Flight assistance device, flight device system, and flight assistance program

Abstract

The objective of the present invention is to assist a pilot in achieving a state suitable for flight. A flight assistance device (10) comprises a flight state detecting unit and a flight assistance unit (50). The flight state detecting unit detects a flight state of a pilot (90) who is flying by means of a flying device attached to the pilot. The flight assistance unit (50) is attached to the pilot (90) and assists the flight of the pilot (90) in accordance with the detected flight state from the flight state detecting unit. The flight assistance unit (50) assists the flight of the pilot (90) by causing a force to act on a necessary part of the pilot (90) to change the attitude of the pilot (90).

Description

Flight aids, flight equipment systems, flight aid programs

[0001] The present invention relates to a flight assistance device that is attached to a human body and enables the human body to fly.

[0002] Patent Document 1 describes a device that uses hot gas as a power source and jets it from devices individually attached to the arms, legs, and waist, allowing the wearer, the operator, to fly.

[0003] Patent Document 2 describes a device that uses hot gas as a power source and jets it from a device worn on the back, allowing the wearer, the operator, to fly.

[0004] Patent Document 3 describes a device that uses water pressure as a power source to generate jets from a device worn on the back, allowing the wearer, the operator, to fly.

[0005] Patent Document 4 describes a device that uses water pressure as a power source to generate jets from a device worn at the wearer's feet, allowing the wearer, the operator, to fly.

[0006] Patent Document 5 describes a device that uses hot gas as a power source and jets it from a device worn at the wearer's feet, allowing the wearer, the operator, to fly.

[0007] US Patent Application Publication No. 2019 / 0382114 US Patent Application Publication No. 2019 / 0152601 US Patent Application Publication No. 2014 / 0103165 US Patent Application Publication No. 2013 / 0068895 US Patent Application Publication No. 2023 / 0111162

[0008] However, with conventional configurations such as those shown in Patent Documents 1 to 5, it is difficult to reduce the physical burden on the pilot when flying, and there is a risk that the wearer (pilot) may not be able to be assisted to maintain a posture suitable for flight.

[0009] Therefore, an object of the present invention is to provide a wearable flight assistance device that assists a pilot in getting into a suitable state for flight.

[0010] A flight assistance device according to one embodiment of the present invention includes a flight state detection unit and a flight assistance unit. The flight state detection unit detects the flight state of a pilot flying a flight device worn by the pilot. The flight assistance unit is worn by the pilot and assists the pilot in flying in accordance with the flight state detected by the flight state detection unit. The flight assistance unit applies forces to necessary parts of the pilot to change the pilot's attitude and assist the pilot in flying.

[0011] In this configuration, the flight state at the time of detection of the pilot wearing the flight device is obtained, and assistance can be provided to the pilot to achieve appropriate flight states.

[0012] According to this invention, it is possible to assist the pilot in achieving a suitable state for flight.

[0013] FIG. 1 is a functional block diagram of a flying device system according to a first embodiment of the present invention. FIGS. 2A and 2B are perspective views showing an example of a state in which a flight assistance device according to the first embodiment of the present invention is attached to a pilot. FIG. 3 is a flowchart showing an example of control executed in a force assist mode according to an embodiment of the present invention. FIGS. 4A, 4B, and 4C are diagrams showing an example of a state at takeoff when the force assist mode is executed. FIG. 5 is a flowchart showing an example of control executed in an ideal state tracking mode according to an embodiment of the present invention. FIGS. 6A, 6B, and 6C are diagrams showing an example of a state at takeoff when the ideal state tracking mode is executed. FIG. 7 is a flowchart showing an example of control executed in a fall protection mode according to an embodiment of the present invention. FIG. 8A is a diagram showing an example of a conventional pilot's falling posture in which the fall protection mode cannot be executed, and FIG. 8B is a diagram showing an example of a pilot's falling posture when the fall protection mode is executed. FIG. 9 is a flowchart showing an example of control executed in a crosswind response mode according to an embodiment of the present invention. Fig. 10(A) is a diagram showing an example of a conventional pilot's flight attitude when the crosswind response mode cannot be performed, and Fig. 10(B) is a diagram showing an example of a pilot's flight attitude when the crosswind response mode is performed. Figs. 11(A) and 11(B) are diagrams showing examples of combinations of multiple attitude control modes, respectively. Fig. 12 is a functional block diagram showing a first derivative example of a flight assistance device. Fig. 13 is a functional block diagram showing a second derivative example of a flight assistance device.

[0014] A flying device system, a flight assistance device, and a flight assistance program according to embodiments of the present invention will be described with reference to the drawings. Fig. 1 is a functional block diagram of a flying device system according to a first embodiment of the present invention. Figs. 2(A) and 2(B) are perspective views showing an example of a state in which a flight assistance device according to the first embodiment of the present invention is attached to a pilot. Fig. 2(A) is a perspective view of the pilot's front side, and Fig. 2(B) is a perspective view of the pilot's back side.

[0015] 1, the flight device system 1 includes a flight assistance device 10 and a flight device 20. Although not shown, the flight assistance device 10 and the flight device 20 are worn by a pilot 90 who will fly the device. In other words, the flight assistance device 10 and the flight device 20 are wearable devices.

