Unmanned aircraft, operation assistance system, and operation assistance method

Abstract

An unmanned aircraft 1 comprises: an electromagnet 111 provided to each leg part 11; and a control unit 10 that, when any leg part 11 is grounded, starts the corresponding electromagnet 111. After the electromagnet 111 is started, each leg part 11 is attracted to a grounding part 3 having a magnetic body.

Description

Unmanned aerial vehicle, operation support system, and operation support method

[0001] The present disclosure relates to an unmanned aerial vehicle, an operation assistance system, and an operation assistance method.

[0002] When controlling unmanned aerial vehicles (UAVs) such as drones, landing can be difficult. Landing can be even more difficult depending on the environment, especially when landing in crosswinds or on slopes. Furthermore, once the drone has landed, it may roll over due to wind.

[0003] A hand catch is a method for ensuring a safe landing of an unmanned aerial vehicle (Non-Patent Document 1). In a hand catch, the operator stops the unmanned aerial vehicle by grabbing the vehicle's legs. A hand catch is used in situations where a safe landing of the aircraft is difficult.

[0004] Yoshitake Hodaka, "(Phantom 4) What are the benefits of 'hand-catching' a drone?" [online], July 20, 2016, Gadget Walker, [Retrieved June 28, 2023], Internet <URL: https: / / drone-aerial-corps.com / 2016 / 07 / 20 / hand-katch / >

[0005] However, the function for stabilizing the aircraft's attitude during flight may be activated unintentionally. This function may cause the aircraft to roll over due to the force of the rotors. There are also limitations on the size of the unmanned aircraft that can be caught by hand. There is also a risk of injury to the operator when attempting to catch the aircraft by hand.

[0006] The present disclosure has been made in consideration of the above circumstances, and the purpose of the present disclosure is to provide technology that enables unmanned aerial vehicles to land safely.

[0007] An unmanned aerial vehicle according to one aspect of the present disclosure comprises an electromagnet provided on each leg and a control unit that activates the electromagnet when any of the legs touches the ground, and after the electromagnet is activated, each leg is attracted to a ground portion having a magnetic material.

[0008] An operation assistance system according to one embodiment of the present disclosure comprises an unmanned aerial vehicle and a grounding portion having a magnetic material, the unmanned aerial vehicle having an electromagnet provided on each leg and a control unit that activates the electromagnet when either leg touches the ground, and after the electromagnet is activated, each leg is attracted to the grounding portion.

[0009] In one embodiment of the operation assistance method of the present disclosure, one of the legs of an unmanned aerial vehicle is grounded on a ground surface having a magnetic material, and after one of the legs is grounded on or approaches the ground surface, an electromagnet provided on each leg is activated, and after the electromagnet is activated, each leg is attracted to the ground surface.

[0010] An operation support system of one embodiment of the present disclosure includes a plurality of electromagnet cells provided on the grounding portion of an unmanned aerial vehicle, a sensor that detects the touchdown or approach of any of the legs of the unmanned aerial vehicle to the grounding portion, and a control unit that activates the plurality of electromagnet cells when the sensor detects the touchdown or approach of any of the legs to the grounding portion, and when the plurality of electromagnet cells are activated, the legs of the unmanned aerial vehicle are attracted to the grounding portion.

[0011] According to the present disclosure, a technology can be provided that enables an unmanned aerial vehicle to land safely.

[0012] Fig. 1 is a diagram illustrating the system configuration of an operation assistance system according to an embodiment of the present disclosure. Fig. 2 is a diagram illustrating functional blocks of an unmanned aerial vehicle. Fig. 3 is a flowchart illustrating an operation assistance method. Fig. 4 is a diagram illustrating the system configuration of an operation assistance system according to a modified example. Fig. 5 is a flowchart illustrating an operation assistance method according to a modified example. Fig. 6 is a diagram illustrating the hardware configuration of a computer used in the operation assistance system.

[0013] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In the description of the drawings, the same parts are designated by the same reference numerals and the description thereof will be omitted.

