JP6446491B2 - Drone safety device and method and drone - Google Patents

Description

  Embodiments described herein relate generally to a drone safety device and method for ensuring safety when a drone crashes, and a drone equipped with a drone safety device.

  Conventionally, remotely operated or autonomous multicopters (hereinafter referred to as “drones”) are inexpensive and abundant in mobility, and have begun to be used in various industrial fields by utilizing mounted cameras and various sensors. Yes.

JP 2010-36749 A Japanese Patent No. 5558978

http://japanese.engadget.com/2016/05/09/1-parazero-safeair/ (October 3, 2016 search)

  However, drones are likely to crash in the event of a failure. In the unlikely event of a crash, there is a problem that not only the drone body is damaged, but also a collision may occur if it collides with personnel or objects on the ground. This is more serious for heavier drones.

  The problem to be solved by the present invention is to provide a drone safety device and method capable of minimizing the impact of a drone crash and contributing to ensuring safety for people and objects on the ground, and a drone. There is to do.

  In order to achieve the above object, the present invention takes the following measures.

That is, the invention of claim 1 is a drone safety device that is mounted on a drone and secures safety when the drone crashes, and is attached to a leg portion that supports the drone body, and the impact when the drone crashes For example, a shock absorbing means such as a damper for absorbing the air, a drone, a malfunction detection unit for detecting a malfunction of the drone's propeller, a parachute storage part provided in the drone and storing the parachute, In order to detect the rise of the drone and the signal processing unit that stops the driving of the drone propeller when the malfunction detection unit detects the malfunction, injects the parachute stored in the parachute storage unit into the sky, and opens the umbrella. The signal processing unit is equipped with an ascent detection unit, and the signal detection unit detects the ascent of the drone by the ascent detection unit. It operates when that, the failure detecting section, the near-infrared LED provided for each of a plurality of propellers of drones, equipped with an optical filter, and the light receiving element, towards the propeller near-infrared LED is associated After irradiating near-infrared light, the light receiving element receives the near-infrared light reflected by the corresponding propeller through the optical filter, amplifies it, and outputs it to the signal processing unit. The near-infrared light received per unit time by the element is counted, and the count value by one of the light receiving elements is equal to or less than a predetermined value with respect to the rotation speed instruction value from the drone control device input from the motor driver. Or if it is less than or equal to the predetermined rotation speed regardless of the rotation speed instruction value, it is determined that the corresponding propeller or motor is defective and reflected by the corresponding propeller. To improve the reflectivity of the near-infrared light, to the back surface of each of a plurality of propellers, or subjected to white paint, are stuck white tape.

In the invention of claim 2 , when a failure is detected by the failure detection unit, the signal processing unit stops driving the propeller in which the failure is detected and the propeller facing the propeller, and injects the parachute to the sky. The drone safety device according to claim 1 , wherein the driving of the remaining propeller is stopped after the suspension rope is fully extended.

The invention according to claim 3 is the drone safety device according to claim 1 or 2 , wherein the opening of the parachute is performed without using pyrotechnics.

The invention of claim 4 is a drone safety device that is mounted on a drone and secures safety when the drone crashes, and is provided with the drone, and a fault detection unit for detecting a fault of the drone propeller, When a malfunction is detected by the airbag storage section in which the airbag is stored and the malfunction detection section, the drone propeller is stopped and the airbag stored in the airbag storage section is provided. A signal processing unit to be operated and a rising detection unit for detecting the rising of the drone, the signal processing unit operates when the rising of the drone is detected by the rising detection unit, NIR LED, optical filter, and light receiving element provided for each of the drone propellers The near-infrared light is irradiated toward the propeller, and the light receiving element receives the near-infrared light reflected by the corresponding propeller through the optical filter, amplifies it, and outputs it to the signal processing unit. The processing unit counts near-infrared light received per unit time by the light receiving element, and the count value by any of the light receiving elements is previously set with respect to the rotation speed instruction value from the drone control device inputted from the motor driver If it is less than a predetermined value, or if it is less than or equal to a predetermined rotation speed regardless of the rotation speed instruction value, it is determined that there is a problem with the corresponding propeller or motor, and the near reflected by the corresponding propeller is determined. In order to improve the reflectance of infrared light, the back surface of each of the plurality of propellers is coated with white paint or pasted with white tape .

In the invention of claim 5 , when a failure is detected by the failure detection unit, the signal processing unit stops the driving of the propeller in which the failure is detected and the propeller facing the propeller, and is stored in the airbag storage unit. The drone safety device according to claim 4 , wherein after driving the airbag, the driving of the remaining propellers is stopped.

The invention of claim 6 is the drone safety device according to claim 4 or 5 , wherein the operation of the airbag is carried out without using pyrotechnics.

In the invention of claim 7, in order to operate the stored airbag in the airbag storage section, for example, by applying a spring force to the firing needle, a hole is made in the compressed air cylinder by the firing needle, and the compressed air cylinder is filled. The drone safety device according to any one of claims 4 to 6 , further comprising an airbag operating mechanism that inflates the airbag by releasing the air that has been discharged from the hole.

The invention according to claim 8 further includes a parachute storage unit that is provided in the drone and that stores the parachute, and when a failure is detected by the failure detection unit, the signal processing unit empties the parachute stored in the parachute storage unit. The drone safety device according to claim 4 or 7 , wherein the drone is injected and opened.

According to the ninth aspect of the present invention, when the failure is detected by the failure detection unit, the signal processing unit stops the driving of the propeller in which the failure is detected and the propeller facing the propeller, and injects the parachute into the sky. The drone safety device according to claim 8 , wherein the driving of the remaining propeller is stopped after the suspension rope is fully extended.

The invention of claim 10 is the drone safety device according to claim 8 or 9 , wherein the opening of the parachute and the operation of the airbag are performed without using pyrotechnics.

The invention of claim 11, when the failure by the failure detecting section is detected, the signal processing unit, after a certain predetermined time, the parachute is Hirakikasa any one of claims 1, 8 to 10 The drone safety device described in 1.

The invention of claim 12 is provided with a parachute actuating mechanism for applying a spring force to the stored parachute and injecting the parachute from the parachute storage part in order to open the stored parachute. Item 11. The drone safety device according to any one of Items 1 , 8 to 10 .

