parafoil 38 can be deployed relatively easily by releasing the holding mechanism 46 when deploying it into the air. This also improves the reliability of the deployment of the parafoil 38.

[0024] The holding mechanism 46 includes a bar 47 that holds down the partially deployed parafoil 38, an arm portion 48 that supports the bar 47, and a rotational drive unit 49 that rotates the arm portion 48 in the vertical direction.

[0025] The bar 47 comprises a first bar 47a located near the right end and a second bar 47b located near the left end. The first bar 47a and the second bar 47b are each formed in a cylindrical shape. The tip of the first bar 47a is positioned slightly forward of the second bar 47b. The front end 47c of the first bar is positioned forward by a value within the range of 15 to 50 cm and 20 to 40 cm compared to the front end 47d of the second bar. The first bar 47a and the second bar 47b are formed in a rod shape. The first bar 47a and the second bar 47b extend in the front-rear direction from the front to the rear of the storage section. The front-rear length L3 of the first bar 47a and the second bar 47b is more than half the front-rear length L1 of the storage section 10. The length L3 of the first bar and the second bar is longer than the front-rear length L2 of the parafoil. The first bar 47a and the second bar 47b are formed to the same length. The lengths of the first bar 47a and the second bar 47b may be different. The length L3 in the front-rear direction of the first bar 47a and the second bar 47b is within the range of 0.5m to 3m. Anti-slip members having an anti-slip function are provided on the surfaces of the first bar 47a and the second bar 47b. One first bar 47a and one second bar 47b are provided near the right end and near the left end of the storage section 10, respectively. Two first bars 47a and two second bars 47b are provided in parallel.

[0026] The arm portion 48 is formed in the shape of a rod extending in the left-right direction. The arm is a member that extends from the outside to the inside of the storage unit. The arm portion 48 is a member that extends from the rotary drive unit 49 to the bar 47. The bar 47 is supported by two arm portions 48. The arm portion 48 is formed so that it can move up and down by the rotational movement of the rotary drive unit 49.

[0027] The rotary drive units 49 are provided in two locations at the right end of the storage unit 10, aligned in the front-rear direction, and in two locations at the left end, also aligned in the front-rear direction. The rotary drive units 49 are formed by servo motors, and their rotation angle can be freely controlled. The rotary drive units 49 are electrically connected to the aircraft-side control unit 6. The holding mechanism 46 is configured to operate in two states: a holding state in which the rotary drive unit 49 sets the arm portion 48 to a first rotation angle A1 and the bar 47 holds down the parafoil 38, and a release state in which the rotary drive unit 49 sets the arm portion 48 to a second rotation angle A2 and the bar 47 moves away from the parafoil 38. For example, the first rotation angle A1 is the rotation angle from a horizontal angle parallel to the placement table 44. For example, the second rotation angle A2 is the rotation angle from a horizontal angle parallel to the placement table 44. In Figure 4, the holding state of the bar 47 and arm portion 48 is shown by solid lines. In Figure 4, the release state of the bar 47 and arm portion 48 is shown by dashed lines. When the holding mechanism 46 is in the holding state, the parafoil 38 is fixed in place, sandwiched between the bar 47 and the placement table 44, preventing it from moving. When the holding mechanism 46 is in the release state, a gap is formed between the bar 47 and the placement table, allowing the parafoil 38 to move on the placement table 44. For example, the parafoil 38 can slide out onto the placement table 44 towards the opening 45. This allows the holding mechanism 46 to be constructed relatively simply, and the holding mechanism 46 changes between a holding state where the bar 47 holds the parafoil 38 and a release state where the bar 47 separates from the parafoil 38, allowing the aircraft-side control unit 6 to control the timing of dropping the parafoil 38 from the storage unit 10 and fully deploying it in mid-air. Therefore, it is possible to separate the recovery device 30 from the aircraft 2 and drop it to the ground at any desired timing.

