JP6776068B2 - Landing gear - Google Patents

Description

The present invention relates to a landing device that serves as a base for the flight device to land, and in particular, in a landing device provided with a positioning mechanism that corrects the position of the landed flight device and sets it to a normal position, for the positioning mechanism. It relates to an invention for preventing the landing operation of a flight device from becoming unstable.

Traditionally, unmanned flight devices have been used for various purposes. Such a flight device may be used together with a landing device for landing, and some of such landing devices automatically supply power, communicate, etc. to the flight device during the landing of the flight device, and fly. Some have the ability to prepare the device for the next takeoff.

In a landing gear having such a function, in order to charge and communicate with the landing gear during landing, it is necessary to fix the landing gear at a predetermined position on the landing gear. As described above, as a conventional technique for fixing a flight device in a landing gear, for example, the following Patent Document 1 is known.

Patent Document 1 below discloses an invention of a capture system 102 (landing gear) that captures a VTOL aircraft 101 (flying device) and holds it in a predetermined position. In the present invention, the VTOL machine 101 is provided with a capture bar 112 that engages with the capture system 102. On the other hand, the capture system 102 has a capture plate 120 for capturing and holding the VTOL machine 101. The capture plate 120 has a contour shape of the VTOL machine 101 in order to guide the VTOL machine 101 to the holding state, and the surface for capturing the VTOL machine 101 is engaged with the capture bar 112 of the VTOL machine 101. The jaw 122 is provided so as to project. When docked with the VTOL machine 101, the capture plate 120 guides the VTOL machine 101 so that the capture bar 112 of the VTOL machine 101 comes to the position of the capture jaw 122, operates the capture jaw 122, and engages with the capture bar 112. The VTOL aircraft 101 is held in a predetermined position of the capture system 102 (landing gear).

JP-A-2009-227270

However, in the conventional capture system 102 (landing device), the landing surface (capture plate 101) on which the flight device lands has a three-dimensional shape with abundant undulations, and the landing device is fitted with the flight device to be predetermined. Since the fitting portion (capture jaw 122) for fixing to the position always protrudes on the landing surface, for a flight device that is easily affected by wind or the like, the capture jaw 122 or the like that protrudes from the landing surface at the time of landing. If the aircraft comes into contact with the aircraft in an irregular manner, the aircraft may lose its posture, and there is a problem that advanced flight control is required for the landing position.

An object of the present invention is to solve the problems in the prior art described above, and even if an error occurs in the landing gear of the landing gear, the landing gear may come into contact with some structure or member on the landing surface side to lose balance. It is an object of the present invention to provide a landing gear capable of stably guiding a flight device to a predetermined position of the landing gear without causing such troubles.

The landing gear according to claim 1 is
A landing gear that fixes the landing gear in place.
A landing section having a landing surface for the flight device to land,
A guide portion provided on the landing portion, which engages with the landed flight device by protruding from the landing surface and guides the flight device to the predetermined position.
An opening formed in the landing portion and provided with the guide portion,
A fitting portion that fits with the flight device and fixes the flight device at the predetermined position by projecting from the opening to the upper side of the landing portion.
With
The guide portion is characterized in that it does not protrude from the opening and forms the same surface as the landing surface in a non-protruding state where it does not protrude from the landing surface.

The landing gear according to claim 2 is the landing gear according to claim 1 .
The fitting portion has a connecting portion that is connected to the flying device in a state of being fitted to the flying device.
The guide portion is characterized in that it covers the connection portion in the non-protruding state.

The landing gear according to claim 3 is the landing gear according to claim 1 or 2 .
The fitting portion has a convex portion and a concave portion for fitting with the flight device.
When the guide portion is in the non-protruding state, the convex portion is exposed from the opening to form the same surface as the landing surface, and the concave portion is concealed by the guide portion. ..

The landing gear according to claim 4 is the landing gear according to any one of claims 1 to 3 .
The guide unit
A movable portion is provided on the edge of the opening so as to be movable.
Supported by the fitting portion in the non-protruding state,
It is characterized in that it protrudes from the opening in conjunction with the protrusion of the fitting portion.