Invention of Claim 13 is attached to the leg part which supports a drone main body, and provided with the impact-absorbing means like a damper for absorbing the impact at the time of drone falling, for example in any one of Claim 4 thru | or 12 The drone safety device according to the item.

According to a fourteenth aspect of the present invention, the levitation detection unit is provided at a grounding portion of the drone, and includes a first pressure sensor that detects the ground pressure of the drone body when the drone is grounded, and is grounded by the first pressure sensor. The drone safety device according to claim 1 , wherein when the pressure is not detected, the signal processing unit determines that the drone is floating.

The invention of claim 15, the failure detecting unit, based at temperature abnormality or abnormal current of each motor for driving each propeller drone, to detect the failure of either the corresponding propeller motor, of claims 1 to 13 The drone safety device according to any one of the above.

According to a sixteenth aspect of the present invention, the failure detection unit includes a plurality of second pressure sensors provided for each of the plurality of propellers of the drone, and the signal processing unit is proportional to the wind pressure from the corresponding propeller. The resistance value of each of the second pressure-sensitive sensors, which changes in response, is converted into a voltage, and the rotational speed of each propeller is grasped. This rotational speed is predetermined with respect to the rotational speed instruction value from the drone control device. 14 or any one of claims 1 to 13 , in which it is determined that there is a problem with the corresponding propeller or motor when the rotation speed is equal to or less than a predetermined value or less than a predetermined rotation speed regardless of the rotation speed instruction value. The drone safety device according to Item 1.

The invention according to claim 17 is the drone safety device according to any one of claims 1 to 16 , further comprising a drive power source for the drone safety device independent of the drive power source for the drone. .

The invention of claim 18 is a drone provided with the drone safety device according to any one of claims 1 to 17 .

The invention of claim 19 is a method for ensuring the safety at the time of drone crash by the drone safety device mounted on the drone, and is provided in the drone safety device when the rising of the drone is detected. When the detected malfunction detection unit detects any malfunction of the drone propeller, the signal processing unit provided in the drone safety device stops the driving of all the propellers in the drone, and the parachute provided in the drone Open the umbrella, operate the air bag provided in the drone, and the failure detection unit includes a near infrared LED, an optical filter, and a light receiving element provided for each of the plurality of propellers of the drone. The near-infrared light that the outer LED radiates near-infrared light toward the corresponding propeller and the light-receiving element is reflected by the corresponding propeller After receiving light through the optical filter, it is amplified and output to the signal processing unit. The signal processing unit counts near-infrared light received per unit time by the light receiving element, and counts by one of the light receiving elements. When the value is equal to or less than a predetermined value with respect to the rotation speed instruction value from the drone control device input from the motor driver, or when it is equal to or less than the predetermined rotation speed regardless of the rotation speed instruction value, In order to improve the reflectivity of near-infrared light reflected by the corresponding propeller, determine that there is a problem with the corresponding propeller or motor. The tape is stuck .

The invention of claim 20 is a drone safety device that is mounted on a drone and secures safety when the drone crashes, and is provided with the drone, and a defect detection unit for detecting a malfunction of the drone propeller, The air bag storage unit provided in the drone and storing the air bag, the parachute storage unit provided in the drone and storing the parachute, the ascent detection unit for detecting the drone rising, and the ascent detection unit When the drone has been lifted, the drone propeller is stopped in response to a forced operation command from the outside of the drone safety device that is sent in response to the drone abnormality. The parachute is injected into the sky to open the umbrella, and the airbag stored in the airbag storage unit is operated. And a No. processor, the failure detecting section, the near-infrared LED provided for each of a plurality of propellers of drones, equipped with an optical filter, and the light receiving element, a near-infrared LED is directed to the corresponding propeller The near-infrared light is irradiated, and the light receiving element receives the near-infrared light reflected by the corresponding propeller through the optical filter, and then amplifies it and outputs it to the signal processing unit. The near-infrared light received per unit time by the light receiving element is counted, and the count value by any of the light receiving elements is a predetermined value for the rotation speed instruction value from the drone control device input from the motor driver If it is less than or equal to or less than the predetermined rotation speed regardless of the rotation speed instruction value, it is determined that there is a problem with the corresponding propeller or motor, and is counteracted by the corresponding propeller. To improve the reflectivity of the near infrared light, on the back surface of each of the plurality of propeller, or subjected to white paint, are stuck white tape.

The invention of claim 21 is a method for ensuring the safety at the time of the drone crash by the drone safety device mounted on the drone, and is provided in the drone safety device when the rising of the drone is detected. The signal processing unit provided in the drone safety device drives the drone propeller in response to a forced operation command from the outside of the drone safety device sent in response to the drone abnormality detected by the detected malfunction detection unit. The parachute provided for the drone was injected into the sky to open the umbrella, and the airbag provided for the drone was activated, and a malfunction detection unit was provided for each of the plurality of propellers of the drone. A near-infrared LED, an optical filter, and a light receiving element are provided, and the near-infrared LED emits near-infrared light toward the corresponding propeller, The optical element receives near-infrared light reflected by the corresponding propeller through an optical filter, amplifies it, and outputs it to the signal processing unit. The signal processing unit receives light per unit time by the light receiving element. Near-infrared light is counted, and the count value by one of the light receiving elements is equal to or less than a predetermined value with respect to the rotation speed instruction value from the drone control device input from the motor driver, or the rotation speed instruction In order to improve the reflectance of near-infrared light reflected by the corresponding propeller, it is determined that there is a problem with the corresponding propeller or motor when the rotation speed is equal to or lower than the predetermined rotation speed regardless of the value. The back of each of the propellers is painted white or affixed with white tape .