[0014] 1 assists the landing of the unmanned aerial vehicle 1. The operation assistance system 5 includes the unmanned aerial vehicle 1, an input device 2, and a ground contact part 3.

[0015] The unmanned aerial vehicle 1 is an aircraft with no human aboard. The unmanned aerial vehicle 1 is driven by instructions input via radio waves or the like from an input device 2 or the like. The unmanned aerial vehicle 1 is, for example, a drone.

[0016] In the example shown in Figure 1, the unmanned aerial vehicle 1 is shown as a top view. The unmanned aerial vehicle 1 has four legs 11a, 11b, 11c, and 11d. When there is no need to distinguish between the four legs 11a, 11b, 11c, and 11d, they may simply be referred to as legs 11. Note that the number of legs 11 provided on the unmanned aerial vehicle 1 does not have to be four, and may be three or less, or five or more.

[0017] In the present disclosure, each leg 11 includes an electromagnet 111 as shown in Fig. 2. The electromagnet 111 is energized in accordance with an instruction from the control unit 10 and becomes a magnet.

[0018] The input device 2 is a device for inputting instructions to operate the unmanned aerial vehicle 1. The input device 2 is operated by a person, such as an operator of the unmanned aerial vehicle 1. The input device 2 is, for example, a remote controller. The input device 2 may have a function to acquire and display data indicating the status of the unmanned aerial vehicle 1.

[0019] The ground contact portion 3 is the portion where each leg 11 of the unmanned aerial vehicle 1 comes into contact with the ground. The ground contact portion 3 is preferably flat, but may include a non-flat portion such as a curved surface, or an uneven portion.

[0020] In the present disclosure, the grounding portion 3 has a magnetic material. The grounding portion 3 is formed so that when the legs 11 of the unmanned aerial vehicle 1 approach within a predetermined distance, the energized electromagnets 111 of the legs 11 are attracted to the grounding portion 3. The magnetic material of the grounding portion 3 may be formed in any manner.

[0021] An unmanned aerial vehicle 1 according to the present disclosure will be described with reference to Figure 2. The unmanned aerial vehicle 1 includes a control unit 10, four legs 11a, 11b, 11c, and 11d, and four rotor units 12a, 12b, 12c, and 12d. When the four rotor units 12a, 12b, 12c, and 12d are not to be distinguished from one another, they may be simply referred to as rotor units 12.

[0022] In the present disclosure, the four rotor units 12a, 12b, 12c, and 12d are provided corresponding to the four legs 11a, 11b, 11c, and 11d, respectively. In the present disclosure, as shown in FIG. 1 , one rotor unit 12 is provided for one leg 11, such as the rotor unit 12a being provided for the leg 11a. In other embodiments, one rotor unit 12 may be provided for multiple legs 11, or multiple rotor units 12 may be provided for one leg 11. The legs 11 and the rotor units 12 do not need to correspond one-to-one, as long as the legs 11 and the rotor units 12 that control them correspond to each other.

[0023] The control unit 10 controls each part of the unmanned aerial vehicle 1. The control of each part by the control unit 10 includes acquiring data from each part, changing the setting values ​​of each part, or driving each part. The control unit 10 instructs the driving of the legs 11 and rotor unit 12, for example, and receives detection from the sensors 112 of the legs 11. The control unit 10 may control each part of the unmanned aerial vehicle 1 in accordance with instructions from the input device 2, or may control each part in accordance with input data.

[0024] In the present disclosure, the control unit 10 activates the electromagnet 111 when any of the legs 11 touches the ground. The control unit 10 stops the electromagnets of each leg 11 at a timing when all of the legs 11 touch the ground. Here, the touchdown includes not only the timing when any of the legs 11 touches the ground part 3, but also the timing when the legs 11 come within a predetermined distance of the ground part 3.

[0025] For example, when a sensor 112 described below detects ground contact or approach, the control unit 10 activates the electromagnet 111. Alternatively, when an operator visually detects ground contact or approach, the operator inputs the ground contact or approach into the input device 2. When the control unit 10 is notified of the ground contact or approach from the input device 2, it activates the electromagnet 111.