According to the landing gear according to claim 1, when the guide portion for guiding the flight device to a predetermined position on the landing surface is in a non-protruding state, the guide portion forms the same surface as the landing surface. There are few irregularities on the landing surface. In this state, if the flight device attempts to land on the landing surface, the flight device will not be caught by the guide portion. Therefore, it is possible to avoid problems such as losing the balance at the time of landing due to such catching and landing at a position where it is difficult for the guide portion to guide the predetermined position. In this way, while the landing section is provided with a guide section which is a mechanism for guiding and fixing the flight device at a predetermined position on the landing surface of the landing section, the flight device can perform a stable landing operation on the landing surface.
Further, according to the landing gear according to claim 1, the landing gear has an action that the guide portion protrudes from the landing surface in order to guide the flight device from the state where the guide portion and the landing surface form the same plane. It can be realized by a simple structure in which a guide portion is provided in the opening formed in.
Further, according to the landing gear according to claim 1, the opening provided on the landing surface is used not only as a space for providing a guide portion but also as a fitting portion for fixing the flight device in a predetermined position. It can also be shared as a space through which it passes when protruding upward. This has a simple structure that reduces the unevenness of the landing surface so that the flight device can perform a stable landing operation while being provided with a fitting section that fixes the flight device in a predetermined position in addition to the guide section. Can be realized with.

According to the landing gear according to claim 2 , even if the connection portion is provided on the landing surface as a terminal for charging the battery of the flight device, communicating with the flight device, and the like. When the connecting portion is in the non-protruding state, it is in a position to be covered by the guide portion, so that when the flight device lands, the landing surface can be kept in a state where there are few irregularities such as a flat surface.

According to the landing gear according to claim 3 , in the non-protruding state, the convex portion of the fitting portion is exposed to form the same surface as the landing surface, and the concave portion is covered with the guide portion forming the same surface as the landing surface. Since the guide portion does not cover the entire surface of the fitting portion, the shape and area of the guide portion may be determined according to the portion corresponding to the recess. Therefore, the height at which the guide portion having such a shape and area protrudes from the landing surface can be suppressed to be lower than when the guide portion is shaped to cover the entire surface of the fitting portion, and the flight can be suppressed. The structure of the guide portion required for guiding and fitting the device can be made more compact. Further, the connecting portion covered by the guide portion may be provided in the recess.

According to the landing gear according to claim 4 , a member for projecting a guide portion at a position forming the same surface as the landing surface toward the flight device is fitted and fixed to the flight device. Since the fitting portion also serves as a fitting portion, the number of required members can be reduced.

It is a perspective view of the takeoff and landing apparatus of the embodiment which is in a landing state, and the flight apparatus just before landing. It is a perspective view of a part of the takeoff and landing apparatus of embodiment, and a part of the flight apparatus just before landing which is going to land on this. It is a perspective view of a part of the takeoff and landing apparatus of embodiment and a part of the flight apparatus which landed on this. It is a perspective view of a part of the take-off and landing apparatus of embodiment and a part of the flight apparatus which landed on this, and is the figure which shows the state which the flight apparatus is moving from the position shown in FIG. 3 by a guide part. It is a perspective view which shows a part of the takeoff and landing apparatus of an embodiment, and is the figure which omitted the guide part in order to clarify the fitting part in the state shown in FIG. It is a perspective view of a part of the takeoff and landing device of the embodiment and a part of the flight device that landed on the takeoff and landing device, and the guide portion and the fitting portion are further projected from the state shown in FIG. 5, and the flight device is fixed at a predetermined position. It is a figure which shows the state. It is sectional drawing of a part of the take-off and landing apparatus of embodiment and a part of the flight apparatus which landed on this, and is the figure which showed the operation of guiding and fixing the flight apparatus by a guide part.

The first embodiment of the present invention will be described with reference to FIGS. 1 to 6.
The takeoff and landing gear 1 of the present embodiment includes the functions of the landing gear of the present invention, and is a device that serves as a base for the unmanned flight device 2 to take off and land. The takeoff and landing device 1 fixes the landed flight device 2 at a predetermined position and automatically performs a connection operation according to the purpose. For example, charging the battery, writing information to the control device, or information from the control device. It is a device for performing work such as reading out. Details will be described later, but as shown in FIG. 1, the takeoff and landing device 1 includes a base 3 which is a landing portion of the flight device 2, and a predetermined position where the landed flight device 2 is positioned is located at the center of the upper surface. It has been set. The flight device 2 is normally flight-controlled so as to land with the center of the base 3 as a target predetermined position.