[0016] (Overview of the configuration of the flight assistance device 10) The flight assistance device 10 includes a gyro sensor 31, an acceleration sensor 32, an air pressure sensor 33, an attitude control mode setting unit 40, and a flight assistance unit 50. The gyro sensor 31, the acceleration sensor 32, the air pressure sensor 33, and the attitude control mode setting unit 40 form the flight state detection unit 11. Note that the air pressure sensor 33 can be omitted. When the air pressure sensor 33 is omitted, the flight state detection unit 11 is formed by the gyro sensor 31, the acceleration sensor 32, and the attitude control mode setting unit 40 (not shown).

[0017] The attitude control mode setting unit 40 is composed of an arithmetic processing unit, a program executed by the arithmetic processing unit, a storage medium for storing the program, etc. In other words, the program executed by the attitude control mode setting unit 40 executes a process of receiving as input the detection results of the pilot's flight state. The program then executes a process of assisting the pilot's flight in accordance with the flight state received as input. The process of assisting the pilot's flight is a process of setting various attitude control modes, which will be described later.

[0018] Note that the flight state in the embodiment of the present invention refers to the physical state of the pilot flying, including his / her posture, and is a state that can be detected using at least one of the gyro sensor 31 and the acceleration sensor 32. The flight state does not include the state of the output of the thrust generator 21 of the flight device 20, etc. The flight state may also include the environment the pilot is exposed to, such as air pressure.

[0019] The attitude control mode setting unit 40 is attached to the flight assistance device 10, for example.

[0020] The flight assistance unit 50 functionally comprises a harness 51 and an auxiliary force generator 52. As shown in Fig. 2, the harness 51 is a body suit that covers the body of the pilot 90, and is preferably clothing that fits the body of the pilot 90.

[0021] Although not shown, the auxiliary force generator 52 is an actuator of various types (electric actuator, hydraulic actuator, pneumatic actuator, etc.) or an artificial muscle. The auxiliary force generator 52 is disposed on the attachment 51. The auxiliary force generator 52 is disposed in a position where it can apply an auxiliary force to a portion where assistance is required during flight. The auxiliary force generator 52 is disposed at least in a position where it can apply a force to a portion of the pilot 90 where it is required in the attitude control mode, which will be described later. Note that the auxiliary force generator 52 may be disposed over the entire attachment 51.

[0022] (Overview of the Configuration of Flight Device 20) The flight device 20 comprises a thrust generator 21 and a flight harness 22. The thrust generator 21 generates thrust that propels the pilot 90 to fly. The thrust can be generated by a water current or an air current, and the thrust generator 21 is configured as a water jet stream generator or a jet air stream generator. The flight harness 22 is configured as a belt or the like attached to a housing that configures the thrust generator 21.

[0023] The thrust generator 21 is attached to the pilot 90 in a predetermined position and posture for flight using a flight harness 22. For example, the thrust generator 21 is attached to the back of the pilot 90, or to the hands or feet of the pilot 90. In other words, the thrust generator 21 is attached to any part of the pilot 90.

[0024] 2, a gyro sensor 31, an acceleration sensor 32, and an air pressure sensor 33 are arranged on the attachment 51. The gyro sensor 31, the acceleration sensor 32, and the air pressure sensor 33 are arranged at positions that will provide detection results that are useful for the pilot 90 when flying.

[0025] For example, as shown in Figure 2(B), the multiple gyro sensors 31 are arranged near the neck on the back 912 of the body 91 of the operator 90, between the back and waist, on both arms 93, and on both legs 94. As shown in Figure 2(A), the multiple acceleration sensors 32 are arranged on both arms 93 and both legs 94 of the operator 90. As shown in Figure 2(A) and Figure 2(B), the multiple air pressure sensors 33 are arranged on the chest position on the front 911 of the body 91 of the operator 90, and on both arms 93.

[0026] The arrangement of the multiple gyro sensors 31, the multiple acceleration sensors 32, and the multiple air pressure sensors 33 is not limited to that shown in Figures 2(A) and 2(B), as long as detection results related to the posture of the body 91, both arms 93, and both legs 94 can be obtained at least during flight.

[0027] The plurality of gyro sensors 31 detect three-axis angular velocities at their respective positions and output the angular velocity detection results to the attitude control mode setting unit 40 .

[0028] The plurality of acceleration sensors 32 detect three-axis acceleration at their respective positions and output the acceleration detection results to the attitude control mode setting unit 40 .

[0029] The multiple air pressure sensors 33 detect the air pressure and pressure due to the air at their respective locations, and output the pressure detection results to the attitude control mode setting unit 40.

[0030] At this time, the angular velocity detection results of the multiple gyro sensors 31, the acceleration detection results of the multiple acceleration sensors 32, and the pressure detection results of the multiple air pressure sensors 33 are time-synchronized and output to the attitude control mode setting unit 40.

[0031] The attitude control mode setting unit 40 receives the angular velocity detection results, acceleration detection results, and pressure detection results, i.e., motion data of the pilot 90's flight state, and sets (estimates) and outputs the attitude control mode.