[0028] The upper surface of the plate-like portion of the placement table 44 is formed as a smooth, flat surface. The placement table is configured to place the parafoil on it in an unfolded state, such that the right end of the parafoil is positioned at the right edge and the left end is positioned at the left edge. When unfolded, the parafoil is stored in a nearly flat, sheet-like state.

[0029] The opening 45 is wide enough to allow the parafoil 38 to be pulled out of the opening 45 while maintaining the parafoil 38 such that its right end is positioned on the right side of the placement table 44 and its left end is positioned on the left side of the placement table 44. Because the opening 45 is wide enough, the parafoil 38 can be pulled out of the opening 45 while maintaining a partially deployed state, making it easier to deploy the parafoil 38 stably. The left-right opening width W3 of the opening 45 is greater than the left-right width W2 of the parafoil 38. The left-right opening width W3 of the opening 45 is the same width as the left-right width W1 of the placement table 44. The opening 45 is rectangular, with the left-right direction being longer than the up-down direction. The opening 45 faces the direction of the recovery device body 32. The opening 45 is shelf-shaped.

[0030] As shown in Figure 2, the aircraft-side control unit 6 is located on the aircraft body 4 of the recovery system 1. The aircraft-side control unit 6 may also be located in a separate control unit 50 or the like. The aircraft-side control unit 6 can control the flight of the aircraft 2, for example, it can control the flight altitude and flight route of the aircraft 2. The aircraft-side control unit 6 transmits operation commands for various devices. More specifically, the aircraft-side control unit 6 can control the devices of the aircraft body 4 necessary for flight and is electrically connected to the recovery device control unit 40. The aircraft-side control unit 6 can also control the input and output of data to the storage device 34. Furthermore, the aircraft-side control unit 6 can control the weight support unit 59, the rotary drive unit 49, and the like.

[0031] The aircraft-side control unit 6 incorporates a CPU 17 and an aircraft-side 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 aircraft-side control unit 6 is electrically connected to the first terminal unit 8, storage unit 10, rotary drive unit 49, storage device 34, second terminal unit 36, string-like member operating device 37, recovery device control unit 40, etc. These electrical connections may be made by wireless communication or the like. The aircraft-side control unit 6 has a predetermined program for executing predetermined control functions. The aircraft-side control unit 6 can realize the operation functions to be performed by the aircraft 2, recovery device 30, and trigger mechanism 60 based on the respective programs stored in the aircraft-side storage device 19. In addition, the aircraft-side control unit 6 has a function to transmit predetermined data from the aircraft-side storage device of the aircraft 2 to the storage device 34 when the first terminal unit 8 of the aircraft 2 and the second terminal unit 36 ​​of the recovery device 30 are inserted together. This allows the aircraft-side control unit 6 to transmit predetermined data from the aircraft-side memory device to the memory device 34 at any time when it is ready to separate the recovery device 30 from the aircraft 2 and recover it on the ground. For example, it can perform data transfer or duplication. Therefore, preparations for recovering the memory device 34 together with the recovery device 30 on the ground can be carried out relatively easily.

[0032] Furthermore, the system control unit 50 may be located at a position separate from the aircraft 2. In this embodiment, the system control unit 50 is provided separately from the aircraft-side control unit 6, but the system control unit 50 may be formed as a single control unit integrated with the aircraft-side control unit 6. When functioning as a single control unit, it may be formed as a single unit on either the aircraft-side control unit 6 or the system control unit 50. Such a system control unit 50 is electrically connected to the aircraft 2, etc., via the Internet 3. The system control unit 50 may be provided in an electronic device that functions as a computer, such as a smartphone or tablet. The system control unit 50 incorporates a CPU 63 and a storage device 65 such as memory, and controls connected devices based on a predetermined control program recorded in the memory, etc. Therefore, the system control unit 50 functions as a computer. The electrical connection between the system control unit 50 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 50 has a predetermined program for executing predetermined control functions. Also, the system control unit 50 may be composed of multiple devices. The storage device 65 of the system control unit 50 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. For example, the aircraft-side control unit 6 mounted on the recovery system 1 may be configured to execute some or all of the control functions. The system control unit 50 is equipped with output devices 68 such as monitors and input devices 67 that can be operated, and various control functions can be set.