It is a functional block diagram which shows the structural example of the safety device for drones of embodiment of this invention. It is a perspective view which shows the example of an external appearance of the drone by which the safety device for drones of embodiment of this invention is mounted. It is a perspective view which shows another example of the external appearance of the drone by which the safety device for drones of embodiment of this invention is mounted (example in which the installation location of a floating detection sensor and an airbag storage part differs). It is a front view which shows another example of the external appearance of the drone by which the safety device for drones of embodiment of this invention is mounted (example provided with one airbag accommodating part). It is a conceptual diagram which shows an example of the malfunction detection sensor of a wind pressure sensor system. It is a conceptual diagram which shows an example of the malfunction detection sensor of a near-infrared system. It is a functional block diagram which shows the structural example of a motor driver. It is a functional block diagram which shows an example of a parachute storage cylinder. It is a functional lineblock diagram showing an example of an air bag box. FIG. 3 is a front view showing an example of a state in which the parachute is opened and the airbag is inflated in the drone of FIG. 2. It is a bottom view corresponding to FIG. FIG. 5 is a front view showing an example of a state where the parachute is opened and the airbag is inflated in the drone of FIG. 4. FIG. 13 is a bottom view corresponding to FIG. 12. It is a figure for demonstrating the operating range of a parachute, an airbag, and a damper.

  A drone safety device according to an embodiment of the present invention will be described below with reference to the drawings.

  FIG. 1 is a functional block diagram showing a configuration example of a drone safety device according to an embodiment of the present invention.

  FIG. 2 is a perspective view showing an example of the appearance of a drone equipped with the drone safety device of the embodiment of the present invention.

  In other words, the drone safety device 10 of the embodiment is mounted on the drone 100 and is for ensuring safety when the drone 100 crashes. Although the illustrated drone 100 includes six propellers 110, this is an example, and the number of propellers 110 of the drone 100 to which the drone safety device 10 of the embodiment is applied is limited to six. It is not something.

  The drone safety device 10 includes an ascent detection sensor 30 (two in this example) for detecting the ascent of the drone 100, and a defect detection sensor 32 (six in this example) for detecting a malfunction of the propeller 110. A parachute box 20 having a parachute 40 that is opened when a problem occurs in the propeller 110, and an airbag box 35 having an airbag 36 that is activated when the propeller 110 is defective.

  As shown in FIG. 2, the parachute box 20 is provided on the upper end side of the main body of the drone 100.

  On the other hand, the rising detection sensor 30 is provided at the ground contact portion of the drone 100 or its peripheral portion. The airbag box 35 is provided on the lower end side of the drone 100. The airbag box 35 does not necessarily have to be provided at the grounding portion or its peripheral portion as long as the airbag 36 is positioned below the lowest end of the drone 100 when the airbag 36 is activated.

  A damper 116 is provided on the lower end side of the leg portion 115 that supports the drone body. The damper 116 functions as an impact absorbing means that absorbs an impact during landing of the drone or a crash.

  In the example shown in FIG. 2, the floating detection sensors 30 are provided at the two corners diagonal to each other among the four corners of the grounding portion 120 forming a substantially square shape, and the airbag box 35 is provided at the other two diagonal corners. Is provided.

  However, such an arrangement is an example. For example, as shown in FIG. 3, the levitation detection sensor 30 and the airbag are operated not at the four corners of the grounding portion 120 but near the midpoints of the four sides of the grounding portion 120. The mechanisms 34 may be alternately provided.

  Further, the number of the rising detection sensor 30 and the airbag box 35 is not necessarily the same. For example, as shown in the front view of FIG. 4, it is also possible to implement by providing one large airbag box 35 in the center.

  On the other hand, at least two or more levitation detection sensors 30 are necessary to reliably detect that the drone 100 is levitation.

  In addition, the defect detection sensors 32 are provided directly below the individual propellers 110, and each detects the rotation of the corresponding propeller 110 and outputs the detection result to the signal processing unit 26 as a signal b. The specific configuration of the defect detection sensor 32 will be described later.

  The parachute box 20 further includes an operation switch 22, a safety device battery 24, a DCDC converter 25, in addition to an unopened parachute 40, a parachute operation mechanism 21 for opening the parachute 40, and a parachute storage cylinder 23 accommodated. , A signal processing unit 26, and an alarm buzzer 28.

  When the operation switch 22 is turned on, the signal processing unit 26 detects this and the drone safety device 10 can be operated. Further, power from the safety device battery 24 is supplied to the entire drone safety device 10 via the DCDC converter 25. Furthermore, the power from the safety device battery 24 is supplied to the motor driver 130 and the buzzer as the control power r via the DCDC converter 25. The safety device battery 24 is provided separately from the power supply of the main body of the drone 100, so that the drone safety device 10 is affected even when the power supply of the drone 100 is abnormal. It is possible to operate independently of the drone safety device 10.

  In this way, when the drone 100 is started in a state where the drone safety device 10 can be operated, the propeller 110 rotates normally, and the drone 100 rises from the ground, the load of the pressure-sensitive sensor in the ascent detection sensor 30 is increased. Is greatly reduced, and the resistance value is also greatly changed in proportion thereto. The levitation detection sensor 30 outputs this change in resistance value to the signal processing unit 26 as a signal a. Thereby, the signal processing unit 26 recognizes that the drone 100 is floating.

  Each malfunction detection sensor 32 detects the rotation of the corresponding propeller 110 and outputs the detection result to the signal processing unit 26 as a signal b. In the signal processing unit 26, when the rotation of the corresponding propeller 110 is equal to or less than a predetermined value with respect to the rotation speed instruction value from the drone control device (not shown) by the propeller rotation speed control signal p, When the rotation speed is equal to or lower than the predetermined rotation number regardless of the numerical instruction value, it is determined that the corresponding propeller 110 is defective.

  A specific example of the defect detection sensor 32 will be described with reference to FIGS. 1, 5, and 6.

  FIG. 5 is a conceptual diagram of a wind pressure sensor system that is an example of the malfunction detection sensor 32, and is an example of the malfunction detection sensor 32 of the wind pressure system configured to include the pressure-sensitive sensor 33 a. The fault detection sensor 32 of the wind pressure sensor type as shown in FIG. 5 changes the resistance of the pressure sensitive sensor in proportion to the wind pressure from the corresponding propeller 110, and outputs this resistance value to the signal processing unit 26 as a signal b. To do. In the signal processing unit 26 shown in FIG. 1, the resistance value of the pressure-sensitive sensor 33a, which changes in proportion to the wind pressure from the corresponding propeller, is converted into voltage, and the rotation speed of each propeller is grasped. When the rotational speed instruction value by the rotational speed control signal p from the motor driver 130 shown in paragraph [0056] to be described later is equal to or less than a predetermined value, it is determined in advance regardless of the rotational speed instruction value. If it is equal to or lower than the rotational speed, it is determined that the corresponding propeller 110 or motor 140 has a problem. Further, a drain hole 33b is provided on the side surface or the bottom surface of the malfunction detection sensor 32 so that rainwater or the like stored in the interior can escape from the drain hole 33b.