[0032] More specifically, the attitude control mode setting unit 40 uses an attitude control mode estimation algorithm based on a learning model obtained by machine learning. The attitude control mode setting unit 40 inputs flight state motion data detected by the gyro sensor 31 or the acceleration sensor 32 into the attitude control mode estimation algorithm, thereby estimating and outputting an attitude control mode that stabilizes the flight attitude. At this time, the attitude control mode setting unit 40 may also input the desired flight state set by the pilot 90.

[0033] The attitude control mode defines the control of the force that the assist force generator 52 applies to the pilot 90 in order to stabilize the flight state according to the flight state of the pilot 90. There are multiple types of attitude control modes corresponding to the types of flight state. Specific examples of the various attitude control modes will be described later.

[0034] For this reason, for example, the learning model used by the attitude control mode setting unit 40 is constructed based on the correlation between various attitudes and the stability of the flight state.

[0035] The input to the attitude control mode setting unit 40 can also include an operation input from the pilot 90. For example, the flight assistance device 10 or the flight device 20 is provided with an operator such as an operation button (not shown). When the pilot 90 uses the operator to input a desired flight state (e.g., takeoff), the attitude control mode setting unit 40 takes this operation content as one of the inputs. When there is an operation input, the attitude control mode setting unit 40 uses the operation input as well as the motion data of the flight state to estimate and output the attitude control mode.

[0036] The assist force generator 52 controls the force acting on the pilot 90 to assist the pilot 90 in maintaining his / her attitude during flight, based on the attitude control mode input from the attitude control mode setting unit 40 .

[0037] This allows the flight assistance device 10 to provide appropriate assistance to the attitude of the pilot 90 during flight, depending on the flight state of the pilot 90. Therefore, the pilot 90 can fly in a stable attitude, and stable flight can be easily achieved.

[0038] (Specific Application Examples of Attitude Control Modes) (A: Force Assist Mode) The force assist mode is a mode in which the force generated by the flight assist unit 50 is added to the muscle strength of the pilot 90 to stabilize the attitude of the pilot 90. In other words, the force assist mode is a mode in which a force is applied by adding to the muscle strength of the pilot 90 to change the attitude so as to stabilize it. In this embodiment, the force assist mode is a mode in which a force is applied to suppress vibrations in the arms 93 of the pilot 90 caused by the propulsive force of the flight of the flight device 20, in particular.

[0039] In the force assist mode, the auxiliary force generator 52 is disposed on at least the arm 93 of the pilot 90. Note that, although this embodiment shows a mode in which force assistance is provided to the arm 93, the auxiliary force generator 52 can be disposed on any body part of the pilot 90 that requires force assistance when flying, and is not limited to the arm 93.

[0040] Fig. 3 is a flowchart showing an example of control executed in the force assist mode according to an embodiment of the present invention, and Fig. 4(A), Fig. 4(B), and Fig. 4(C) are diagrams showing an example of a state at takeoff when the force assist mode is executed.

[0041] When the flight assist device 10 detects a start trigger for the force assist mode (S11), the flight assist device 10 sets the force assist mode. The start trigger for the force assist mode is obtained, for example, when the pilot 90 uses a control to select the start of the force assist mode.

[0042] Alternatively, a start trigger may be obtained by detecting that the pilot 90 has worn the flight device 20 and has assumed a predetermined attitude. For example, the attitude of the pilot 90 is continuously detected by the multiple gyro sensors 31 or the multiple acceleration sensors 32. In the case of Fig. 4(A), when the attitude control mode setting unit 40 detects from the triaxial angular velocities detected by the multiple gyro sensors 31 or the triaxial accelerations detected by the multiple acceleration sensors 32 that the pilot 90 is standing upright with his arms 93 stretched out horizontally, the detection result is used as a start trigger for the force assist mode.

[0043] The attitude control mode setting unit 40 starts detecting vibrations of the arm 93 (S12). More specifically, the attitude control mode setting unit 40 observes the three-axis angular velocities detected by the multiple gyro sensors 31 arranged on the arm 93, and detects the magnitude of the vibrations using the magnitude of the angular velocities.

[0044] In this state, as shown in Figure 4(B), when the thrust generator 21 of the main body 220 of the flying device 20 carried by the pilot 90 generates thrust, the reaction force causes the arm 221 of the flying device 20 held by the pilot 90 to try to descend. At this time, if the muscle strength of the arm 93 of the pilot 90 cannot control the movement of the arm 221, the force holding down the arm 221 will be too strong or too weak, causing the arm 221 and the arm 93 of the pilot 90 to vibrate up and down.

[0045] The attitude control mode setting unit 40 detects the magnitude of this up and down vibration.

[0046] The posture control mode setting unit 40 stores a threshold value for executing the force assist mode with respect to the magnitude of vibration. If the magnitude of vibration is equal to or greater than the threshold value (S13: YES), the posture control mode setting unit 40 performs control to generate an assist force 580 that assists the muscle strength of the arm 93 (S14). Specifically, the posture control mode setting unit 40 instructs the assist force generator 52 to generate a force that suppresses the vibration of the arm 93.

[0047] In accordance with this instruction, the assistive force generator 52 generates an assistive force 580 and applies it to the arm 93 of the operator 90. For example, the assistive force generator 52 generates a force that tightens the arm 93 and applies it to the arm 93.