[0033] The aircraft 2 may be configured so that the aircraft-side control unit 6 can receive and operate the operation commands from the operation unit 35 (see Figure 2). The operation unit 35 is located separately from the aircraft 2 of the recovery system 1 and is electrically connected to the aircraft-side control unit 6 and the recovery device control unit, which will be described later, via wireless communication. The operation unit 35 can be remotely operated by a user, for example. The flight of the aircraft 2 can also be controlled by the user's operation of the operation unit 35. The operation unit 35 can perform a series of operations to bring the storage device 34 to the ground in a usable state when some event occurs. The operation unit 35 may be displayed on the monitor unit. Thus, the operation unit 35 may be an information terminal device such as a smartphone or tablet. As another example, it may be a dedicated controller such as a radio control controller. The operation unit 35 is not mandatory and may be omitted.

[0034] As shown in Figure 6, the recovery device 30 comprises a recovery device body 32, a storage device 34, a second terminal section 36, a parafoil 38, a string-like member 39, a string-like member operating device 37, and a recovery device control unit 40.

[0035] The recovery device body 32 is formed in a rectangular parallelepiped shape, forming a square shape when viewed from above. The recovery device body 32 is connected to the string-like member 39 of the parafoil 38 at its top. The recovery device body 32 is connected to the string-like member 39 at the four corners of its top surface. The recovery device body 32 has a storage space on its interior side that can accommodate equipment such as a memory device 34. The memory device 34 is placed inside the storage space of the recovery device body 32. The recovery device body 32 is made of carbon fiber composite material and constitutes a heat-resistant and impact-resistant capsule.

[0036] The storage device 34 is mounted and fixed to the upper part of the recovery device body 32. The storage device 34 is mounted so that the second terminal portion 36 protrudes upward from its upper surface. The storage device 34 is made of memory or the like and is configured to store data inside. For example, the storage device 34 can be a Type A USB memory or an SSD.

[0037] The second terminal section 36 is provided on the upper part of the recovery device body 32 and also on the upper part of the storage device 34. The second terminal section 36 is configured to allow data input and output with the first terminal section 8 when mated with the first terminal section 8. The second terminal section 36 is formed on the upper part of the recovery device body 32 and has a receiving terminal that protrudes outward toward upward. The second terminal section 36 is formed facing upward. The second terminal section 36 is configured to be inserted toward the first terminal section 8 above, and is also configured to be able to be removed downward from the first terminal section 8. Therefore, given the relatively simple connection between the first terminal section 8 and the second terminal section 36, a downward force can be applied to the second terminal section 36 so that it can be removed downward from the first terminal section 8. Thus, a device can be configured in which the second terminal section 36 can be mechanically removed downward from the first terminal section 8. The second terminal portion 36 forms a protrusion that extends upward from the upper surface of the recovery device body 32. The first terminal portion 8 and the second terminal portion 36 form a plug-in type connection structure. The second terminal portion 36 is electrically connected to the storage device 34. The second terminal portion 36 forms the plug-side terminal of a connector, for example, the insertion-side terminal of a USB Type A male connector. The second terminal portion 36 may be formed from the terminals of other types of connectors, for example, the plug-side terminal of an SSD.

[0038] The second terminal portion 36 is configured to mate with the first terminal portion 8. The second terminal portion 36 is configured such that when a predetermined force is applied downward to the second terminal portion 36 between the first terminal portion 8 and the second terminal portion 36, the second terminal portion 36 is pulled out from the first terminal portion 8. The predetermined force is the same as described above and will be omitted here. The second terminal portion 36 forms the plug-side terminal of a USB Type A connector. The second terminal portion 36 may also form the plug-side terminal of an SSD connector, or the plug-side terminal of a USB Type C connector or any other arbitrary terminal.