  On the other hand, FIG. 6 is a conceptual diagram of a near-infrared sensor system which is another example of the failure detection sensor. The near-infrared sensor type defect detection sensor includes a near-infrared LED 33c, an optical filter 33d, a light receiving element 33e, and an amplifier 33f. In such a near-infrared sensor type failure detection sensor, the near-infrared LED 33c irradiates near-infrared light c toward the corresponding propeller 110, and the optical filter 33d blocks external light such as sunlight. On the other hand, the near infrared light d reflected by the propeller 110 is transmitted and output to the light receiving element 33e. When the light receiving element 33e receives near-infrared light d filtered out by the optical filter 33d, the light receiving element 33e converts it into an electrical signal, and the electrical signal is amplified by the amplifier 33f and output to the signal processing unit 26 as a signal b. To do. The signal processing unit 26 shown in FIG. 1 counts near infrared light received per unit time by the light receiving element 33e, and the count value by any of the light receiving elements is a motor driver 130 shown in paragraph [0056] to be described later. If the rotation speed instruction value from the rotation speed control signal p is less than a predetermined value or less than a predetermined rotation speed regardless of the rotation speed instruction value, the corresponding propeller 110 It is determined that the motor 140 is defective. Further, in order to improve the reflectance of the near-infrared light c and increase the detection accuracy related to the rotation speed of the propeller 110, the back surface of the propeller 110 is painted white or a white tape is attached thereto.

  In order to detect a malfunction of the propeller 110 such as a rotation abnormality, in addition to or instead of the malfunction detection sensor 32, each motor 140 for driving each propeller 110 is supplied from a drone control device (not shown). Based on the abnormality (temperature, current value) of the motor 140 detected by each motor driver 130 that provides the motor drive signal j according to the propeller rotation speed control signal p sent, the signal processor 26 determines whether the propeller 110 or the motor 140 defects may be determined.

  FIG. 7 is a functional block diagram illustrating a configuration example of the motor driver 130.

  The motor driver 130 includes an MPU 131, a driver AMP 132, an AMP 133, and a current sensor 134, and has the same function as the failure detection sensor 32.

  In the unlikely event that the corresponding propeller 110 is missing or dropped, the motor torque decreases, so the current detected by the current sensor 134 is equal to the normal current value relative to the propeller rotational speed indication value by the propeller rotational speed control signal p. Are different numbers. Therefore, the MPU 131 can detect the abnormality. The MPU 131 can also detect an abnormality in the main body of the motor 140 based on an overcurrent, an extremely small load current (load open), or a temperature abnormality k of the motor 140. When the MPU 131 detects these abnormalities, the MPU 131 superimposes the motor abnormality status on the motor output signal m and sends it to the signal processing unit 26. The MPU 131 also receives the control power source r provided from the safety device battery 24 via the DCDC converter 25. Further, the MPU 131 constantly outputs a propeller rotational speed control signal p from a drone control device (not shown) to the signal processing unit 26 as a motor output signal m.

  When the flying of the drone 100 is detected by the signal a from the rising detection sensor 30, the signal processing unit 26 has a fault in the propeller 110 or the motor 140 by the signal b from any fault detection sensor 32. Or when a motor abnormality status signal is output to the motor output signal m from the motor driver 130, the specific propeller 110 is driven to stop driving the specific propeller 110. A propeller stop signal e is output to the motor driver 130.

  For example, when the propeller rotation abnormality is detected by the signal b from one or two defect detection sensors 32, or when the motor abnormality signal m is output from one or two motor drivers 130, that is, When a failure of one or two propellers 110 is detected, the signal processing unit 26 outputs a propeller stop signal e to the propeller 110 in which the failure is detected and the motor driver 130 of the opposite propeller, and this motor driver The motor 140 driven by 130 is stopped, and these propellers 110 are stopped. This prevents the drone 100 from being turned upside down. At the same time, in order to operate the parachute operating mechanism 21, the signal processing unit 26 further outputs an operation signal f to the parachute operating mechanism 21 provided in the parachute storage cylinder 23. Simultaneously with the operation of the parachute 40, the signal processing unit 26 outputs an operation signal g to the airbag operation mechanism 34 in order to inflate the airbag 36. In response to this, the parachute operating mechanism 21 and the airbag operating mechanism 34 start operating. As a result, the parachute 40 is injected and the airbag 36 is inflated.

  Next, the signal processing unit 26 stops propellers to all (for example, six in this embodiment) motor drivers 130 after the time until the suspension cord of the parachute 40 is fully extended (for example, after about one second has elapsed). Output a signal. As a result, the motor driver 130 blocks the motor drive signal j to the motor and stops all the propellers 110. As described above, before the drone 100 enters the free fall, the suspension cord 41 of the parachute 40 is fully extended to prevent a decrease in the opening height.

  The signal processing unit 26 further outputs an operation signal i to the alarm buzzer 28 simultaneously with the output of the operation signal f to the parachute operation mechanism 21 and the operation signal g to the airbag operation mechanism 34. In response to this, the alarm buzzer 28 sounds and alerts the personnel on the ground.

  On the other hand, when the signal b is output from three or more defect detection sensors 32, that is, when a defect of three or more propellers 110 is detected, all the signal processing units 26 are (for example, six in the embodiment). The propeller stop signal e is output to the motor driver 130. Receiving this, the motor driver 130 stops all the propellers 110 by cutting off the motor drive signal j. The signal processing unit 26 outputs an operation signal i to the alarm buzzer 28 simultaneously with the output of the propeller stop signal e. In response to this, the alarm buzzer 28 sounds and alerts the personnel on the ground. Further, when the safety device forcible operation signal h is input from the drone control device (not shown), the signal processing unit 26 performs the same operation as described above. Here, when the drone operator senses a drone abnormality, the safety device compulsory activation signal h is sent to the drone control device (not shown) by himself / herself to instruct the operation of the drone safety device. Alternatively, the drone control device (not shown) itself detects a drone abnormality (not shown) including that the communication signal is abnormally operated or interrupted due to a radio wave interference from the ground. )) To the drone safety device.