[0026] When the control unit 10 touches down on any of the legs 11, the electromagnet 111 is activated, and then each leg 11 is attracted to the grounding part 3 having a magnetic material. This allows the unmanned aerial vehicle 1 to land safely. Furthermore, since the legs 11 are attracted to the grounding part 3 regardless of the operation from the input device 2, the burden on the operator is also reduced.

[0027] Each leg 11 includes an electromagnet 111 and a sensor 112 .

[0028] The electromagnet 111 is driven in accordance with an instruction from the control unit 10. The electromagnet 111 does not normally generate a magnetic force, but is energized in response to an instruction from the control unit 10 to generate a magnetic force.

[0029] The sensor 112 detects whether the provided leg 11 has touched the ground or is approaching the grounding portion 3. When the sensor 112 detects the touching or approaching, it notifies the control unit 10. When the sensor 112 detects the touching or approaching, the control unit 10 activates the electromagnet 111.

[0030] The sensor 112 further detects a leg that has touched or is approaching the ground portion 3. For example, when the leg 11a on which the sensor 112 is provided touches the ground portion 3, the sensor 112 notifies the control unit 10 of the identifier of the touched leg 11. When the leg 11a on which the sensor 112 is provided approaches the ground portion 3 within a predetermined distance, the sensor 112 may notify the control unit 10 of the identifier of the touched leg 11.

[0031] In the present disclosure, a case where the sensor 112 is provided on each leg 11 will be described, but this is not limiting. The sensor 112 only needs to be able to detect the contact of any leg 11 with the ground or the approach of the ground portion 3. For example, one sensor may be used to detect the contact of or the approach of each leg 11 with the ground portion 3.

[0032] The rotor unit 12 is driven in accordance with instructions from the control unit 10. The rotor unit 12 includes a rotor and a motor. In response to instructions from the control unit 10, the rotor unit 12 drives the motor to rotate the rotor in either a positive or negative direction. The rotor unit 12 controls the attitude of the unmanned aerial vehicle 1. For example, when the unmanned aerial vehicle 1 takes off, the rotor unit 12 drives the motor to rotate the rotor in the positive direction, and when it stops, rotates the rotor in the negative direction.

[0033] When the sensor 112 detects contact with or approach to the ground, the control unit 10 rotates the rotors corresponding to the legs 11 other than the leg 11 that has contacted or approached the ground in the sinking direction. For example, a case will be described in which the sensor 112 detects that the leg 11a has contacted the ground portion 3. The control unit 10 outputs an instruction to rotate the rotors corresponding to the legs 11 other than the leg 11a in the sinking direction. In the present disclosure, the legs 11 other than the leg 11a are any one or more of the legs 11b, 11c, and 11d. The rotors corresponding to the legs 11 other than the leg 11a are the rotor units 12 of the rotor units 12b, 12c, and 12d that correspond to any one or more of the legs 11c and 11d.

[0034] When a leg 11 touches the ground, the rotor corresponding to the leg 11 on the opposite side to the touched down leg 11 is driven in the descending direction, thereby pressing the unmanned aerial vehicle 1 against the landing surface, enabling it to land stably.

[0035] The control unit 10 may rotate, in a sinking direction, the rotor corresponding to the leg 11 on the opposite side of the grounded or approaching leg 11 with respect to the center of gravity of the unmanned aerial vehicle 1, among the rotors corresponding to the leg 11 other than the grounded or approaching leg 11. In the example shown in FIG. 1 , the center of the unmanned aerial vehicle 1 is considered to be the center of the fuselage of the unmanned aerial vehicle 1. When leg 11a has grounded, the leg 11 on the opposite side of the unmanned aerial vehicle 1 with respect to reception is leg 11d. The control unit 10 outputs an instruction to rotate, in a sinking direction, the rotor corresponding to leg 11d, specifically the rotor of rotor unit 12d.

[0036] When a certain leg 11 touches down on the ground, the leg 11 on the opposite side of the center of gravity of the unmanned aircraft 1 is considered to be far away from the ground 3. Therefore, the leg 11 on the opposite side of the center of gravity of the unmanned aircraft 1 is moved downward by the rotor, allowing the unmanned aircraft 1 to land stably.