[0039] The parafoil 38 is connected to a string-like member 39, which in turn connects it to the recovery device body 32. The parafoil 38 is deployed by wind and is configured to form an airfoil shape due to air inflow from the direction of travel. The parafoil 38 is configured to be rectangular in its fully deployed state in the air. The parafoil 38 is also configured to be rectangular in its partially deployed state. In Figure 3, the width (span width) of the parafoil 38 in the left-right direction is configured to be, for example, within the range of 2m to 12m, or within the range of 2m to 5m. The width (span width) of the parafoil 38 in the front-rear direction is configured to be, for example, within the range of 0.5m to 3m, or within the range of 0.5m to 1.25m. The parafoil 38 is made of, for example, ripstop nylon. The parafoil 38 may also be made of, for example, polyester. The parafoil 38 is connected to the recovery device body 32 via the string-like member 39. The parafoil 38 is configured to control the flight of the recovery device 30. The parafoil 38 is configured to fly in the intended direction by the control of the string-like member 39. The parafoil 38 is designed to descend at a speed of, for example, a value in the range of 3 to 7 meters per second.

[0040] The string-like member 39 forms a member that connects the parafoil 38 to the string-like member operating device 37 of the recovery device body 32. The string-like member 39 includes a left line and a right line for operating the parafoil 38. By operating the operating string-like member 39, the direction of the parafoil 38 can be controlled, and the recovery device 30 can be flown toward the target point. The string-like member 39 is connected to the string-like member operating device 37, which retracts and releases the line. The string-like member 39 is made of a material such as aramid fiber, such as Kevlar (registered trademark).

[0041] The retrieval device 30 may further include all or part of the altitude measuring device 20, the GPS device 21, and the camera 22. The retrieval device 30 may also be equipped with a beacon or the like to facilitate the retrieval of the storage device from the ground even if the target location cannot be reached.

[0042] The altitude measuring device 20 can measure the altitude (distance) of the recovery device 30 relative to the ground (ground that serves as the reference for altitude measurement) G. The altitude measuring device 20 is, for example, a barometric altimeter. The altitude measuring device 20 may use a GPS altimeter, or it may be configured as a combination of a GPS altimeter and a barometric altimeter. The altitude measuring device 20 can measure the altitude (distance) of the recovery device 30. While the altitude measuring device 20 recognizes the altitude (distance) to the ground, the recovery device control unit 40 can perform autonomous flight control, for example.

[0043] The GPS device 21 is capable of determining the current location of the recovery device 30 using satellites.

[0044] Camera 22 can capture and view the surrounding situation from the recovery device 30. Camera 22 allows the surrounding situation of the recovery device 30 to be checked from a remote location.

[0045] The recovery device control unit 40 is located in the recovery device body 32. The recovery device control unit 40 can control the flight of the recovery device 30 using the parafoil 38, and can control, for example, the flight altitude and flight route of the recovery device 30. The recovery device control unit 40 transmits operation commands for various devices. More specifically, the recovery device control unit 40 can control the devices of the recovery device 30 necessary for flight and is electrically connected to the aircraft-side control unit 6. The recovery device control unit 40 also has a function to estimate the current position from the GPS device 21, etc. Furthermore, the recovery device control unit 40 may be configured to control the input and output of data to the storage device 34. In addition, the recovery device control unit 40 may be configured to control the weight support unit 59, the rotary drive unit 49, etc. The recovery device control unit 40 is configured to function as an autonomous guidance unit (AGU). Therefore, the recovery device control unit 40 controls the string-like members 39, which act as left and right lines, with the string-like member operating device 37, so that the recovery device 30 can autonomously fly toward the target point.

[0046] The recovery device control unit 40 incorporates a CPU 87 and a memory or other storage device 89, and controls connected devices to execute predetermined controls based on predetermined control programs recorded in the memory, etc. The recovery device control unit 40 is electrically connected to the first terminal unit 8, the second terminal unit 36, the storage device 34, the second terminal unit 36, the string-like member operating device 37, the recovery device control unit 40, etc. These electrical connections may be made by wireless communication or the like. The aircraft-side control unit 6 has a predetermined program for executing predetermined control functions. The recovery device control unit 40 can realize the operation functions to be performed by the aircraft 2, the recovery device 30, and the trigger mechanism 60 based on the respective programs stored in the storage device 89. The recovery device 30 may also be configured to be operated by an operating unit similar to the operating unit 35, for example, when wireless communication with the ground is possible.