[0048] As a result, the assist force 580 and the muscle strength of the pilot 90 are added together, stabilizing the posture of the arm 93 and suppressing vibration of the arm 93. By suppressing vibration of the arm 93 in this way, the arm 93 of the pilot 90 is kept horizontal, and the arm 221 of the flight device 20 is also kept horizontal, as shown in Figure 4(C). In other words, the flight assist unit 50 assists the pilot 90 in stabilizing the posture of the pilot 90 during flight. As a result, the direction in which the thrust force of the flight device 20 is generated is stabilized, for example, in the vertically downward direction, allowing the pilot 90 wearing the flight device 20 to take off in a stable posture.

[0049] If the vibration of the arm 93 is less than the threshold value (S13: NO), the attitude control mode setting unit 40 does not issue an instruction to generate the assist force 580. This allows the flight assist device 10 to prevent unnecessary assist force 580 from being applied to the pilot 90, thereby reducing discomfort caused by tightness, for example.

[0050] Furthermore, the posture control mode setting unit 40 may gradually increase the assist force 580. In this case, the posture control mode setting unit 40 compares the magnitude of the vibration with a threshold value and gradually increases the assist force 580 until the magnitude of the vibration becomes less than the threshold value. When the magnitude of the vibration becomes less than the threshold value, the posture control mode setting unit 40 maintains the assist force 580 at that level.

[0051] This allows the flight assistance device 10 to suppress vibration of the arm 93 with the minimum necessary assist force while preventing the pilot 90 from receiving an unnecessarily large amount of assist force 580 .

[0052] In the past, when a pilot 90 was wearing a flight device and flying, the propulsive force of the flight device would cause the pilot 90 to lose his / her posture as described above. If the pilot 90 lost his / her posture, the direction in which the propulsive force is generated would change, and the pilot 90 would not be able to fly as desired.

[0053] However, by using the flight assist device 10 of this embodiment, even if the pilot 90 is affected by the propulsive force, the pilot 90 can suppress the loss of posture of the pilot 90 with assistance from the flight assist device 10. This allows the pilot 90 to easily achieve stable flight.

[0054] Furthermore, the pilot 90 can easily achieve stable flight without needing muscle training for flight, thanks to the power assistance from the flight assistance device 10. Furthermore, the power assistance from the flight assistance device 10 can reduce muscle fatigue in the pilot 90 during flight, and can suppress the occurrence of muscle pain, for example.

[0055] While the present embodiment will be described using takeoff as an example, the flight assist device 10 can also provide assistance with hovering (stopping in the air), level flight, and landing, just as with takeoff. The flight assist device 10 can also turn off the force assist mode after takeoff under certain conditions. For example, when the altitude detected by the air pressure sensor 33 reaches a certain level or higher, the force assist mode is turned off and the assist force 580 is reduced. This allows the flight assist device 10 to prevent unnecessary long periods of tightening on the pilot 90. This prevents the pilot 90 from flying with their body tightly restrained, reducing the feeling of discomfort during flight.

[0056] (B: Ideal State Tracking Mode) The ideal state tracking mode is a mode in which the flight assistance unit 50 applies a force to the pilot 90 to cause the pilot 90 to maintain a stable flight attitude. In other words, the ideal state tracking mode is a mode in which the pilot 90 changes his / her attitude so that he / she maintains a stable flight attitude. In this embodiment, the ideal state tracking mode is a mode in which the attitude of the pilot 90's arms 93 at takeoff while wearing the flight device 20A is particularly caused to maintain an ideal state.

[0057] In the ideal state tracking mode, the assist force generator 52 is disposed at a portion of the operator 90 that realizes at least the ideal posture (for example, the arm 93 in the cases of Figures 6(A), 6(B), and 6(C)).

[0058] Fig. 5 is a flowchart showing an example of control executed in the ideal state tracking mode according to an embodiment of the present invention. Fig. 6(A), Fig. 6(B), and Fig. 6(C) are diagrams showing an example of a state at takeoff when the ideal state tracking mode is executed.

[0059] When the flight assistance device 10 detects a start trigger for the ideal state tracking mode (S21), the flight assistance device 10 sets the ideal state tracking mode. The start trigger for the ideal state tracking mode is obtained, for example, when the pilot 90 uses a control to select the start of the ideal state tracking mode.

[0060] The attitude control mode setting unit 40 detects a takeoff standby state. For example, the attitude control mode setting unit 40 detects that the pilot 90 is standing still for a predetermined period of time using at least one of the three-axis angular velocities detected by the multiple gyro sensors 31 and the three-axis accelerations detected by the multiple acceleration sensors 32. The attitude control mode setting unit 40 detects the upright and immobile state when the three-axis angular velocities detected by the multiple gyro sensors 31 or the three-axis accelerations detected by the multiple acceleration sensors 32 show almost no fluctuation for the predetermined period of time. When the attitude control mode setting unit 40 detects that the pilot 90 is standing still for a predetermined period of time, it detects that the pilot 90 is in a takeoff standby state (S22: YES).

[0061] The attitude control mode setting unit 40 starts detecting the attitude of the pilot 90 in the takeoff standby state (S23).

[0062] In this state, the pilot 90 changes the attitude of the arm 93 to which the flight device 20A is attached, as shown in Figures 6(A) and 6(B). The attitude control mode setting unit 40 detects the change in attitude of the arm 93 using at least one of the three-axis angular velocities detected by the multiple gyro sensors 31 and the three-axis accelerations detected by the multiple acceleration sensors 32.

