drone

Abstract

To provide a drone that can prevent a relatively low-strength surface of a hydrogen tank from becoming a landing surface when the drone falls.SOLUTION: A drone 10 includes a plurality of arms 16A-16D, a hydrogen tank 30, a fuel cell stack 24, and a parachute device 40. The hydrogen tank 30 is disposed downward from the arms 16A-16D. The fuel cell stack 24 is supplied with a hydrogen gas from the hydrogen tank 30. The parachute device 40 is provided with a hanging point 46. The hanging point 46 is provided while being biased on one end side along a longitudinal axis L1 of the hydrogen tank 30 from an airframe centroid C1.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] This specification discloses a drone.

Background Art

[0002] For example, in Patent Document 1, a payload is loaded on a high-speed flying object. The payload is a detection means such as a photographing device or a direction positioning device. When the high-speed flying object reaches a predetermined altitude and distance, the payload is separated from the high-speed flying object. A balloon is attached to the payload. Further, a hydrogen generation source for supplying hydrogen gas to the balloon is provided on the payload.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, when a fuel cell stack is mounted as a power source of a drone, it is necessary to mount a hydrogen tank on the drone. When the drone falls due to control troubles or the like, there is a risk that the hydrogen tank comes off from the drone body due to the impact of landing. In such a case, if the landing surface of the hydrogen tank is a surface with relatively low strength, there is a risk of damage such as deformation of the landing surface. Specifically, the side surface of the hydrogen tank has lower strength than the top surface and the bottom surface.

[0005] Therefore, this specification discloses a drone capable of suppressing the relatively low-strength surface of the hydrogen tank from becoming the landing surface when the drone falls.

Means for Solving the Problems

[0006] The drone disclosed herein comprises multiple arms, a hydrogen tank, a fuel cell stack, and a parachute system. The multiple arms extend from the center of the aircraft. Motors and propellers are attached to the ends of the multiple arms. The hydrogen tank is located below the multiple arms. The fuel cell stack is supplied with hydrogen gas from the hydrogen tank. The parachute system is provided with a suspension point. The suspension point is located off-center from the aircraft's center of gravity, along the longitudinal axis of the hydrogen tank, at one end.

[0007] According to the above configuration, the center of the parachute suspension point is set off-center from the aircraft's center of gravity. Therefore, when the drone falls, it falls at an angle. This allows the hydrogen tank to land on relatively high-strength surfaces, both the top and bottom. [Effects of the Invention]

[0008] The drone disclosed herein makes it possible to prevent the landing surface from being a relatively low-strength surface of the hydrogen tank. [Brief explanation of the drawing]

[0009] [Figure 1] This is an overall perspective view illustrating a drone according to this embodiment. [Figure 2] This is a perspective view illustrating the drone according to this embodiment during parachute deployment. [Modes for carrying out the invention]

[0010] The configuration of the drone 10 will be explained below with reference to the drawings. Figure 1 shows an example of the overall configuration of the drone 10 according to this embodiment. The drone 10 includes a control box 12, skids 14, and arms 16A-16D. The drone 10 also includes motors 20A-20D, propellers 22A-22D, a fuel cell stack 24, and a camera 26. The drone 10 also includes a hydrogen tank 30 and a parachute device 40.

[0011] Drone 10 is a so-called FC drone, powered by a fuel cell stack 24. Power is supplied from the fuel cell stack 24 to electrical equipment such as the control box 12, camera 26, and motors 20A-20D.

[0012] The control box 12 is an enclosure in which the control equipment for the drone 10 is located. For example, the control box 12 includes a flight controller, a PDB (Power Distribution Board), and an ESC (Electric Speed ​​Controller). For example, the control box 12 is equipped with an ESC for each motor 20A-20D. The control box 12 is also equipped with sensors such as proximity sensors and acceleration sensors.

[0013] For example, the control box 12 is positioned at the center of the drone 10's body. Here, the center of the body refers to the geometric center. The arms 16A-16D and skids 14 are attached to the control box 12. Therefore, the control box 12 is equipped with skeletal members to withstand the loads input from the arms 16A-16D and skids 14.

[0014] Hydrogen gas is supplied to the fuel cell stack 24 from the hydrogen tank 30 via pipe 32. Note that in Figures 1 and 2, supply control equipment such as valves and valve controllers are not shown. The fuel cell stack 24 is placed, for example, above the control box 12. Furthermore, a camera 26 is positioned adjacent to the fuel cell stack 24 and above the control box 12.

[0015] Multiple arms 16A-16D extend horizontally from the control box 12. In other words, the arms 16A-16D extend from the center of the drone 10. The arms 16A-16D extend radially from the control box 12, for example.

[0016] Motors 20A-20D and propellers 22A-22D are attached to the ends of arms 16A-16D, that is, the ends opposite to the connection ends with the control box 12. Motors 20A-20D rotate propellers 22A-22D. The rotation speed of motors 20A-20D is controlled by the ESC in the control box 12.

[0017] The drone 10 illustrated in Figures 1 and 2 is a so-called four-arm type. However, the drone 10 according to this embodiment is not limited to this form. For example, the number of arms 16 may be six or eight.