[0047] As shown in Figure 2, the trigger mechanism 60 is provided to connect the aircraft body 4 of the aircraft 2 and the recovery device body 32 of the recovery device 30, and is configured to generate a force between the first terminal 8 and the second terminal 36 that pulls the second terminal 36 away from the first terminal 8. The trigger mechanism 60 generates a force between the first terminal 8 and the second terminal 36 that pulls the second terminal 36 away from the first terminal 8, separating the recovery device 30 from the aircraft 2, and the recovery device 30, together with the memory device 34, reaches the ground.

[0048] The trigger mechanism 60 includes a weight portion 61 that can be detachably attached to the aircraft body 4, a weight connecting portion 62 that connects the weight portion 61 to the recovery device body 32, and a weight support portion 59 that supports the weight portion 61.

[0049] The weight portion 61 is formed in a spherical shape. The weight portion 61 may be formed in a shape other than a sphere, such as a rectangular parallelepiped. The weight portion 61 is detachably attached to the lower surface of the arrangement table 44 of the storage unit 10. An attachment portion 61a is formed on the upper part of the weight portion 61 for attachment to the lower surface of the storage unit 10. In the initial state, the attachment portion 61a of the weight portion 61 is supported on the lower surface of the storage unit 10 by the weight support portion 59. When the weight portion 61 is removed from the lower surface of the storage unit 10, it falls with the connection portion of the string-like weight connection portion 62 to the retrieval device as the pivot point, while still connected to one end of the string-like weight connection portion 62. When the weight portion 61 falls, the weight of the retrieval device body 32 and the weight portion 61 generates a downward force of a predetermined magnitude at the second terminal portion 36. When the weight portion 61 detaches from the placement table 44 of the aircraft body, it acts downward on the recovery device body 32, which is connected via the weight connection portion 62, generating a force on the second terminal portion 36 that pulls it away from the first terminal portion 8. By utilizing the fact that the weight portion 61 falls and acts downward on the recovery device body 32, the weight portion 61 is connected to one end of the string-like weight connection portion 62 with a relatively simple configuration. The other end of the weight connection portion 62 is connected to the recovery device body 32. The weight of the weight is, for example, a weight in the range of 1 kg to 9 kg, or for example, a weight in the range of 1 kg to 4 kg, or for example, a weight in the range of 1 kg to 1.5 kg.

[0050] The weight connection part 62 forms a string-like connecting member. The weight connection part 62 connects the weight part 61 and the recovery device body 32.

[0051] The weight support section 59 is located at the bottom of the placement table 44. The weight support section 59 is configured to support the weight section 61 with its mounting section 61a. The weight support section 59 is formed to change between a support configuration that supports the weight section 61 and a release configuration that separates the weight section 61, in response to a command from the aircraft-side control unit 6. The weight support section 59 is electrically connected to the aircraft-side control unit 6.

[0052] Next, as shown in Figure 7, a series of operations will be described to allow the recovery system 1 to return the memory device 34 from the aircraft 2 to the ground in a usable state. As shown in Figure 7, in S1, a preparation step is performed in which the recovery system 1 prepares to separate the recovery device 30 and the memory device 34 from the aircraft 2 flying at a predetermined altitude. For example, when the aircraft-side control unit 6 of the aircraft 2 receives a command from the aircraft 2 to bring the memory device 34 to the ground, or based on a predetermined judgment of the aircraft-side control unit 6, the aircraft-side control unit 6 starts controlling the recovery operation of the memory device 34 to the ground. For example, the aircraft-side control unit 6 transmits predetermined data to be recovered to the ground from the aircraft-side memory device 19 of the aircraft 2 to the memory device 34. For example, if the aircraft-side control unit 6 loses communication with the ground, it moves or copies the data stored in its own aircraft-side control unit 6 to the memory device 34 on the recovery device side and attempts physical recovery by the recovery device 30. Therefore, in the preparation step S1, the data is moved to the memory device on the recovery device side. The aircraft-side control unit 6 also activates the rotary drive unit 49 of the restraining mechanism 46. The rotary drive unit 49 moves the bar 47 from the restrained state to the released state, releasing the restraint on the parafoil 38. Once step S1 is completed, the aircraft control unit 6 proceeds to S2.