1. 1. About the flight device 2 The flight device 2 shown in FIG. 1 will be described.
The flight device 2 includes a round main body 4, four holding portions 5 provided in a cross-shaped arrangement in a plan view near the top of the main body 4, and a rotary wing 6 provided at the tip of each holding portion 5. Have. The four holding portions 5 project diagonally downward from the main body 4 outward, and are arranged at equal angular intervals in the circumferential direction as described above. The rotating surface of the rotary blade 6 provided at the tip of each holding portion 5 is substantially horizontal. Therefore, if the rotor 6 generates an air flow downward, the air pressure on the upper side of the rotating surface is lower than that on the lower side, lift is generated, and the flight device 2 floats and can fly.

Although not shown, the flight device 2 is provided with a rechargeable battery inside, and can supply a current to a motor (not shown) that drives the rotor blade 6. Then, this battery is connected to a power receiving terminal 7 provided on the bottom surface of the main body 4 as shown in FIG. 2 via a charging circuit (not shown). Although the details will be described later, the power receiving terminal 7 of the flight device 2 that has landed on the takeoff and landing device 1 and is positioned at a predetermined position is connected to the power supply terminal 8 as a connecting portion provided in the fitting portion 30 of the takeoff and landing device 1. Will be done.

Further, the flight device 2 is equipped with various devices and the like according to the purpose thereof. For example, the flight device 2 for security may be equipped with a surveillance camera, a lighting device for illuminating the field of view, a communication device, a speaker, and the like. In addition, the flight device 2 includes these devices and a control unit (not shown) that controls the motor. In addition, instead of the power receiving terminal 7, the flight device 2 is provided with a transmission / reception terminal, and instead of the power supply terminal 8, the takeoff / landing device 1 is provided with another connection / transmission / reception terminal, and both are combined at the time of landing to take off and land. Some communication or information exchange such as reading and writing of information may be performed between the control unit of 1 and the control unit of the flight device 2. That is, the purpose of connecting the takeoff and landing device 1 and the flight device 2 does not matter.

As shown in FIGS. 1 and 2, the landing gear 10 is attached to the bottom surface side of the main body 4 of the flight device 2 via two pairs of connecting members 9. The landing gear 10 is a regular hexagonal annular plate. Details will be described later, but as shown in FIG. 2, the base 3 which is the landing gear of the flight device 2 is provided with six plate-shaped members called guide portions 11, which project upward. The flight device 2 is positioned at a predetermined position in the center of the base 3 by being caught inside the landing gear 10 and being operated according to the operation of the guide portion 11.

2. Configuration of Takeoff and Landing Device 1 The configuration of the takeoff and landing device 1 will be described with reference to FIGS. 1 to 6. In addition, in FIGS. 2 to 6, only the landing gear 10, the connecting member 9, and the power receiving terminal 7 are used for the flight device 2 in order to avoid the complexity of graphic representation and to make the invention visually recognizable. Shall be illustrated. Further, the takeoff and landing device 1 shall be illustrated with a configuration centered on a base 3 in which the movable body 25 is omitted.
First, the drive mechanism of the takeoff and landing device 1 will be mainly described with reference to FIG.
As shown in FIG. 1, the takeoff and landing device 1 has a frame 15 as a device main body. The frame 15 has a hollow box shape, and a cylindrical guide portion 16 is integrally provided inside, and the guide portion 16 communicates the inside and outside of the frame 15 through a substantially circular opening 17. Inside the frame 15, a drive unit 18 is provided on the bottom thereof. The drive unit 18 includes a link mechanism 19 that expands and contracts in the vertical direction, and an actuator (not shown) that operates the link mechanism 19. Although not shown, a device, a mechanism, a control unit, and the like for controlling each part of the present device are provided inside the frame 15, and are connected to the respective parts.