[0037] The control unit 10 may maximize the rotor output of the leg 11 on the opposite side that is the farthest from the leg 11 that has touched the ground or is close to the ground. In the example shown in Fig. 1 , the leg 11 on the opposite side that has touched the ground or is close to the ground is leg 11d. The control unit 10 outputs an instruction to leg 11d to drive the rotor with the largest output, and outputs an instruction to the other legs 11 to drive the rotor with an output smaller than the output of leg 11d.

[0038] When a certain leg 11 touches down on the grounding portion 3, the leg 11 on the opposite side of the touched down leg 11 that is the furthest from the touched down or approaching leg 11 is considered to be far away from the grounding portion 3. Therefore, the leg 11 that is the furthest from the touched down or approaching leg 11 is moved downward by the rotor, thereby enabling the unmanned aerial vehicle 1 to land stably.

[0039] An operation assistance method according to the present disclosure will be described with reference to FIG.

[0040] In step S101, when the control unit 10 detects that one of the legs 11 of the unmanned aerial vehicle 1 has touched down on or approached the ground contact portion 3, the control unit 10 proceeds to step S102. In step S102, the control unit 10 outputs an instruction to activate the electromagnets 111 of each leg 11 of the unmanned aerial vehicle 1. The electromagnets 111 of the legs 11 generate magnetic force. This makes it easier for the legs 11 to be attracted to the ground contact portion 3.

[0041] In step S103, the control unit 10 outputs an instruction to rotate the rotors corresponding to the legs 11 other than the leg 11 that has touched the ground 3 in the descending direction. This makes it easier for the unmanned aerial vehicle 1 to approach the ground 3.

[0042] The operation assistance system 5 according to the present disclosure allows the unmanned aerial vehicle 1 to land safely. Specifically, even when landing in adverse conditions, such as when landing in a crosswind or on sloping ground, a rollover caused by one leg touching the ground can be prevented, and a stable landing can be achieved.

[0043] (Modification) An operation assistance system 5a according to a modification will be described with reference to Fig. 4. The operation assistance system 5a differs from the operation assistance system 5 shown in Fig. 1 in the specifications of the ground contact portion 3a.

[0044] The grounding portion 3a has an array of electromagnet cells 31 on the grounding surface. In the example shown in Figure 4, for convenience of drawing, the electromagnet cells 31 are drawn only around the grounding portion 3a, but electromagnet cells 31 are also provided around the unmanned aerial vehicle 1.

[0045] In a modified example, the legs 11 of the unmanned aerial vehicle 1 have a magnetic material that can be attracted to the energized electromagnet cell 31.

[0046] The ground contact portion 3a is provided with a sensor (not shown) that detects when any of the legs 11 of the unmanned aerial vehicle 1 touches or approaches the ground contact portion 3a.

[0047] The grounded portion 3a further includes a control unit (not shown) that controls the electromagnet cell 31 and the sensor. The control unit may be provided anywhere as long as it is capable of controlling the electromagnet cell 31 and the sensor. The control unit may be built into the grounded portion 3a or may be implemented in a computer connected to the grounded portion 3a. Alternatively, the control unit of the unmanned aerial vehicle 1 may control the electromagnet cell 31 and the sensor of the grounded portion 3a.

[0048] When the sensor detects that the leg 11 has touched or is approaching the ground portion 3a, the control unit activates the multiple electromagnet cells 31. When the multiple electromagnet cells 31 are activated, the leg 11 of the unmanned aerial vehicle 1 is attracted to the ground portion 3a.

[0049] The control unit may also control each unit of the unmanned aerial vehicle 1. For example, the control unit may output an instruction to rotate the rotors corresponding to the legs 11 other than the leg 11 that is in contact with the grounding portion 3a in the sinking direction.

[0050] An operation assistance method according to the present disclosure will be described with reference to FIG.