[0053] In step S2, the trigger mechanism 60 performs a release step in which it releases the weight portion 61. The aircraft-side control unit 6 changes the weight support portion 59 of the trigger mechanism 60 from a supported state to a released state. As a result, the weight portion 61, which was supported by the weight support portion 59, is released and begins to free fall downward. Since the weight portion 61 is connected to the weight connection portion 62, the weight portion 61 is pulled by the weight connection portion 62 and moves downward around the end of the weight connection portion 62 on the recovery device body 32 side. The weight portion 61 and weight connection portion 62 after the movement are shown by dashed lines. Therefore, the weight portion 61 acts on the recovery device body 32 with a force that pulls the recovery device body 32 downward. When step S2 is completed, the aircraft-side control unit 6 proceeds to S3.

[0054] In step S3, a withdrawal step is performed in which the second terminal portion 36 is pulled out from the first terminal portion 8. The weight portion 61 pulls the recovery device body 32 downward, so that a predetermined force is applied downward to the second terminal portion 36. As a force of at least a predetermined magnitude is applied to the second terminal portion 36, the second terminal portion 36 is pulled out from the first terminal portion 8. As a result, the recovery device body 32 separates from the aircraft body 4 and begins to fall. When step S2 is completed, the aircraft-side control unit 6 proceeds to S3.

[0055] In step S4, the parafoil deployment step is performed, in which the parafoil 38 is pulled out from the storage unit 10 and deployed. As the recovery device body 32 begins to fall, the string-like member 39 and the parafoil 38 are also pulled downward, and the parafoil 38 slides out of the placement table 44 downward, moving in parallel to the upper surface of the placement table 44. The parafoil 38 is pulled out into the air from the opening 45 and deployed in the air. When step S4 is completed, the aircraft-side control unit 6 proceeds to S5.

[0056] In step S5, the recovery device control unit 40 executes a return step to fly the recovery device 30 to the ground. As the recovery device body 32 begins to fall, the parafoil 38 is deployed, and the recovery device 30 can fly autonomously. The recovery device control unit 40 controls the string-like members 39 with the string-like member operating device 37 to fly the recovery device 30 toward the target point. The recovery device control unit 40 may, for example, rotate the string-like members 39 forming the right line to the right by pulling them with the string-like member operating device 37, or rotate the string-like members 39 forming the left line to the left by pulling them with the string-like member operating device 37. By returning to the ground together with the onboard memory device 34, the data stored in the memory device 34 can be recovered on the ground. Furthermore, the recovery device 30 can reach the ground together with the memory device 34 regardless of the purpose or state. When step S5 is completed, proceed to the end.

[0057] 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. In one embodiment, the trigger mechanism 60 of the modified recovery system 1 includes a recovery device support portion that extends downward from the aircraft body 4 and directly supports the recovery device body 32. The mechanism is configured such that when the recovery device support portion releases its support for the recovery device body 32, the weight of the recovery device body 32 generates a force on the second terminal portion 36 that pulls it away from the first terminal portion 8. In other words, when the recovery device body 32 is directly supported by the recovery device support portion, the mechanism is configured such that when the recovery device support portion releases its support for the recovery device body 32, the recovery device body 32 falls due to its own weight. As another variation, the parafoil 38 may be stored in the recovery device body 32 in a folded state, and in mid-air, the parafoil 38 may be deployed from the folded state to the fully deployed state by the operation of the actuator. Therefore, when the parafoil 38 is stored in the recovery device body 32 in a folded state, the parafoil 38 can be stored compactly. After deployment, autonomous flight operations can be performed by controlling the string-like member 39 with the string-like member operating device 37.