An elevating platform (not shown) is fixed to the upper end of the link mechanism 19. In FIG. 1, this elevating table is hidden under a moving table 20 described later. The lift is a circular plate whose diameter is smaller than the inner diameter of the guide portion 16. Therefore, if the link mechanism 19 is expanded and contracted, the lift can be raised and lowered inside the guide portion 16 without contacting the inner surface of the guide portion 16. A base 3 as a landing portion is fixed on the elevating table via a plurality of support columns 22. The base 3 is a circular plate, and its diameter is slightly smaller than the inner diameter of the guide portion 16. A petal-shaped movable body 25 is connected to the periphery of the base 3 around the entire circumference thereof. The movable body 25 is a member for bringing the flight device 2 that has landed on the landing surface of the base 3 to the center. The movable body 25 is rotatably connected to the base 3 by a hinge at the lower end thereof, and is in an open state extending outward as shown in FIG. 1 and rotating inward and constricted. It can be moved between the stored state and the stored state. That is, when the link mechanism 19 is extended and the base 3 is positioned at the uppermost takeoff and landing position, the movable body 25 is in an open state in which it is most outwardly expanded (see FIG. 1), and the link mechanism 19 is retracted to form the base. When the table 3 is located at the lowermost storage position, the movable body 25 is pulled into the guide portion 16 and is in the stored state.

A moving table 20 inserted through the support pillar 22 is provided between the lift and the base 3. The moving table 20 is configured to be able to move between the lifting table and the base 3 along the support pillar 22. The moving table 20 has a circular shape, and its diameter is substantially the same as the inner diameter of the guide portion 16. Therefore, if the link mechanism 19 is expanded and contracted, the moving table 20 mounted on the elevating table can move up and down along the inner surface of the guide portion 16 inside the guide portion 16.

Further, on the inner peripheral surface of the guide portion 16, a stopper 24 is provided on the upper half portion thereof. The stopper 24 is an annular member and projects inward from the inner peripheral surface of the guide portion 16. The stopper 24 may have a configuration in which some of the members whose ring is divided in the circumferential direction are arranged over the entire circumference at equal intervals in the circumferential direction. The inner diameter of the annular stopper 24 is larger than the outer diameter of the elevating table and smaller than the outer diameter of the moving table 20. Therefore, as shown in FIG. 1, a state in which the link mechanism 19 extends upward, the lift and the moving table 20 reach the vicinity of the opening of the guide portion 16, and the base 3 is located at the takeoff and landing position which is the uppermost position. Then, the moving table 20 is placed on the lifting table and has the largest distance from the base 3. On the contrary, although not shown, when the link mechanism 19 is retracted downward, the moving table 20 is lowered together with the lifting table and the base 3, but the lifting table does not interfere with the stopper 24. Then, before the elevating table reaches the lowermost storage position, the moving table 20 is hooked on the stopper 24, so that it is separated from the elevating table that descends further than this, and as a result, the base 3 that further descends together with the elevating table. Will approach the mobile platform 20 from above. Although the details will be described later, since the opening 41 is provided in the center of the base 3 and the fitting portion 30 is provided in the center of the moving base 20, the link mechanism 19 is retracted downward in this way. Then, when the base 3 descends and approaches the moving base 20 relatively, the fitting portion 30 protrudes upward from the opening 41 of the base 3.