[0063] The attitude control mode setting unit 40 stores the three-axis angular velocities of the multiple gyro sensors 31 or the three-axis accelerations detected by the multiple acceleration sensors 32 when the aircraft is in the appropriate attitude for takeoff.

[0064] The attitude control mode setting unit 40 detects whether the triaxial angular velocities detected by the multiple gyro sensors 31 match the triaxial angular velocities for the correct attitude, or whether the triaxial accelerations detected by the multiple acceleration sensors 32 match the triaxial accelerations for the correct attitude. When the attitude control mode setting unit 40 detects a match between the triaxial angular velocities or the triaxial accelerations, it determines that the arm 93 of the pilot 90 is in the correct attitude (S24: YES). Note that the attitude control mode setting unit 40 repeats the process of detecting a match between the triaxial angular velocities or the triaxial accelerations until it detects a match between the triaxial angular velocities or the triaxial accelerations (S24: NO).

[0065] When the posture control mode setting unit 40 determines that the arm 93 of the pilot 90 is in the correct posture, it performs control to generate an assist force 580 that assists the muscle strength of the arm 93 so as to maintain this posture, i.e., so as to follow the ideal state (S25).

[0066] In accordance with this instruction, the assistive force generator 52 generates an assistive force 580 and applies it to the arm 93 of the operator 90. For example, the assistive force generator 52 generates a force that tightens the arm 93 and applies it to the arm 93.

[0067] As a result, the assist force 580 and the muscle strength of the pilot 90 are added together, and the posture of the arm 93 is stabilized as shown in FIG. 6C, and the arm 93 is maintained so as to follow the ideal state at takeoff.

[0068] As a result, the direction in which the propulsive force of the flight device 20A is generated is stabilized in the ideal state at takeoff, for example, in the vertically downward direction, and the pilot 90 wearing the flight device 20A can take off in a stable posture.

[0069] The attitude control mode setting unit 40 continues the assistance for tracking the ideal state until it receives an end trigger for the ideal state tracking mode (S26: NO). The end trigger for the ideal state tracking mode is, for example, obtained when the pilot 90 reaches a predetermined stable attitude state after takeoff, by the triaxial angular velocities detected by the multiple gyro sensors 31 or the triaxial accelerations detected by the multiple acceleration sensors 32 becoming stable for a predetermined period of time, and by the air pressure detected by the air pressure sensor 33 becoming stable for a predetermined period of time. When the end trigger for the ideal state tracking mode is received (S26: YES), the attitude control mode setting unit 40 cancels the assistance for tracking the ideal state.

[0070] Although the present embodiment will be described using takeoff as an example, the flight assistance device 10 can also provide assistance with hovering (stopping in the air), horizontal flight, and landing in the same manner as takeoff.

[0071] (C1: Emergency Response Mode (Fall Protection Mode)) The emergency response mode is a mode that forces the pilot 90 to adopt an attitude that responds to an emergency during flight. In other words, the emergency response mode is a mode that forcibly changes the attitude of the pilot 90 to respond to an emergency. The fall protection mode is a mode that is implemented to protect the body of the pilot 90 when the pilot 90 falls during flight. The fall protection mode is a mode that forcibly determines the attitude of the pilot 90 regardless of the pilot 90's intentions.

[0072] In the emergency response mode (fall protection mode), the auxiliary force generator 52 is positioned at least on the rear (back) of the operator 90 .

[0073] Fig. 7 is a flowchart showing an example of control executed in the fall protection mode according to an embodiment of the present invention. Fig. 8(A) is a diagram showing an example of a conventional falling posture of an operator when the fall protection mode cannot be executed, and Fig. 8(B) is a diagram showing an example of a falling posture of an operator when the fall protection mode is executed.

[0074] If the flight assistance device of this embodiment is not used, it is difficult for the pilot 90 to maintain a fall protection posture, as shown in FIG. 8(A), for example.

[0075] The attitude control mode setting unit 40 detects the flight altitude and fall of the pilot 90 using the three-axis acceleration detected by the multiple acceleration sensors 32 and the air pressure detected by the multiple air pressure sensors 33 (S31). More specifically, the attitude control mode setting unit 40 detects the flight altitude of the pilot 90 using the air pressure detected by the air pressure sensor 33. The attitude control mode setting unit 40 detects the fall of the pilot 90 using at least one of a sudden change in air pressure detected by the air pressure sensor 33 and a sudden acceleration in the vertical downward direction of the three-axis acceleration detected by the multiple acceleration sensors 32.

[0076] The attitude control mode setting unit 40 sets the fall protection mode when it detects that the flight altitude is equal to or higher than the altitude of the target for fall protection (e.g., 5 m) and detects that the pilot 90 is falling (S31), i.e., when it detects an emergency situation during flight.

[0077] When the fall protection mode is initiated, the attitude control mode setting unit 40 detects the fall attitude of the pilot 90 using the three-axis angular velocity detected by the multiple gyro sensors 31 and the three-axis acceleration detected by the multiple acceleration sensors 32 (S32).

[0078] The attitude control mode setting unit 40 instructs the auxiliary force generator 52 to generate an auxiliary force 580 for fall protection so as to change the attitude from the detected fall attitude to an attitude (fall protection attitude) that can protect the body of the operator 90 as much as possible (S33).