  As described above, the signal processing unit 26 outputs the operation signal f to the parachute operation mechanism 21 and the operation signal g to the airbag operation mechanism 34 to operate the parachute operation mechanism 21 and the airbag operation mechanism 34. In response to this, the parachute operating mechanism 21 and the airbag operating mechanism 34 start operating. Details of the operation of the parachute operating mechanism 21 and the airbag operating mechanism 34 will be described below.

  FIG. 8 is a functional configuration diagram illustrating an example of the parachute storage cylinder 23.

  The parachute operating mechanism 21 illustrated in FIG. 8 includes a tray 50, a spring 52, a wire 53, a fixed block 54, a safety pin 55, a cam 56, and a servo motor 57.

  The tray 50 is disposed in a parachute storage part 51 for storing an unopened parachute 40, and a wire 53 is fixed to the bottom surface. The wire 53 extends through a hole 60 provided in the lower part of the parachute storage part 51 and penetrating the parachute operating mechanism 21, and a fixed block 54 is fixed to the lower end. In the parachute storage portion 51, a spring 52 is disposed below the tray 50.

  When the unopened parachute 40 is stored in the parachute storage cylinder 23, the string ring 59 connected to the fixed block 54 is pulled downward from the opening at the lower end of the hole 60 to lower the tray 50. To compress the spring 52. When the fixed block 54 is pulled to a sufficient length, the fixed block 54 is fixed by the cam 56 so that the fixed block 54 does not return upward. As a result, the spring 52 remains compressed, and a space for storing the unopened parachute 40 is secured in the parachute storage part 51. Thereafter, the strap ring 59 is removed from the fixed block 54.

  Further, two opposing holes for passing the safety pin 55 are opened at the side surface position of the parachute storage cylinder 23 corresponding to the position where the fixed block 54 is sufficiently pulled. Further, through holes are provided in the fixed block 54 so as to correspond to these two holes.

  By passing the safety pin 55 from one hole of the parachute storage cylinder 23 through the through hole of the fixed block 54 to the hole at the side surface on the opposite side of the parachute storage cylinder 23, the fixed block 54 is moved to the parachute storage cylinder. 23.

  As a result, even if the cam 56 rotates and the cam 56 does not fix the fixed block 54, the fixed block 54 is fixed to the parachute storage cylinder 23 by the safety pin 55, so that it is compressed. The spring 52 does not extend.

  In this state, the cover 58 is opened, and the unopened parachute 40 is placed on the tray 50 from above the parachute storage cylinder 23 in the figure. In this way, after the unopened parachute 40 is stored in the parachute storage part 51, the cover 58 is closed. And when operating the drone safety device 10, the safety pin 55 is pulled out. As a result, the fixed block 54 is fixed only by the cam 56.

  The operation signal f output from the signal processing unit 26 is input to the servo motor 57 of the parachute operation mechanism 21. The servomotor 57 starts rotating when the operation signal f is input. A cam 56 is fixed to the servo motor 57, and when the servo motor 57 rotates, the cam 56 also rotates in conjunction with it, and the fixing of the fixed block 54 is released.

  As a result, the spring force of the compressed spring 52 is released, the parachute 40 is pushed upward in the figure, the cover 58 is opened, and the parachute 40 is ejected upward. In this way, the parachute 40 is opened.

  FIG. 9 is a functional configuration diagram illustrating an example of the airbag box 35.

  An air flow passage 68 is provided inside the air bag box 35, and a spring 61, a fixed block 62, a safety pin 63, a firing needle 64, and a compressed air cylinder 67 are provided inside the air flow passage 68. . A servo motor 65, a cam 66, and an airbag 36 are provided around the air flow passage 68.

  The spring 61, the fixed block 62, the safety pin 63, the firing pin 64, the servo motor 65, the cam 66, and the compressed air cylinder 67 constitute the airbag operating mechanism 34 shown in FIG.

  One end of a spring 61 is fixed to one end of the air flow path 68 on the servo motor 65 side. The other end of the spring 61 is fixed to the back surface of the fixed block 62. A firing pin 64 is fixed to the surface of the fixed block 62. In order to operate the airbag operating mechanism 34, first, the fixed block 62 is pushed to compress the spring 61.

  Two opposing holes for passing the safety pin 63 are opened in the side surface position of the air flow passage 68 corresponding to the position where the fixing block 62 is fully pushed. Further, through holes are provided in the fixed block 62 so as to correspond to these two holes.

  When the fixed block 62 is sufficiently pressed and the spring 61 is sufficiently compressed, the fixed block 62 is fixed by the cam 66. As a result, the spring 61 remains compressed.

  Further, by passing the safety pin 63 from the hole provided at the side surface position of the air flow passage 68 through the through hole of the fixing block 62 to the hole at the side surface position opposite to the air flow passage 68, 62 is fixed to the air flow passage 68.

  As a result, even if the cam 66 rotates and the cam 66 does not fix the fixed block 62, the fixed block 62 is fixed by the safety pin 63, so that the compressed spring 61 extends. There is nothing.

  In this state, the compressed air cylinder 67 is disposed on the other end of the air flow passage 68 (the side opposite to the side on which the servo motor 65 is disposed), and the airbag 36 is disposed along the air flow passage 68.

  And before operating the drone safety device 10, the safety pin 63 is pulled out. As a result, the fixed block 62 is fixed only by the cam 66.

  The operation signal g output from the signal processing unit 26 to the airbag operation mechanism 34 is input to the servo motor 65. The servo motor 65 starts rotating when the operation signal g is input. A cam 66 is fixed to the servo motor 65, and when the servo motor 65 rotates, the cam 66 also rotates in conjunction with the fixed block 62 being released.