[0058] An example of one embodiment of the present invention may be provided in the following embodiments.

[0059] (1) A recovery system for bringing a memory device to the ground from an aircraft, comprising an aircraft that flies in the air, a recovery device that separates from the aircraft and recovers it to the ground, and a trigger mechanism, wherein the aircraft comprises an aircraft body, an aircraft-side control unit that controls the flight of the aircraft body, a first terminal unit provided on the aircraft body that can input and output data with the second terminal unit when the second terminal unit is inserted, and a storage unit provided on the aircraft body that stores a parafoil, wherein the recovery device comprises a recovery device body, the memory device attached to the recovery device body, and the first terminal unit and the first terminal unit when the first terminal unit is inserted A recovery system comprising: a second terminal section capable of input and output; the parafoil connected to the recovery device body via a string-like member; and a recovery device control section for controlling the flight of the recovery device, wherein the trigger mechanism is provided to connect the aircraft and the recovery device and is configured to generate a force between the first terminal section and the second terminal section that pulls the second terminal section away from the first terminal section, thereby separating the recovery device from the aircraft and allowing the recovery device to reach the ground together with the memory device.

[0060] (2) The recovery system according to (1), wherein the aircraft-side control unit has a function to transmit predetermined data from the aircraft-side storage device to the storage device when the first terminal portion of the aircraft and the second terminal portion of the recovery device are inserted together.

[0061] (3) The recovery system according to (1), wherein the storage section comprises a placement table on which the parafoil can be placed in a partially unfolded state with the parafoil partially unfolded in a planar manner, and an opening between the placement table and the aircraft body that opens toward the recovery device.

[0062] (4) The recovery system according to (3), wherein the arrangement table is configured to place the parafoil, which has been spread out from the right end to the left end, on the parafoil in the partially unfolded state.

[0063] (5) The recovery system according to (4), wherein the arrangement table has a plate-like flat surface on which the parafoil can be placed in the partially unfolded state.

[0064] (6) The recovery system according to (5), wherein the upper surface of the arrangement table is formed as a smooth surface.

[0065] (7) The retrieval system according to (3), wherein the storage unit is equipped with a holding mechanism for holding the parafoil in the partially unfolded state onto the placement table.

[0066] (8) The recovery system according to (7), wherein the holding mechanism comprises a bar for holding down the partially unfolded parafoil, an arm portion for supporting the bar, and a rotational drive portion for rotating the arm portion in the vertical direction, and the holding mechanism is configured to be operable in a holding state in which the rotational drive portion rotates the arm portion to a first rotation angle and the bar holds down the parafoil, and a release state in which the rotational drive portion rotates the arm portion to a second rotation angle and the bar separates from the parafoil.

[0067] (9) The recovery system according to (3), wherein the opening is formed such that the parafoil can be pulled out from the opening while maintaining the parafoil such that the right end of the parafoil is located on the right side of the placement table and the left end of the parafoil is located on the left side of the placement table.

[0068] (10) The recovery system according to (1), wherein the first terminal portion is formed facing downward, and the second terminal portion is formed facing upward, and the second terminal portion is configured to be able to exit downward from the first terminal portion.

[0069] (11) The recovery system according to (1), wherein the trigger mechanism comprises a weight portion that is detachably attached to the aircraft body and a weight connecting portion that connects the weight portion and the recovery device body, and the weight portion is configured such that when it is detached from the aircraft body, the weight portion acts a downward weight on the recovery device body connected via the weight connecting portion, thereby generating a force on the second terminal portion that pulls the second terminal portion away from the first terminal portion.