Next, with reference to FIGS. 2 to 6, the guide and fixing mechanism of the flight device 2 provided in the takeoff and landing device 1 will be mainly described.
As shown in FIGS. 2 and 5, the base 3 as a landing portion has a large number of holes 26 (only a part is shown, and the others are shown) for passing the wind generated by the rotor blade 6 of the flight device 2. It is a plate-shaped member formed (omitted), and the upper surface thereof is the landing surface 40 of the flight device 2. A substantially hexagonal opening 41 penetrating downward is formed at the center of the landing surface 40, and a notch 42 is formed at each edge of the edge of the opening 41. Six guide portions 11 are rotatably attached to the edge of the opening 41 via a movable portion 43 such as a hinge provided in the notch 42. The six guide portions 11 are two guide portions 11a having a substantially trapezoidal shape with a long upper base and a lower base with respect to the height, and four sharp guide portions 11a having a step portion formed by cutting out one side of a triangle. It is composed of the guide portion 11b of the above. When these guide portions 11 (the guide portion 11 is a general term for the guide portions 11a and 11b) are arranged in the opening 41, the guide portion 11 closes the portion along the edge of the opening 41, and the opening 41 It is combined in a shape that creates an hourglass-shaped gap in the center of. These guide portions 11 rotate between a non-protruding state arranged inside the opening 41 and forming the same surface as the landing surface 40 and a protruding state projecting above the landing surface 40 and the opening 41. It is movable. As will be described in detail later, when the base 3 is in the takeoff and landing position, the guide portion 11 is flush with the landing surface 40 without protruding from the landing surface 40 and the opening 41 which are the upper surfaces of the base 3. In addition, when the flight device 2 is housed in the frame 15, the flight device 2 is engaged with the landing gear 10 of the flight device 2 by projecting above the landing surface 40. Is guided to a predetermined position and fixed. Here, the predetermined position on the base 3 to which the flight device 2 should be fixed is such that the inner edge of the hexagonal landing gear 10 of the flight device 2 substantially coincides with the hexagonal opening 41 of the base 3. The position.

As shown in FIGS. 2 and 5, the fitting portion 30 below the base 3 is arranged at a position corresponding to the opening 41 of the base 3 in a plan view. The fitting portion 30 is connected to the power receiving terminal 7 of the flight device 2 by projecting from the opening 41 to the upper side of the landing surface 40 to supply power, and the fitting relationship with the flight device 2 causes the flight device 2 to supply power. Has a function of fixing the above-mentioned predetermined position.

As shown in FIGS. 2 and 5, a convex portion 31 and a concave portion 32 for fitting with the flight device 2 are formed at the upper end portion of the fitting portion 30. The convex portion 31 is in the center, and the concave portion 32 is formed on both sides of the convex portion 31. The convex portion 31 has substantially the same shape as the hourglass-shaped gap in which the guide portion 11 in the non-protruding state divides in the opening 41. Further, each recess 32 has substantially the same shape as the shape formed by the two guide portions 11b and 11b in the non-protruding state. Further, each recess 32 is provided with a power supply terminal 8 connected to a power receiving terminal 7 of the flight device 2 at a position slightly lower than that of the recess 32.

As shown in FIG. 2, when the base 3 is in the takeoff and landing position and the guide portion 11 is in the non-protruding state, the convex portion 31 of the fitting portion 30 is exposed without being hidden by the guide portion 11. The convex portion 31 and the guide portion 11 are both inside the opening 41 and form the same plane as the landing surface 40. At that time, the guide portion 11 is placed on the recess 32 and supported by the recess 32. In other words, the recess 32 and the power supply terminal 8 provided in the recess 32 are covered by the guide portion 11.

As shown in FIG. 6, when the base 3 is lowered to the storage position and the base 3 is relatively close to the moving base 20 (see FIG. 1), the fitting portion 30 becomes the opening 41 of the base 3. The guide portions 11a and 11b are pushed upward so as to protrude upward from the landing surface 40. At that time, the guide portion 11 positions the flight device 2 at a predetermined position, and the power receiving terminal 7 of the flying device 2 is a power feeding terminal 8 (in FIG. 6, below the power receiving terminal 7) in the recess 32 of the fitting portion 30. There is.) Is connected.

In the configuration of the present embodiment described above, the guide portion 11 is rotatably attached to the edge of the opening 41 of the base 3 by the movable portion 43 so as to be able to project from the landing surface 40. As described above, there may or may not be a mechanical relationship between the guide portion 11 and the opening portion 41. That is, the guide portion 11 may be able to protrude from the landing surface 40 by a structure in which the guide portion 11 is not mechanically connected to the base 3 side at all.

Further, in the configuration of the present embodiment, the action of the fitting portion 30 protruding from the opening 41 is realized by lowering the base 3 with respect to the fitting portion 30, but the fitting portion 30 is fitted in the opposite direction. The above-mentioned action may be obtained by raising the joint portion 30 with respect to the base 3. Further, the above action may be obtained by bringing the fitting portion 30 and the base 3 close to each other.

Next, with reference to FIGS. 2 to 6, the operation until the flight device 2 lands on the takeoff and landing device 1 and the flight device 2 is guided to a predetermined position on the landing surface 40 and fixed will be described.

