JP6960627B2 - Unmanned aerial vehicle - Google Patents

Description

The present invention relates to an unmanned aerial vehicle equipped with a fluid injection nozzle for injecting fluid onto an object.

Conventionally, when dismantling a building such as a concrete structure or a house with a construction machine, the dust (object) generated in the dismantling work is sprayed with fluid (water) to prevent the dust from scattering. There is. Specifically, the worker sprinkles water with a hose, uses a device dedicated to sprinkling water (for example, Patent Document 1), or attaches a fluid injection nozzle that injects fluid to a construction machine that performs demolition work to perform demolition work. ing. The fluid injection nozzle is attached to the tip of an arm having a crusher at the tip for crushing a building. Further, the arm is provided with a rotating cylinder for rotating the crusher. Therefore, while sprinkling water from the rear of the crusher, the crusher rotates due to the expansion and contraction operation of the rotating cylinder, and the watering direction of the watering nozzle changes in synchronization with the rotation (for example, Patent Document 2). ).

Japanese Unexamined Patent Publication No. 6-280403 Japanese Unexamined Patent Publication No. 2010-46631

When watering by human power or when using the watering device described in Patent Document 1, it is not possible to accurately sprinkle water on the crushed portion at a site where the crushing work position is high or the feet are unstable.
Further, in the case of the construction machine described in Patent Document 2, it is necessary to modify the construction machine itself by attaching a watering pipe and a nozzle, and further, it is for a construction machine that works nearby only by fulfilling the watering function unique to the construction machine. It cannot be used for multiple construction machines, such as watering.

By the way, depending on the direction of the wind during the dismantling work, the scattering direction of the dust generated by the crushing may change with respect to the crusher. However, in the above construction machine, although the watering nozzle changes in the watering direction in synchronization with the rotation of the crusher, water is sprinkled from the same position behind the crusher. Therefore, not only the injection direction of the watering nozzle cannot be changed according to the scattering direction of the dust that is the object, but also the injection position of the watering nozzle cannot be positioned at the optimum position with respect to the dust that is the object. .. Therefore, it may not be possible to sufficiently suppress the scattering of dust, and early improvement is required. In addition, the reaction force due to the fluid injection is applied to the arm and boom to which the watering nozzle is attached, which has a bad effect on the construction machine.

In view of the above situation, the present invention is capable of moving to a plurality of arbitrary locations and accurately sprinkling water on the crushed locations, and optimizing the injection direction and injection position of the fluid injection nozzle with respect to the object. It provides an unmanned aerial vehicle that can.

The present invention is an unmanned aircraft mainly used for watering work, and this unmanned aircraft is provided with a fluid injection nozzle for injecting a fluid into an object in order to solve the above-mentioned problems. The aircraft is characterized in that it is provided with an offsetting force generator that generates an offsetting force that cancels at least a part of the reaction force received by the aircraft by injecting a fluid from the aircraft.

As described above, since the unmanned aerial vehicle of the present invention is equipped with a fluid injection nozzle in the airframe, it can fly at any place and inject fluid into an object. Then, at least a part of the reaction force received by the airframe due to the injection of the fluid from the fluid injection nozzle is canceled by the canceling force generator, so that the position and attitude of the airframe can be easily maintained as desired. Thereby, the injection direction and the injection position of the fluid injection nozzle with respect to the object can be optimized.

Further, the unmanned aerial vehicle of the present invention is provided with a detecting means for detecting a reaction force received by the airframe, drives the canceling force generator based on the detection result from the detecting means, and controls the driving thereof. The aircraft may be provided with drive control means.

According to the above configuration, the offsetting force generator is driven according to the detected value of the reaction force by controlling the driving of the canceling force generator based on the detection result from the detecting means for detecting the reaction force received by the airframe. Because it can be done, the reaction force can be surely offset.

Further, in the unmanned aerial vehicle of the present invention, the fluid injection nozzle is attached to the airframe so as to inject the fluid in front of the airframe, and the detection means is provided on the airframe by the reaction force received by the airframe. It may be composed of means for detecting the distortion when the is distorted.

As described above, the detection means is composed of means for detecting distortion when the frame is distorted due to the reaction force received by the airframe, so that it can be used on the light emitting surface and the light receiving surface, especially when used at a dismantling site where dust is generated. Compared to a photoelectric sensor to which dust easily adheres, it is advantageous in terms of detection accuracy in long-term use.

Further, the unmanned aircraft of the present invention increases the thrust for advancing the airframe in order to prevent the airframe from retreating due to the reaction force caused by the injection of the fluid from the fluid injection nozzle to the front of the airframe. The offsetting force generator may be configured in the above.

As described above, it is possible to prevent the airframe from retreating by injecting the airframe forward from the fluid injection nozzle by increasing the thrust for advancing the airframe by the canceling force generator.

Further, in the unmanned aerial vehicle of the present invention, the airframe provided with the canceling force generator may be composed of a drone provided with a plurality of rotor blades and capable of autopilot or remote control.