[0070] (12) The recovery system according to (1), wherein the trigger mechanism comprises a support portion extending from the aircraft body and supporting the recovery device body, and the support portion releases its support from the recovery device body, thereby generating a force at the second terminal portion that pulls the second terminal portion away from the first terminal portion due to the weight of the recovery device body. [Explanation of Symbols]

[0071] 1: Recovery System 2: Flying object 4: Main body of the flying object 6: Aircraft-side control unit 8: 1st terminal part 10: Storage section 19: Aircraft side storage device 30: Recovery device 32: Recovery device main body 34: Storage device 36: 2nd terminal section 38: Parafoil 40: Recovery device control unit 44: Placement Table 45: Opening 46: Retaining mechanism 47: Bar 60: Trigger mechanism 61: Weight section 62: Weight connection part

Claims

1. A recovery system for bringing memory devices from an aircraft to the ground, The aforementioned flying object flying in the air, A recovery device that separates from the aforementioned aircraft and is recovered on the ground, Equipped with a trigger mechanism, The aforementioned flying object The main body of the aircraft, The aircraft control unit controls the flight of the aircraft body, A first terminal section is provided on the aircraft body, and in the inserted state with the second terminal section inserted, data input and output is performed with the second terminal section. The aircraft body is provided with a storage compartment for storing the parafoil, The aforementioned recovery device is The main body of the recovery device, The storage device attached to the recovery device body, The first terminal portion and the second terminal portion which allows data input and output to the first terminal portion in the inserted state, The parafoil is connected to the main body of the recovery device via a string-like member, The system comprises a recovery device control unit that controls the flight of the recovery device, The trigger mechanism comprises a weight portion that is detachably attached to the aircraft body and a weight connecting portion that connects the weight portion and the recovery device body. The weight portion is configured such that when it detaches from the aircraft body, it acts a downward force on the recovery device body connected via the weight connection portion, thereby generating a force at the second terminal portion that pulls it away from the first terminal portion. A recovery system in which the trigger mechanism generates a force between the first terminal and the second terminal that pulls the second terminal away from the first terminal, thereby separating the recovery device from the aircraft, and the recovery device, together with the memory device, reaches the ground.

2. The recovery system according to claim 1, wherein the aircraft-side control unit has a function to transmit predetermined data from the aircraft-side storage device to the storage device when the first terminal portion of the aircraft and the second terminal portion of the recovery device are inserted together.

3. The recovery system according to claim 1, wherein the storage unit comprises a placement table on which the parafoil can be placed on a flat surface while being unfolded in the width direction, and an opening between the placement table and the aircraft body that opens toward the recovery device.

4. The recovery system according to claim 3, wherein the arrangement table is configured to place the parafoil, which has been extended from the right end to the left end of the parafoil, on a flat surface while being unfolded in the width direction.

5. The recovery system according to claim 4, wherein the arrangement table has a plate-like flat surface on which the parafoil can be placed while it is unfolded in the width direction and laid flat.

6. The recovery system according to claim 5, wherein the upper surface of the arrangement table is formed as a smooth, flat surface.

7. The retrieval system according to claim 3, wherein the storage unit includes a holding mechanism that holds the parafoil down on the placement table while it is unfolded in the width direction and placed on a flat surface.

8. The pressing mechanism comprises a bar that holds down the parafoil in a state where it is unfolded in the width direction and placed on a flat surface, an arm that supports the bar, and a rotational drive unit that rotates the arm in the vertical direction. The recovery system according to claim 7, wherein the pressing mechanism is formed to be operable in a pressing state in which the rotational drive unit rotates the arm portion to a first rotation angle and the bar presses the parafoil, and a release state in which the rotational drive unit rotates the arm portion to a second rotation angle and the bar moves away from the parafoil.

9. The recovery system according to claim 3, wherein the opening is formed such that the parafoil can be pulled out from the opening while maintaining the parafoil such that the right end of the parafoil is located on the right side of the placement table and the left end of the parafoil is located on the left side of the placement table.

10. The recovery system according to claim 1, wherein the first terminal portion is formed facing downward, and the second terminal portion is formed facing upward, and the second terminal portion is configured to be able to exit downward from the first terminal portion.

Images