As shown in FIG. 2, when the base 3 is located at the takeoff and landing position, the guide portion 11 and the convex portion 31 of the fitting portion 30 are both located in the opening 41 and are flush with the landing surface 40. Form. Therefore, the landing surface 40 is in a substantially flat state, and there are no members protruding from the landing surface 40 or places deeply recessed over a large area. Therefore, the landing gear 10 of the flight device 2 that is about to land on the landing surface 40 is caught in such a place, the flight device 2 loses its balance, or the guide unit 11 lands at a position where it is difficult to guide the landing gear to a predetermined position. The problem of doing so is unlikely to occur. In this way, the flight device 2 is stable on the landing surface 40 while being provided with the guide portion 11 having a function of projecting from the landing surface 40 in order to guide and fix the flight device 2 at a predetermined position on the landing surface 40. The landing operation is possible.

More specifically, the following events can be mentioned as problems caused by the landing gear 10 of the flight device 2 trying to land on the landing surface 40 being caught by something. For example, when the aircraft sways due to the wind during landing, the landing gear 10 protrudes from the landing surface 40 or collides with or gets caught in a recessed place, resulting in an imbalance, or something protrudes on the landing surface 40. It is conceivable that the landing gear 10 rides on a stepped portion or a recessed portion and the flight device 2 loses its balance.

As shown in FIG. 3, the flight device 2 lands on the landing surface 40. In this case, it is assumed that the flight device 2 has landed at a position slightly deviated from the predetermined position.

As shown in FIGS. 4 and 5, the guide portion 11 starts to project upward from the landing surface 40 from the non-projecting state. This is because, in FIG. 1, the link mechanism 19 retracts downward, so that the base 3 descends and is relatively close to the moving base 20, so that the fitting portion 30 is the opening 41 of the base 3. This is because the guide portion 11 is pushed up by the fitting portion 30 as it passes through and moves upward. The guide portion 11 that gradually protrudes from the landing surface 40 enters the inside of the hexagonal landing gear 10 of the flight device 2, and the landing gear 10 engages with the hypotenuse of the guide portion 11 to determine the position of the landing gear 10. I will guide you to the position.

As shown in FIG. 6, when the base 3 is located at the storage position, the fitting portion 30 protrudes from the opening 41 to the upper limit position, and each guide portion 11 stands up until it is close to vertical from the landing surface 40. It becomes a state. At this time, the landing gear 10 has moved to a position where its inner edge substantially coincides with the opening 41, whereby the flight device 2 is positioned at a predetermined position. Further, the power feeding terminal 8 in the recess 32 of the fitting portion 30 is connected to the power receiving terminal 7 of the flight device 2.

In the process shown in FIGS. 3 to 6, the narrowing of the movable body 25 allows the flight device 2 to be roughly guided to the predetermined position even if the flight device 2 deviates significantly from the predetermined position. Subsequent guidance and fixing to a predetermined position by the guide unit 11 can be smoothly connected.

As described above, according to the present embodiment, when the guide portion 11 is in the non-protruding state, the guide portion 11 forms the same surface as the landing surface 40, and the landing surface 40 has few irregularities. That is, the guide portion 11 does not protrude from the landing surface 40, and there is no large hole in the landing surface 40. Therefore, despite the fact that the base 3 is equipped with a guide portion 11 for guiding and fixing the flight device 2 to a predetermined position on the landing surface 40 and a fitting portion 30 for fixing the flight device 2 at a predetermined position. Since each of these parts is delicately combined with each other to form a compact and simple structure, the landing surface 40 of the flight device 2 is a substantially flat surface. Therefore, although a mechanism for guiding and fixing the flight device 2 is provided on the landing surface 40, it is difficult for the flight device 2 to be caught in the guide portion 11 or the hole portion of the landing surface 40 when the flight device 2 lands, and the balance is lost due to the catch. Or, the possibility of landing at a position far away from the predetermined position can be reduced. The same effect can be obtained at takeoff.

Further, according to the present embodiment, the power supply terminal 8 for charging the battery of the flight device 2 is covered with the guide portion 11 in the non-protruding state, so that the landing surface 40 is kept in a state where there are few irregularities such as a flat surface. At the same time, the power supply terminal 8 can be protected.