[0079] For example, specifically, as shown in FIG. 8(A), when the attitude control mode setting unit 40 detects that the operator 90 has fallen from the back 912, it issues an instruction to generate an assist force 580 so that the back 912 is bent and the buttocks are at the lowest position.

[0080] In accordance with this instruction, the auxiliary force generator 52 generates an auxiliary force 580 that realizes the fall protection posture, and for example, forcibly applies the force to the entire body of the operator 90. As a result, the operator 90 is forced to assume a posture in which the buttocks are at the lowest position.

[0081] Here, for example, if the flight assistance device of this embodiment is not provided, it is difficult for the pilot 90 to maintain the fall protection posture, as shown in FIG. 8(A).

[0082] On the other hand, by providing a flight assist device, as shown in Fig. 8(B), pilot 90 can maintain a fall protection posture by means of an assist force 580. By falling while maintaining the fall protection posture, pilot 90 can protect his or her body and reduce damage during a fall.

[0083] In addition to assisting in the fall protection posture, the flight assistance device 10 may also activate a parachute or the like, or activate a shock absorber (e.g., an airbag) at the bottom of the fall.

[0084] In addition, in this embodiment, the operator 90 falls from the rear 912, but in the case of a frontal fall or a side fall, assistance can be provided to maintain a fall protection posture appropriate for each fall type, just as in the case of a rear fall.

[0085] (C2: Emergency Response Mode (Crosswind Response Mode)) The crosswind response mode is a mode that is implemented to stabilize the flight of the pilot 90 when the pilot 90 encounters a crosswind (such as a gust of wind) during flight. The crosswind response mode is a mode that forcibly determines the attitude of the pilot 90 regardless of the pilot 90's intentions.

[0086] In the emergency response mode (crosswind response mode), the auxiliary force generator 52 is disposed on at least the arm 93 of the pilot 90 .

[0087] Fig. 9 is a flowchart showing an example of control executed in the crosswind response mode according to an embodiment of the present invention. Fig. 10(A) is a diagram showing an example of a flight posture of a conventional pilot who cannot execute the crosswind response mode, and Fig. 10(B) is a diagram showing an example of a flight posture of a pilot when the crosswind response mode is executed.

[0088] The attitude control mode setting unit 40 detects the crosswind pressure acting on the pilot 90 using the air pressure detected by the multiple air pressure sensors 33 (S41). When the crosswind pressure exceeds a threshold value for initiating the crosswind response mode (for example, a wind speed of 10 m / sec), that is, when an emergency situation during flight is detected, the attitude control mode setting unit 40 sets the crosswind response mode.

[0089] When the crosswind response mode is initiated, the attitude control mode setting unit 40 detects the flight attitude of the pilot 90 using the three-axis angular velocity detected by the multiple gyro sensors 31 and the three-axis acceleration detected by the multiple acceleration sensors 32 (S42).

[0090] The attitude control mode setting unit 40 detects the center of gravity of the pilot 90 from the detected flight attitude. Based on the center of gravity, the attitude control mode setting unit 40 issues an instruction to generate an assist force 580 so that the pilot 90 changes the way in which the pilot 90 receives crosswinds during flight and assumes an attitude that deflects the crosswind (a safe attitude against crosswinds) (S43).

[0091] In accordance with this instruction, the auxiliary force generator 52 generates an auxiliary force 580 that achieves a safe attitude against crosswinds, and for example, applies it to the entire body of the pilot 90 forcibly.

[0092] 10(A), pilot 90 can maintain a safe attitude with the aid of assist force 580. By maintaining a safe attitude, pilot 90 can maintain a stable flight attitude and flight state even when subjected to a crosswind.

[0093] If the flight assistance device of this embodiment is not provided, the pilot 90 may experience a crosswind, causing the flight attitude to become unstable, as shown in FIG. 10(A), for example.

[0094] On the other hand, by providing flight assist device 10, for example, in the case of Figure 10(B), when a crosswind blows from the right to the left of pilot 90, attitude control mode setting unit 40 and assist force generator 52 generate assist force 580 so as to spread pilot 90's left arm 93 diagonally forward. This allows pilot 90 to deflect the crosswind blowing from the right to the left and maintain a stable flight attitude and flight state.

[0095] In this embodiment, a crosswind from the left side to the right side is received, but a crosswind from the right side to the left side can also be received in the same way, helping to stabilize the flight attitude and flight state.

[0096] (Combination of Multiple Types of Attitude Control Modes) FIGS. 11A and 11B are diagrams showing examples of combinations (sequence processing) of multiple types of attitude control modes.

[0097] In the case of the flight sequence processing shown in Figure 11 (A), the flight assistance device 10 executes the ideal state tracking mode during takeoff (taking off from water) and landing (touching on water), and executes the force assistance mode during hovering and horizontal flight.

[0098] In the case of the flight sequence processing shown in Figure 11 (B), the flight assistance device 10 does not execute the attitude control mode during takeoff (water liftoff) and landing (water landing), but executes the force assistance mode during hovering and horizontal flight.