[0018] Skids 14 extend from the sides of the control box 12. The skids 14 are the legs of the drone 10, and one skid 14 extends from each side of the control box 12.

[0019] The hydrogen tank 30 supplies hydrogen gas to the fuel cell stack 24. The hydrogen tank 30 is, for example, a cylindrical tank. The bottom 30B of the tank is, for example, a flat plate shape. The top 30A of the tank is, for example, a dome shape. The side 30C of the tank is, for example, cylindrical. The longitudinal axis L1 of the hydrogen tank 30 may intersect, for example, the center of gravity C1 of the drone 10. Also, for example, along the longitudinal axis L1, the hydrogen tank 30 is longer than the control box 12.

[0020] The hydrogen tank 30 is positioned below, for example, the arms 16A-16D and the control box 12. For example, a holder 34 is positioned on the bottom surface of the control box 12. The holder 34 is wrapped around the tank side 30C of the hydrogen tank 30. In this respect, the holder 34 also functions as a protective frame for the hydrogen tank 30. For example, multiple holders 34 are provided along the longitudinal axis L1.

[0021] For example, the vertical length of the skid 14 is determined to exceed the diameter of the hydrogen tank 30. The vertical length refers to, for example, the length in the vertical direction from the bottom surface of the control box 12. With such a structure, when the drone 10 lands normally, the hydrogen tank 30 is separated from the landing surface.

[0022] The drone 10 is provided with a parachute device 40. Referring to FIG. 2, the parachute device 40 includes a canopy 42 and a plurality of lines 44. Further, the parachute device 40 includes an inflater (not shown).

[0023] During the flight of the drone 10, if an abnormal operation occurs in the motors 20A - 20D and the rotation of the propellers 22A - 22D stops, the drone 10 will fall. The flight controller of the control box 12 activates the inflater when, for example, the gravitational acceleration measured by an acceleration sensor exceeds a predetermined threshold value. When the inflater ignites and gas is generated, the canopy 42 is deployed.

[0024] The plurality of lines 44 connect the canopy 42 and the drone 10. The end of the line 44 on the drone 10 side serves as the suspension point 46 of the parachute device 40. All of these suspension points 46 are provided at positions offset from the center of gravity C1 of the drone 10 body.

[0025] More specifically, all the suspension points 46 are provided offset toward one end side along the longitudinal axis L1 from the center of gravity C1 of the body. For example, when there are 4 lines 44, there are 4 suspension points 46, and all of them are provided at positions offset toward one end side along the longitudinal axis L1 from the center of gravity C1 of the body.

[0026] Referring to Figure 2, for example, all four suspension points 46 are located on the arm 16D. This causes the centers of the suspension points 46 to be off-center from the aircraft's center of gravity C1. Therefore, for example, when the parachute device 40 deploys during the fall of the drone 10, the drone 10 will fall at an angle, as illustrated in Figure 2. Specifically, the arm 16D will be relatively higher and the arm 16B will be lower. In this way, the fall attitude can be controlled by shifting the centers of the suspension points 46 off-center from the aircraft's center of gravity C1.

[0027] In this state, if the hydrogen tank 30 detaches from the holder 34 when the drone 10 lands, the bottom 30B of the hydrogen tank 30 will be the landing surface. At this time, the fact that the bottom 30B is the landing surface will suppress damage such as deformation of the hydrogen tank 30.

[0028] In the examples shown in Figures 1 and 2, the suspension points 46 of the parachute device 40 were set to the arm 16D in both cases, but different suspension points 46 may be set. For example, all suspension points 46 may be provided on at least one of the arms 16A and 16B. In this case, the landing surface of the hydrogen tank 30 will be the top of the tank 30A. In other words, even in this case, the landing surface will not be the side of the tank 30C.

[0029] Furthermore, the suspension points 46 of the parachute device 40 do not have to be concentrated on a single arm 16. For example, the suspension points 46 may be distributed and set on the arm 16D, the top of the tank 30A, and the skid 14. In particular, by setting the suspension points 46 on the skid 14, it becomes possible to set the center of the suspension points 46 below the aircraft's center of gravity C1. In other words, the hydrogen tank 30 can be made to fall in a more vertical position. [Explanation of symbols]

[0030] 10 Drone, 12 Control box, 14 Skids, 16A-16D Arms, 20A-20D Motors, 22A-22D Propellers, 24 Fuel cell stack, 26 Camera, 30 Hydrogen tank, 30A Tank top, 30B Tank bottom, 30C Tank side, 40 Parachute device, 42 Canopy, 44 Lines, 46 Suspension points.

Claims

[Claim 1] Multiple arms extend from the center of the aircraft, with motors and propellers attached to their ends, A hydrogen tank positioned below the multiple arms and oriented so that its longitudinal axis is parallel to the multiple arms in a side view, A fuel cell stack supplied with hydrogen gas from the aforementioned hydrogen tank, A single parachute device is provided with a suspension point offset from the aircraft's center of gravity, towards one end along the longitudinal axis of the hydrogen tank, A drone equipped with [the following features].

Images