  As a result, the spring force of the compressed spring 61 is released, and the fixed block 62 moves vigorously in the air flow passage 68 toward the compressed air cylinder 67 and is fixed to the surface side of the fixed block 62. 64 inflates the air bag 36 by releasing the air filled in the compressed air cylinder 67 into the air flow passage 68 by making a hole in the sealed portion of the compressed air cylinder 67.

  FIG. 10 is a front view showing an example of a state in which the parachute 40 is opened and the airbag 36 is inflated in the drone 100 provided with two airbag boxes 35 as shown in FIG. FIG. 11 is a bottom view corresponding to FIG. FIG. 12 is a front view showing an example of a state in which the parachute 40 is opened and the airbag 36 is inflated in the drone 100 provided with one airbag box 35 as shown in FIG. FIG. 13 is a bottom view corresponding to FIG.

  Thus, according to the drone safety device 10 of the embodiment, both the opening of the parachute 40 and the inflation of the airbag 36 are performed without using pyrotechnics. Non-Patent Document 1 discloses a technique for lowering a drone with a parachute when the drone breaks down while floating, but pyrotechnics are used to open the parachute. It is subject to restrictions under the Explosives Control Law. Therefore, while the technology disclosed in Non-Patent Document 1 is not practical in Japan, the drone safety device 10 according to the embodiment is not subject to such restrictions. Can be implemented.

  Furthermore, in the drone safety device 10 of the same embodiment, the following measures are taken so that the parachute 40 and the airbag 36 operate reliably without malfunction.

  That is, since the drone safety device 10 is driven by a dedicated safety device battery 24 that is independent of the power supply for the drone 100, the parachute can be used even when a malfunction occurs in the power supply system of the drone 100. 40 and the airbag 36 can be operated reliably.

  Further, when the drone safety device 10 is not operated, the fixing block 54 is fixed by the safety pin 55 and the fixing block 62 is fixed by the safety pin 63, thereby preventing the parachute 40 and the airbag 36 from malfunctioning. be able to.

  Furthermore, since the operation of the drone safety device 10 is based on the detection of the rise of the drone 100 by the rise detection sensor 30 and the signal processing unit 26, the parachute 40 and the airbag when the drone 100 is not lifted are used. 36 malfunctions can also be prevented.

  While the drone 100 is floating, the malfunction detection sensor 32 and the signal processing unit 26 detect the wind pressure by the corresponding propeller 110 or irradiate near infrared light toward the corresponding propeller 110. By counting the reflected light per unit time from the corresponding propeller 110, the rotation speed of the propeller 110 can be detected individually. Then, when the detected wind pressure or rotational speed is equal to or less than a predetermined value with respect to the rotational speed instruction value from the drone control device (not shown) by the propeller rotational speed control signal p, or the rotational speed instruction value In any case, when the rotation speed is equal to or lower than the predetermined rotation number, it can be determined that the corresponding propeller 110 or the motor 140 is defective.

  Alternatively, a change in current due to a decrease in motor torque when the corresponding propeller 110 is missing or dropped, an overcurrent when there is an abnormality in the motor 140, an extremely small load current (load open), or By detecting the temperature abnormality of the motor 140, it can be determined that the corresponding propeller 110 or the motor 140 is defective.

  As described above, the drone safety device 10 according to the embodiment can reliably open the parachute 40. However, when the height of the drone 100 is low, the parachute 40 may not be able to open the umbrella in time, and the shock absorbing function by the parachute 40 may not be expected. Therefore, in the drone safety device 10 of the same embodiment, the crash 36 from the altitude where the impact absorbing effect by the parachute 40 cannot be expected is utilized by using the impact absorbing effect by the airbag 36, and the operation of the airbag 36 is not in time. For a crash from such a low altitude, the shock absorbing effect by the damper 116 is used. Such proper use of the shock absorbing effect will be described with reference to FIG.

FIG. 14 is a diagram for explaining the operating ranges of the parachute 40, the airbag 36, and the damper 116, where the horizontal axis is the allowable operating time (s (seconds)) and the left vertical axis is the altitude (m). Yes, the right vertical axis is the landing speed (m / s). Further, on the left side of the left vertical axis, the operating ranges of the parachute 40, the airbag 36, and the damper 116 are shown. Curve A is the drop distance (h = 1 / 2gt ² ), and straight line B shows the speed (V = gt).

  In the operating range R, the minimum opening height of the parachute 40 is assumed to be 20 m. Further, the minimum operating altitude of the airbag 36 is 5 m from paragraph [0097], which will be described later, and since the damper 116 does not require preparation time for operation, the minimum operating altitude is 0 m.

  As shown in the plot (1) in the curve A, the allowable operation time of the airbag 36 at the minimum opening height of 20 m is about 2 (s) or less, but the operation time is about 1 (s) in a common sense range. To do.

  This means that, according to plot (2), the air bag 36 is valid above 5 (m) above the ground and invalid below 5 (m).

  Accordingly, the damper 116 is provided so that the drone 100 is not damaged even if the drone 100 is freely dropped from the altitude 5 (m) without the airbag 36.

  Next, when a 60 kg drone body falls free from an altitude of 20 m, which is assumed to be the lowest parachute opening height, the landing speed 20 (m / s) shown in plot (3) is 0. It is assumed that the vehicle is decelerated to 0 (m / s) at 01 (s). The impact force at this time is calculated by F = (mv) / t (Formula 1) and becomes 120 (kN).

  When this becomes t = 0.02 (s) by the air bag 36, the impact force upon landing is 60 (kN) from (Equation 1). This value is the same as the landing speed of 10 (m / s) without an airbag, and is equivalent to a free fall from an altitude of 5 (m) shown in plot (2) derived from plot (4). . This means that the free fall altitude that does not damage the drone 100 by the damper 116 shown in the paragraph [0096] is the same.

  As described above, according to the drone safety device 10 according to the embodiment, when the malfunction of the propeller 110 occurs at a sufficiently high altitude at which the parachute 40 can operate, for example, at an altitude of 20 (m) or higher, The parachute 40, the air bag 36, and the damper 116 can absorb the impact of the drone 100 when it crashes.

  Moreover, even if the malfunction of the propeller 110 occurs at a low altitude where the operation of the parachute 40 is not in time, for example, at an altitude of 5 to 20 (m), the air bag 36 and the damper 116 cause the drone 100 to Can absorb the impact of a crash.