[0099] In this way, the flight assistance device 10 can execute a combination of multiple attitude control modes depending on the type of flight state, thereby enabling the flight assistance device 10 to execute attitude control for the pilot 90 so as to continuously maintain a more stable flight state depending on the flight state of the pilot 90.

[0100] The examples shown in Figures 11(A) and 11(B) are merely examples, and other combinations may be executed as appropriate depending on the flight conditions of the pilot 90.

[0101] The pilot 90 can also change the combination of attitude control modes as appropriate. Fig. 12 is a functional block diagram showing a first derivative example of a flight assistance device.

[0102] 12, the flight assistance device 10A includes an operator 60 such as a button. The operator 60 is connected to the attitude control mode setting unit 40.

[0103] The operator 60 receives, for example, an operation input for changing the combination of attitude control modes from the operator 90. The attitude control mode setting unit 40 changes the combination of attitude control modes based on the input to the operator 60.

[0104] This allows the flight assistance device 10A to change the combination of attitude control modes, for example, even during flight, through operational input from the pilot 90. The pilot 90 can change to a flight assistance mode that allows the pilot 90 to achieve the flight he or she intends.

[0105] In addition, the flight assistance can be remotely controlled. Figure 13 is a functional block diagram showing a second derivative example of the flight assistance device.

[0106] 13, the flight assistance device 10B includes a main body 100 and a flight state detection unit 11XO. The main body 100 includes the configuration of the flight assistance device 10 described above and a communication unit 70.

[0107] The communication unit 70 is connected to the flight support unit 50. The communication unit 70 is also connected to the flight state detection unit 11XO wirelessly or via a wire.

[0108] The flight state detection unit 11XO is formed separately from the main body unit 100 and has a communication function for the communication unit 70. The flight state detection unit 11XO has an image acquisition unit and an attitude control mode setting unit. The image acquisition unit is, for example, a camera that can remotely capture images of the pilot 90, or camera-equipped goggles worn by the pilot 90. The attitude control mode setting unit detects the flight state based on the image acquired by the image acquisition unit, and sets the attitude control mode in the same way as the attitude control mode setting unit 40 described above.

[0109] The flight state detection unit 11XO transmits the attitude control mode to the communication unit 70. The communication unit 70 outputs the received attitude control mode to the assist force generator 52. The assist force generator 52 controls the force to be applied to the pilot 90 based on the attitude control mode.

[0110] In this way, the flight assistance device 10B can remotely control flight assistance or control flight assistance based on the image that the pilot 90 is actually viewing.

[0111] In addition, in the flight assistance device 10B, the flight state detection unit 11 of the main body 100 can be omitted.

[0112] <1> A flight assistance device comprising: a flight state detection unit that detects the flight state of a pilot flying using a flight device worn by the pilot; and a flight assistance unit that is worn by the pilot and assists the pilot in flying in accordance with the flight state detected by the flight state detection unit, wherein the flight assistance unit applies force to necessary parts of the pilot to change the pilot's attitude and assist the pilot in flying.

[0113] <2> The flight assistance device of <1>, wherein the flight assistance unit assists the pilot in maintaining his / her posture during flight.

[0114] <3> The flight assistance device of <1> or <2>, wherein the flight assistance unit includes: clothing covering the pilot; and an actuator or artificial muscle that is disposed on the clothing and applies an external force acting on the pilot's posture.

[0115] <4> The flight assistance device according to any one of <1> to <3>, wherein the flight state detection unit includes an inertial sensor disposed in the flight assistance unit, and the flight assistance unit performs the assistance based on the flight state detected by the inertial sensor.

[0116] <5> The flight assistance device of <4>, further comprising an attitude control mode setting unit that receives the flight state detected by the inertial sensor as an input and outputs an attitude control mode that stabilizes the flight state, and the flight assistance unit performs the assistance based on the attitude control mode.

[0117] <6> The flight assistance device of <5>, wherein the attitude control mode setting unit further receives a desired flight state by the pilot as input and outputs the attitude control mode.

[0118] <7> The flight assist device of <5> or <6>, wherein the attitude control mode setting unit has a force assist mode as the attitude control mode, in which the force generated by the flight assist unit is added to the muscle strength of the pilot to stabilize the attitude.

[0119] <8> The flight assist device of <7>, wherein the attitude control mode setting unit applies a force to suppress vibration of the pilot caused by the propulsive force of the flight of the flight device in the force assist mode.

[0120] <9> The flight assist device of <7> or <8>, wherein the attitude control mode setting unit assists the muscular strength of the pilot's arms in the force assist mode.

[0121] <10> The flight assist device of any one of <5> to <9>, wherein the attitude control mode setting unit has, as the attitude control mode, an ideal state tracking mode in which the flight assist unit applies a force to the pilot so as to cause the pilot's attitude to follow a stable flight attitude.

[0122] <11> The flight assistance device of any one of <5> to <10>, wherein the attitude control mode setting unit detects an emergency situation in the flight based on the flight state detected by the flight state detection unit, and the attitude control mode is an emergency response mode that forces the pilot to adopt an attitude that corresponds to the emergency situation.

[0123] <12> The flight assistance device of <11>, wherein the emergency response mode includes a fall protection mode that forces the pilot's attitude to protect the pilot's body in the event of a fall.