Further, according to the present embodiment, in the non-protruding state, the convex portion 31 is on the same surface as the landing surface 40, and the concave portion 32 is covered with the guide portion 11 forming the same surface as the landing surface 40, so that the shape of the guide portion 11 is formed. And the size may be formed according to the portion corresponding to the recess 32. Therefore, as compared with the case where the guide portion 11 alone forms the same surface as the landing surface 40 in the opening 41, the height at which the guide portion 11 protrudes from the landing surface 40 can be suppressed to be low, and the flight device 2 is guided. , The structure of the guide portion 11 to be fixed can be made more compact. Further, the height of the landing gear 10 of the flight device 2 can be designed to be low.

Further, according to the present embodiment, as a means for projecting the guide portion 11 toward the flight device 2, a fitting portion 30 for fitting and fixing to the flight device 2 is also used, which is necessary. It is possible to reduce the number of members.

In the present embodiment, the base 3 is provided with the movable body 25, and after the flight device 2 lands on the base 3, the base 3 is lowered to the storage position to narrow the movable body 25 and land. An example is shown in which the flight device 2 can be roughly guided to a predetermined position. However, when the landing performance of the flight device 2 is sufficiently precise, or when landing in an environment less affected by wind or the like, the flight device 2 is landed at or near a predetermined position as shown in FIG. If it can be made, the mechanism of the movable body 25 is not always necessary. However, regardless of the presence or absence of the movable body 25, even if the landing can be performed with high accuracy, if there is any protrusion or hole on the landing surface 40, the flight device 2 may be caught by the projectile or the landing position. The present invention is useful because the possibility of a defect that greatly deviates from the above cannot be ruled out.

A second embodiment of the present invention will be described with reference to FIG.
In the takeoff and landing device 1'of the first embodiment, there is an opening 41 penetrating the base 3, the guide portion 11 is attached to the edge of the opening 41, and the opening 41 is inserted through the opening 41 from the bottom to the top. The guide portion 11 is driven to protrude by the protruding fitting portion 30. However, the opening 41 of the base 3 does not necessarily have to penetrate.

As shown in FIG. 7, an opening that does not penetrate the landing surface 40 of the base 3, that is, a recess 44 having a bottom surface lower than the landing surface 40 may be provided. A guide portion 11 is arranged in the recess 44 so as to be rotatable upward about the shaft 45. The guide portion 11 is such that the upper surface of the guide portion 11 forms the same surface as the landing surface 40 in the non-protruding state in which the guide portion 11 does not protrude from the landing surface 40, and is optional when guiding the flight device 2 to a predetermined position. The guide unit 11 is rotated upward by the drive mechanism of the above to project from the landing surface 40, and is engaged with the landing gear 10 of the flight device 2 to guide and fix the flight device 2. In this embodiment, since the recess 44 does not penetrate and the volume of the recess 44 is occupied by the guide portion 11, the fitting portion 30 projects from the landing surface 40 through the recess 44. Although not configured as such, a mechanism having the same function as the fitting portion 30 may be provided at another position. For example, another fitting portion is provided at a position other than a predetermined position on the upper surface of the base 3, and the fitting portion is fitted from the side to the flight device 2 fixed at the predetermined position by the guide portion 11, and the flight device 2 It may be possible to more securely fix the flight device 2 or supply power to the flight device 2.

A third embodiment of the present invention will be described.
In each of the first and second embodiments described above, an opening 41 penetrating the base 3 and a recess 44 which is an opening not penetrating the base 3 are formed on the landing surface 40 of the base 3 to guide the guide. The portion 11 was provided inside the opening 41 and the recess 44. The guide portion 11 does not protrude from the opening 41 or the recess 44 in the non-protruding state, forms the same surface as the landing surface 40, and requires guidance of the flight device 2 that has landed on the landing surface 40. At that time, by protruding from the opening 41 and the recess 44, it also protruded from the landing surface 40.

However, as a third embodiment, even if the opening 41 or the recess 44 is not formed in the base 3 and the entire surface of the landing surface 40 is kept flat, the landing surface 40 is substantially in a non-protruding state. A guide portion that does not protrude and protrudes from the landing surface 40 can be provided when it is necessary to guide the landing flight device 2.