  Furthermore, even when the malfunction of the propeller 110 occurs at an altitude at which not only the parachute 40 nor the operation of the airbag 36 is in time, for example, at an altitude of 5 (m) or less, the damper 116 causes the drone 100 to Can absorb the impact of a crash.

  As described above, the drone safety device 10 according to the embodiment has the three functions including the parachute 40, the airbag 36, and the damper 116, even if the drone 100 crashes from any altitude. Impact can be minimized.

  According to the drone safety device 10 of the embodiment, as described above, when the vehicle crashes from a high altitude (for example, 20 m or more), the three functions of the parachute 40, the air bag 36, and the damper 116 can ensure impact. Can be absorbed.

  Further, even at an intermediate altitude (for example, 5 to 20 m) where the opening of the parachute 40 is not in time, an impact can be absorbed by the functions of the airbag 36 and the damper 116.

  Furthermore, even at a low altitude (for example, ˜5 m) where the operation of the airbag 36 is not in time, an impact can be absorbed by the function of the damper 116.

  Although several embodiments of the present invention have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are also included in the invention described in the claims and the equivalents thereof.

  10 Safety device for drone, 20 Parachute box, 21 Parachute actuation mechanism, 22 Actuation switch, 23 Parachute storage cylinder, 24 Battery for safety device, 25 DCDC converter, 26 Signal processing unit, 28 Alarm buzzer, 30 Levitation detection sensor, 32 Fault Detection sensor, 33a Pressure sensor, 33b Drain hole, 33c Near infrared LED, 33d Optical filter, 33e Light receiving element, 33f Amplifier, 33g Drive circuit, 34 Airbag operating mechanism, 35 Airbag box, 36 Airbag, 40 Parachute, 41 Suspension cable, 50 tray, 51 Parachute storage, 52 Spring, 53 wire, 54 Fixed block, 55 Safety pin, 56 Cam, 57 Servo motor, 58 Cover, 59 Ring with string, 60 hole, 61, , 62 fixed block, 63 safety pin, 64 firing pin, 65 servo motor, 66 cam, 67 compressed air cylinder, 68 air flow path, 100 drone, 110 propeller, 115 leg, 116 damper, 120 grounding part, 130 motor driver 131 MPU, 132 Driver AMP, 133 AMP, 134 Current sensor, 140 Motor.

Claims (21)