[0124] <13> The flight assistance device of <11> or <12>, wherein the emergency response mode includes a crosswind response mode that changes how the pilot receives crosswinds during flight and forces the pilot to change his / her attitude so as to deflect the crosswinds.

[0125] <14> The flight assistance device according to any one of <5> to <13>, wherein the attitude control mode setting unit has a plurality of types of the attitude control modes depending on the flight state, and combines the plurality of types of attitude control modes depending on sequence processing during the flight.

[0126] <15> A flying device system comprising: a flying device attached to a pilot; a flight state detection unit that detects the flight state of the pilot flying using the flying device; and a flight assistance unit that is attached to the pilot and assists the pilot in changing the flight posture in accordance with the flight state detected by the flight state detection unit.

[0127] <16> A flight assistance program that causes a processing unit to execute the following steps: a process of receiving as input the detection result of the flight state of a pilot flying using a flying device attached to the pilot; and a process of applying force to necessary parts of the pilot to change the pilot's attitude in accordance with the flight state received as the input to assist the pilot in flying.

[0128] 1: Flight device system 10, 10A, 10B: Flight assistance device 11, 11XO: Flight state detection unit 20, 20A: Flight device 21: Propulsion generator 22: Flight attachment 31: Gyro sensor 32: Acceleration sensor 33: Barometric pressure sensor 40: Attitude control mode setting unit 50: Flight assistance unit 51: Attachment 52: Assist force generator 60: Controller 70: Communication unit 90: Pilot 91: Body 93: Arms 94: Legs 100: Main body 220: Main body 221: Arms 580: Assist force 911: Front 912: Back

Claims

1. A flight assistance device comprising: a flight state detection unit that detects the flight state of a pilot flying using a flying device worn by the pilot; and a flight assistance unit that is worn by the pilot and assists the pilot in flying in accordance with the flight state detected by the flight state detection unit, wherein the flight assistance unit applies forces to necessary parts of the pilot to change the pilot's attitude, thereby assisting the pilot in flying.

2. The flight assistance device according to claim 1, wherein the flight assistance unit assists the pilot in maintaining his / her attitude during flight.

3. A flight assistance device as described in claim 1 or claim 2, wherein the flight assistance unit comprises clothing covering the pilot, and an actuator or artificial muscle arranged on the clothing for applying an external force acting on the posture of the pilot.

4. A flight assistance device as described in any one of claims 1 to 3, wherein the flight state detection unit includes an inertial sensor arranged in the flight assistance unit, and the flight assistance unit performs the assistance based on the flight state detected by the inertial sensor.

5. A flight assistance device as described in claim 4, further comprising an attitude control mode setting unit which receives the flight state detected by the inertial sensor as input and outputs an attitude control mode which stabilizes the flight state, and the flight assistance unit performs the assistance based on the attitude control mode.

6. A flight assistance device as described in claim 5, wherein the attitude control mode setting unit further receives a desired flight state by the pilot as an input and outputs the attitude control mode.

7. A flight assistance device as described in claim 5 or claim 6, wherein the attitude control mode setting unit has a force assistance mode as the attitude control mode, in which the force generated in the flight assistance unit is added to the muscle strength of the pilot to stabilize the attitude.

8. A flight assistance device as described in claim 7, wherein the attitude control mode setting unit applies a force to suppress vibration of the pilot caused by the flight propulsion force of the flight device in the force assistance mode.

9. A flight assistance device as described in claim 7 or claim 8, wherein the attitude control mode setting unit provides assistance to the pilot's arm muscle strength in the force assistance mode.

10. A flight assistance device as described in any one of claims 5 to 9, wherein the attitude control mode setting unit has, as the attitude control mode, an ideal state tracking mode in which a force is applied to the pilot from the flight assistance unit so as to cause the pilot's attitude to follow a stable flight attitude.

11. A flight assistance device as described in any of claims 5 to 10, wherein the attitude control mode setting unit detects an emergency in the flight based on the flight state detected by the flight state detection unit, and has an emergency response mode as the attitude control mode for forcing the pilot to adopt an attitude that corresponds to the emergency.

12. The flight assistance device according to claim 11, wherein the emergency response modes include a fall protection mode that forces the pilot's attitude to protect the pilot's body in the event of a fall.

13. A flight assistance device as described in claim 11 or 12, wherein the emergency response mode includes a crosswind response mode that changes the way the pilot receives crosswinds during flight, forcing the pilot's attitude to deflect the crosswind.

14. A flight assistance device as described in any one of claims 5 to 13, wherein the attitude control mode setting unit has a plurality of types of attitude control modes depending on the flight state, and combines the plurality of types of attitude control modes depending on sequence processing during the flight.

15. A flying device system comprising: a flying device worn by a pilot; a flight state detection unit that detects the flight state of the pilot flying using the flying device; and a flight assistance unit worn by the pilot and assisting the pilot's flight posture in accordance with the flight state detected by the flight state detection unit, wherein the flight assistance unit applies force to necessary parts of the pilot to change the pilot's posture, thereby assisting the pilot in flying.

16. A flight assistance program that causes a processor to execute the following processes: a process of receiving as input the detection results of the flight state of a pilot flying using a flying device attached to the pilot; and a process of assisting the pilot in flying by applying forces to necessary parts of the pilot to change the pilot's attitude according to the flight state received as input.

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