[0051] In step S201, when the control unit detects that one of the legs 11 of the unmanned aerial vehicle 1 has touched down on or approached the grounding portion 3, the process proceeds to step S202. In step S202, the control unit 10 outputs an instruction to activate the electromagnet cell 31 of the grounding portion 3a. The electromagnet cell 31 of the grounding portion 3a generates a magnetic force. This makes it easier for the leg 11 to be attracted to the grounding portion 3a.

[0052] In step S203, the control unit outputs an instruction to rotate the rotors corresponding to the legs 11 other than the leg 11 that has touched the ground 3a in the descending direction, thereby making it easier for the unmanned aerial vehicle 1 to approach the ground 3a.

[0053] According to the operation assistance system 5 relating to this modified example, the unmanned aerial vehicle 1 can be landed safely.

[0054] The control unit of the present embodiment described above is, for example, a general-purpose computer system including a CPU (Central Processing Unit, processor) 901, a memory 902, a storage 903 (HDD: Hard Disk Drive, SSD: Solid State Drive), a communication device 904, an input device 905, and an output device 906. In this computer system, the CPU 901 executes a program loaded on the memory 902, thereby realizing each function of the control unit.

[0055] The control unit may be implemented in one computer or in multiple computers, or may be a virtual machine implemented in a computer.

[0056] The program for the control unit can be stored in a computer-readable recording medium such as a HDD, SSD, USB (Universal Serial Bus) memory, CD (Compact Disc), DVD (Digital Versatile Disc), or can be distributed via a network. The computer-readable recording medium is, for example, a non-transitory recording medium.

[0057] The present disclosure is not limited to the above-described embodiments, and various modifications are possible within the scope of the present disclosure.

[0058] REFERENCE SIGNS LIST 1 unmanned aerial vehicle 2 input device 3 ground contact section 5 operation support system 10 control section 11 legs 12 rotor section 111 electromagnet 112 sensor 112 901 CPU 902 memory 903 storage 904 communication device 905 input device 906 output device

Claims

1. An unmanned aerial vehicle comprising an electromagnet provided on each leg and a control unit that activates the electromagnet when any leg touches the ground, and after the electromagnet is activated, each leg is attracted to the ground having a magnetic material.

2. An unmanned aerial vehicle as described in claim 1, further comprising a sensor for detecting when any of the legs has landed on or is approaching the ground, and the control unit activates the electromagnet when the sensor detects the landing or approach.

3. An unmanned aerial vehicle as described in claim 2, further comprising a rotor corresponding to each of the legs, wherein the sensor further detects a leg that has touched down on or is approaching the grounding portion, and wherein the control unit, when detected by the sensor, rotates the rotors corresponding to the legs other than the leg that has touched down on or is approaching the grounding portion in a sinking direction.

4. An unmanned aerial vehicle as described in claim 3, wherein the control unit rotates the rotor corresponding to the leg on the opposite side of the unmanned aerial vehicle's center of gravity from the leg that has landed or is approaching the ground in a descending direction.

5. An unmanned aerial vehicle as described in claim 3, wherein the control unit maximizes the rotor output of the leg on the opposite side that is furthest from the leg that has landed or is approaching the ground.

6. An operation support system comprising: an unmanned aerial vehicle; and a grounding portion having a magnetic material, wherein the unmanned aerial vehicle has an electromagnet provided on each leg; and a control portion which activates the electromagnet when any of the legs touches the ground, and after the electromagnet is activated, each leg is attracted to the grounding portion.

7. An operation assistance method in which any one of the legs of an unmanned aerial vehicle is grounded on a grounding portion having a magnetic material, and after any one of the legs touches or approaches the grounding portion, an electromagnet provided on each leg is activated, and after the electromagnet is activated, each leg is attracted to the grounding portion.

8. An operation support system comprising: a plurality of electromagnetic cells provided on the grounding portion of an unmanned aerial vehicle; a sensor that detects any of the legs of the unmanned aerial vehicle touching or approaching the grounding portion; and a control unit that activates the plurality of electromagnetic cells when the sensor detects that any of the legs have touched or approached the grounding portion, wherein when the plurality of electromagnetic cells are activated, the legs of the unmanned aerial vehicle are attracted to the grounding portion.

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