A drone safety device mounted on a drone to ensure safety in the event of a drone crash,
An impact absorbing means for absorbing an impact when the drone crashes, attached to a leg that supports the drone body;
Provided in the drone, a fault detection unit for detecting a fault of the propeller of the drone,
A parachute storage part provided in the drone and storing a parachute;
When the malfunction is detected by the malfunction detection unit, the signal processing unit that stops the driving of the propeller of the drone and injects the parachute stored in the parachute storage unit into the sky and opens the umbrella,
With a rising detection unit for detecting the rising of the drone,
Wherein the signal processing unit, by the floating sensing unit operates when the floating of the drone is detected,
The defect detection unit includes a near-infrared LED, an optical filter, and a light receiving element provided for each of the plurality of propellers of the drone,
After the near-infrared LED irradiates near-infrared light toward the corresponding propeller, and the light-receiving element receives near-infrared light reflected by the corresponding propeller via the optical filter, Amplified and output to the signal processing unit, the signal processing unit counts near-infrared light received per unit time by the light receiving element, and the count value by any of the light receiving elements is input from the motor driver If the rotation speed instruction value from the drone control device is less than a predetermined value, or if it is less than a predetermined rotation speed regardless of the rotation speed instruction value, the corresponding propeller or motor is defective. It is determined that there is
In order to improve the reflectance of near-infrared light reflected by the corresponding propeller, a drone safety device in which the back surface of each of the plurality of propellers is subjected to white coating or white tape is attached .   The signal processing unit, when the malfunction is detected by the malfunction detection unit, stops the driving of the propeller in which the malfunction is detected and the propeller facing the propeller, injects the parachute into the sky, The drone safety device according to claim 1, wherein the driving of the remaining propellers is stopped after being fully extended.   The drone safety device according to claim 1 or 2, wherein the opening of the parachute is performed without using pyrotechnics. A drone safety device mounted on a drone to ensure safety in the event of a drone crash,
Provided in the drone, a fault detection unit for detecting a fault of the propeller of the drone,
An air bag storage portion provided in the drone and storing an air bag;
When the malfunction is detected by the malfunction detection unit, the signal processing unit that stops driving the propeller of the drone and activates the airbag stored in the airbag storage unit;
A rising detection unit for detecting the rising of the drone,
Wherein the signal processing unit, by the floating sensing unit operates when the floating of the drone is detected,
The defect detection unit includes a near-infrared LED, an optical filter, and a light receiving element provided for each of the plurality of propellers of the drone,
After the near-infrared LED irradiates near-infrared light toward the corresponding propeller, and the light-receiving element receives near-infrared light reflected by the corresponding propeller via the optical filter, Amplified and output to the signal processing unit, the signal processing unit counts near-infrared light received per unit time by the light receiving element, and the count value by any of the light receiving elements is input from the motor driver If the rotation speed instruction value from the drone control device is less than a predetermined value, or if it is less than a predetermined rotation speed regardless of the rotation speed instruction value, the corresponding propeller or motor is defective. It is determined that there is
In order to improve the reflectance of near-infrared light reflected by the corresponding propeller, a drone safety device in which the back surface of each of the plurality of propellers is subjected to white coating or white tape is attached .   When the malfunction detection unit detects the malfunction, the signal processing unit stops driving the propeller in which the malfunction is detected and the propeller facing the propeller, and the airbag stored in the airbag storage unit. The drone safety device according to claim 4, wherein the driving of the remaining propellers is stopped after actuating.   The drone safety device according to claim 4 or 5, wherein the operation of the airbag is performed without using pyrotechnics.   The air bag storage unit includes an air bag operation mechanism that inflates the air bag with air filled in a compressed air cylinder in order to operate the stored air bag. The drone safety device according to any one of the above. The drone is further provided with a parachute storage part in which a parachute is stored,
8. The drone safety device according to claim 4, wherein, when the malfunction is detected by the malfunction detection unit, the signal processing unit injects the parachute stored in the parachute storage unit into the sky and opens the umbrella. 9. .   The signal processing unit, when the malfunction is detected by the malfunction detection unit, stops the driving of the propeller in which the malfunction is detected and the propeller facing the propeller, injects the parachute into the sky, The drone safety device according to claim 8, wherein the driving of the remaining propellers is stopped after being fully extended.   The drone safety device according to claim 8 or 9, wherein the opening of the parachute and the operation of the airbag are performed without using pyrotechnics.   11. The device according to claim 1, wherein when the malfunction is detected by the malfunction detection unit, the signal processing unit opens the parachute after a predetermined time period. Safety device for drone.   The parachute actuating mechanism for applying a spring force to the stored parachute in the parachute storage part and injecting the parachute from the parachute storage part in order to open the stored parachute. The drone safety device according to any one of 8 to 10.   The drone safety device according to any one of claims 4 to 12, further comprising shock absorbing means attached to a leg portion that supports the drone main body and configured to absorb an impact when the drone crashes.   The levitation detector is provided at a ground contact portion of the drone, and includes a first pressure sensor that detects a ground pressure of the drone body when the drone is grounded, and the ground pressure is detected by the first pressure sensor. The drone safety device according to claim 1, wherein, if not, the signal processing unit determines that the drone is floating.   The said malfunction detection part detects the malfunction of a corresponding propeller or a motor based on the temperature abnormality or current abnormality of each motor for driving each propeller of the said drone. The drone safety device described in 1. The defect detection unit includes a plurality of second pressure sensors provided for each of the plurality of propellers of the drone,
The signal processing unit converts the resistance value of each second pressure-sensitive sensor, which changes in proportion to the wind pressure from the corresponding propeller, into a voltage, grasps the rotation speed of each propeller, and the rotation speed is When the rotational speed instruction value from the drone control device is less than a predetermined value or when the rotational speed instruction value is less than or equal to a predetermined rotational speed regardless of the rotational speed instruction value, the corresponding propeller The drone safety device according to any one of claims 1 to 13, wherein it is determined that the motor is defective. The drone safety device according to any one of claims 1 to 16 , further comprising a drive power source for a drone safety device independent of the drone drive power source. A drone comprising the drone safety device according to any one of claims 1 to 17 . A method for ensuring safety in the event of a drone crash by a drone safety device mounted on the drone ,
If the malfunction detection unit provided in the drone safety device detects any malfunction of the drone propeller when the drone has risen, the signal processing provided in the drone safety device The unit stops driving all the propellers of the drone, opens the parachute provided in the drone, and operates the airbag provided in the drone ,
The defect detection unit includes a near-infrared LED, an optical filter, and a light receiving element provided for each of the plurality of propellers of the drone,
After the near-infrared LED irradiates near-infrared light toward the corresponding propeller, and the light-receiving element receives near-infrared light reflected by the corresponding propeller via the optical filter, Amplified and output to the signal processing unit, the signal processing unit counts near-infrared light received per unit time by the light receiving element, and the count value by any of the light receiving elements is input from the motor driver If the rotation speed instruction value from the drone control device is less than a predetermined value, or if it is less than a predetermined rotation speed regardless of the rotation speed instruction value, the corresponding propeller or motor is defective. It is determined that there is
In order to improve the reflectivity of near-infrared light reflected by the corresponding propeller, the back surface of each of the plurality of propellers is coated with white paint or pasted with white tape . A drone safety device mounted on a drone to ensure safety in the event of a drone crash,
Provided in the drone, a fault detection unit for detecting a fault of the propeller of the drone,
An air bag storage portion provided in the drone and storing an air bag;
A parachute storage part provided in the drone and storing a parachute;
An ascent detection unit for detecting the ascent of the drone;
When the ascent of the drone is detected by the ascent detection unit, the driving of the propeller of the drone is stopped in response to a forcible operation command from the outside of the drone safety device that is sent in response to the abnormality of the drone It is allowed, together to Hirakikasa parachute housed in the parachute housing portion by injection into the sky, and a signal processing unit for operating the airbag housed in the airbag housing portion,
The defect detection unit includes a near-infrared LED, an optical filter, and a light receiving element provided for each of the plurality of propellers of the drone,
After the near-infrared LED irradiates near-infrared light toward the corresponding propeller, and the light-receiving element receives near-infrared light reflected by the corresponding propeller via the optical filter, Amplified and output to the signal processing unit, the signal processing unit counts near-infrared light received per unit time by the light receiving element, and the count value by any of the light receiving elements is input from the motor driver If the rotation speed instruction value from the drone control device is less than a predetermined value, or if it is less than a predetermined rotation speed regardless of the rotation speed instruction value, the corresponding propeller or motor is defective. It is determined that there is
In order to improve the reflectance of near-infrared light reflected by the corresponding propeller, a drone safety device in which the back surface of each of the plurality of propellers is subjected to white coating or white tape is attached . A method for ensuring safety in the event of a drone crash by a drone safety device mounted on the drone ,
In response to a forced operation command from the outside of the drone safety device that is sent in response to the abnormality of the drone detected by the malfunction detection unit provided in the drone safety device when the rising of the drone is detected The drone safety device includes a signal processing unit that stops driving the propeller of the drone, injects the parachute provided in the drone into the sky, opens the umbrella, and is provided in the drone. Activate the airbag ,
The defect detection unit includes a near-infrared LED, an optical filter, and a light receiving element provided for each of the plurality of propellers of the drone,
After the near-infrared LED irradiates near-infrared light toward the corresponding propeller, and the light-receiving element receives near-infrared light reflected by the corresponding propeller via the optical filter, Amplified and output to the signal processing unit, the signal processing unit counts near-infrared light received per unit time by the light receiving element, and the count value by any of the light receiving elements is input from the motor driver If the rotation speed instruction value from the drone control device is less than a predetermined value, or if it is less than a predetermined rotation speed regardless of the rotation speed instruction value, the corresponding propeller or motor is defective. It is determined that there is
In order to improve the reflectivity of near-infrared light reflected by the corresponding propeller, the back surface of each of the plurality of propellers is coated with white paint or pasted with white tape .