As described above, if the airframe equipped with the canceling force generator is provided with a plurality of rotor blades and is composed of a drone capable of autopilot or remote control, fine position control is possible. In particular, it is preferable because the fluid can be accurately jetted to a place required for dismantling work.

According to the present invention, by providing an offsetting force generator that generates an canceling force that cancels at least a part of the reaction force received by the aircraft by injecting fluid from the fluid injection nozzle, it can be located at a plurality of arbitrary locations. It is possible to provide an unmanned aircraft that can move and accurately sprinkle water on a crushed portion, and can optimize the injection direction and injection position of the fluid injection nozzle with respect to the object.

It is a figure which shows the state which water is injected from the drone to the building which is demolition by the demolition machine. It is a front view of a drone. It is a rear view of the drone. It is a side view of the drone. It is a plan view of a drone. It is a bottom view of the drone. It is a perspective view of a drone. It is an enlarged view of the main part of the front part of the drone. It is a block diagram which shows the specific structure of the drive control means which drives the canceling force generator.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 shows a state in which water is sprayed from a drone (also called a multicopter) 2, which is an example of an unmanned aerial vehicle, onto a building that is an object, into a building that is being demolished by the demolition machine 1.

The demolition machine 1 is also called a hydraulic excavator, and includes a boom 4 extending from a vehicle body 3 provided with a cockpit, an arm 5 attached to the tip of the boom 4, and a crusher 6 as an attachment attached to the tip of the arm 5. The building is crushed by the crusher 6 while the boom 4 and the arm 5 are undulated and swiveled.

The drone 2 is provided with a fluid injection nozzle 7 for injecting a fluid (here, water) into a building, and is configured to be remotely controllable (or autopilotable) by a remote controller (not shown). Then, by operating the remote control, the rotation direction and rotation speed of the eight rotors 18 described later are controlled to rotate the airframe left and right, move it back and forth, or raise or lower it, and further, in the air. It is possible to hover to keep it in place. By this hovering, it is possible to suppress the generation of dust by operating the jetted water so as to concentrate on the crushing point, which is the dust generation location, as much as possible.

FIG. 1 shows a state in which the drone 2 is hovering in the air in a substantially horizontal state in a state where the front-rear direction of the drone 2 and the front-rear direction of the demolition machine 1 are substantially parallel. The drone 2 may be hovered in a state where the drone 2 is positioned on the front side or the upper side of the demolition machine 1, and the direction of the drone 2 is not only in the horizontal direction but also in a downward tilted state in which the fluid injection nozzle 7 described later is tilted downward. The attitude of the drone 2 may be maintained. In short, the position of the drone 2 is adjusted so that the direction, height, and distance from the dust of the drone 2 are optimized according to the position of the crushed part and the direction of the wind, that is, the direction of dust scattering generated at the time of dismantling. be able to. In some cases, the drone 2 may be moved to inject water into the building. Further, when the wind is strong and dust rises from the surface of the earth, the drone 2 can be moved near the surface of the earth to inject water toward the surface of the earth. The side to which the frames 24, 24 described later are attached is the front side, the opposite side is the rear side, the left side is the left side when the drone 2 is viewed from the front (front side), and the drone 2 is viewed from the front. The right side is the right side.

Specifically, as shown in FIGS. 2 to 8, the drone 2 has an outer frame 9 formed in a regular octagon in a plan view and a pair of upper and lower disk members 10 arranged at the center of the outer frame 9. , 11 and the leg 12 suspended downward from each of the eight corners of the outer frame 9, and the eight connections arranged at predetermined intervals in the circumferential direction to connect the disk members 10 and 11 in the vertical direction. A connecting frame 14 that connects the members 13, the upper ends of the eight legs 12 and the eight connecting members 13, an electric motor 16 installed at a substantially central portion in the longitudinal direction of each connecting frame 14, and an electric motor 16. A rotary blade 18 attached to a drive shaft 17 extending upward constitutes the machine body 8, and a fluid injection nozzle 7 and a canceling force generator 19, which will be described later, are provided at the front end of the body 8. The rotary blade 18 is composed of one blade (propeller), but may also be composed of a plurality of blades (propeller). The angle of the electric motor 16 of a part (or all) of the eight electric motors 16 may be changed to a minute angle by using an actuator such as a small motor to generate a thrust in the horizontal direction.

As shown in FIG. 7, the diameter dimension of the upper disk member 10 among the disk members 10 and 11 is smaller than the diameter dimension of the lower disk member 11. Further, a control box 20 having a built-in control device for controlling the drive of the eight electric motors 16 and the two electric motors 26 described later is attached to the upper surface of the upper disk member 10. Further, a DC / DC converter 21 for converting a DC voltage from a power supply unit on the ground into a predetermined voltage is attached to the lower disk member 11, and power is supplied from the DC / DC converter 21 to the control box 20. Has been done. The power supply to the DC / DC converter 21 is supplied by connecting the power supply unit provided on the ground and the DC / DC converter 21 by wiring, but the weight-reducing machine 1 to the DC / DC converter 21 Power may be supplied to. It is also possible to supply power to the DC / DC converter 21 by wireless power supply.