In the third embodiment, a bag-shaped member as a guide portion, a supply portion for supplying air to the inside of the bag-shaped member, and a suction portion for sucking air from the inside of the bag-shaped member, if necessary, are provided. .. This bag-shaped member has a hexagonal outer shape that follows the shape of the inner edge of the landing gear 10 of the flight device 2, and is arranged at the center of the base 3. The bag-shaped member has a structure in which at least a part thereof is made of an elastic material and expands and contracts only in the height direction. Therefore, in the state where air is not blown, it is thin and flat and forms substantially the same surface as the landing surface 40, but when air is blown, it swells and the dimensions do not change in the front-back and left-right directions, but it is vertical. The dimension expands only in the direction, and it is in a state of protruding from the landing surface 40. In the third embodiment, the configuration other than the base on which the entire surface of the landing surface 40 is a flat surface, the bag-shaped member as the guide portion, and the expansion / degeneracy mechanism thereof is substantially the same as that in the first embodiment. ..

When the flight device 2 lands on the landing surface 40, if air is discharged from the inside of the bag-shaped member, the bag-shaped member retracts to form substantially the same surface as the landing surface, so that the landing gear is a bag-shaped member. You won't get caught in. Then, if air is supplied to the bag-shaped member after the flight device 2 has landed in the vicinity of a predetermined position on the landing surface 40, the bag-shaped member expands and protrudes from the landing surface 40. Therefore, the landing gear of the flight device 2 A bulging bag-shaped member can enter the inner edge of the 10 to guide the flight device 2 to a predetermined position.

The shape of the bag-shaped member is hexagonal in a plan view, that is, a line of sight orthogonal to the landing surface 40, but six rod-shaped pillow-shaped or kamaboko-shaped bag-shaped members corresponding to each side of the hexagon are formed. May be arranged in a hexagonal shape, or may be composed of three rod-shaped bag-shaped members corresponding to three sides selected every other of the six sides of the hexagon. The shape and arrangement of the bag-shaped member may be set according to the shape of the landing gear of the flight device 2.

Each of the above-described embodiments relates to the takeoff and landing devices 1, 1'of the flight device 2, and the flight device 2 can land on and take off from the takeoff and landing devices 1, 1'. That is, the takeoff and landing devices 1, 1'are devices having both the functions of the landing gear and the takeoff device. The name of the present invention described in the present specification is a landing gear, but this does not necessarily deny that it has a function of taking off.

1,1'... Landing gear, takeoff and landing gear 2 ... Flight equipment 3 ... Base as landing part 8 ... Power supply terminal as connection part 11, 11a, 11b ... Guide part 25 ... Movable body 30 ... Fitting part 31 ... Convex part 32 ... Concave part 40 ... Landing surface 41 ... Penetrating opening 43 ... Movable part 44 ... Concave part that is not penetrating opening

Claims (4)

A landing gear that fixes the landing gear in place.
A landing section having a landing surface for the flight device to land,
A guide portion provided on the landing portion, which engages with the landed flight device by protruding from the landing surface and guides the flight device to the predetermined position.
An opening formed in the landing portion and provided with the guide portion,
A fitting portion that fits with the flight device and fixes the flight device at the predetermined position by projecting from the opening to the upper side of the landing portion.
With
The guide portion is a landing gear that does not protrude from the opening and forms the same surface as the landing surface in a non-protruding state that does not protrude from the landing surface. The fitting portion has a connecting portion that is connected to the flying device in a state of being fitted to the flying device.
The landing gear according to claim 1 , wherein the guide portion covers the connection portion in the non-protruding state. The fitting portion has a convex portion and a concave portion for fitting with the flight device.
When the guide part is the the non-projecting state, the protrusion forms the landing surface and the same surface is exposed from the opening portion, the recess claim 1 or claim which is concealed by the guide portion Item 2. The landing gear according to item 2 . The guide unit
A movable portion is provided on the edge of the opening so as to be movable.
Supported by the fitting portion in the non-protruding state,
Landing device according to any one of claims 1 to 3 which projects from the opening in conjunction with the projection of the fitting portion.

Images