As shown in FIGS. 7 and 8, a horizontally long prismatic support frame 22 is attached to one corner of the outer frame 9, and vertically left and right attachment members 23 extending in the vertical direction at both left and right ends of the support frame 22. , 23 are attached, the left and right frames 24, 24 are attached to the front surfaces of the left and right attachment members 23, 23, and they are connected in a state of being in contact with the front surfaces of the left and right frames 24, 24, and the distance between the left and right frames. It is provided with a plate-shaped horizontal frame 25 that is longer in the left-right direction than the above. A fluid injection nozzle 7 having an injection port 7A facing forward is attached to the front surface of the central portion in the left-right direction of the horizontal frame 25. One end of a hose (not shown) is connected to the fluid injection nozzle 7, and the other end of the hose is connected to a water supply device including a pump device provided on the ground to drive the pump device. Water is supplied to the fluid injection nozzle 7 via a hose. By this supply, water is injected forward from the fluid injection nozzle 7. Further, the fluid injection nozzle 7 may be provided so as to be rotatable around the center of the vertical axis so that the angle can be changed in the left-right direction. These angle changes may be performed by artificially operating the screw, or may be performed by using the power of the actuator. Incidentally, the direction of the reaction force generated from the canceling force generator 19 may be changed according to the angle change of the fluid injection nozzle 7. Here, the directions of the rotor blades 27 and 27, which will be described later, are changed.

As shown in FIGS. 6 to 8, the airframe 8 is provided with an offsetting force generating device 19 that generates an offsetting force that cancels all the reaction forces received by the airframe due to the injection of fluid from the fluid injection nozzle 7. The canceling force generator 19 is a set of electric motors 26, 26 attached to both ends of the horizontal frame 25 in the left-right direction, and a set of drive shafts 26A, 26A extending to the front side of the electric motors 26, 26. The rotary blades 27 and 27 of the above are provided. The rotary blades 27, 27 are composed of one blade (propeller), but may also be composed of a plurality of blades (propeller). Further, the blade (propeller) provided in the canceling force generator 19 may be composed of a duct fan.

Further, the airframe 8 is provided with a detection means 28 (see FIG. 9) for detecting the reaction force received by the airframe, and a drive control for driving the canceling force generator 19 based on the detection result from the detection means 28 and controlling the drive thereof. Means 29 is provided in the airframe 8.

The detection means 28 is attached to the front surface 24A of at least one of the left and right frames 24, 24 (the detection means 28 is not shown in FIG. 1), and the fluid is injected from the fluid injection nozzle 7. It is composed of a distortion gauge (not shown) that detects the amount of distortion when the frame 24 is distorted by the fluid. The wiring connected to the strain gauge is connected to a control board (not shown) provided in the control box 20.

A configuration in which the drive of the canceling force generator 19 is controlled by the drive control means 29 will be described with reference to the block diagram of FIG.

First, when the pump device is driven to inject water from the fluid injection nozzle 7 toward the dust, the reaction force due to the injection is applied to the frame 24. The strain gauge 28 detects that the frame 24 is deformed by this injection reaction force and converts it into a strain amount. This strain amount includes an error because the injection reaction force itself is not measured. Therefore, after integration with the integrator 30 the distortion amount is replaced by a target value by multiplying the proportionality constant K _I in the integrated value. The target value is given to the ESC (Electric Speed Controller, electronic speed controller) 31. As a result, the electric motors 26 and 26 are driven to rotate the blades (propeller, rotor blades 27 and 27), and the thrust for advancing the airframe 8 is increased. As a result, the injection reaction force and the thrust due to the rotation of the blade (propeller) cancel each other out. At this time, the final goal is to cancel the injection reaction force when the value of the strain gauge becomes 0, and feedback control is performed using the drive control means 29 so that the value of the strain gauge becomes 0.

In this way, by controlling the drive of the canceling force generator 19 based on the detection result from the strain gauge which is the detecting means 28, the canceling force generator 19 can be driven according to the detected value of the reaction force. Therefore, the reaction force can be surely offset. By canceling the reaction force in this way, the retreat of the airframe 8 by injecting the fluid injection nozzle 7 forward of the airframe is increased, and the thrust for advancing the airframe 8 by driving the offsetting force generator 19 is increased. Can be stopped with. Therefore, the aircraft does not move and hover at the same position. In addition to the canceling force generating device 19, the thrust force of the rotary blade 18 may be used for canceling the reaction force.

Further, since the body 8 of the unmanned aerial vehicle is provided with the fluid injection nozzle 7, it is possible to fly at any place and inject the fluid (here, water) into the object. Then, since all the reaction forces received by the machine body 8 due to the injection of the fluid from the fluid injection nozzle 7 are canceled by the canceling force generator 19, it is easy to maintain the position and posture of the machine body as desired. As a result, the injection direction and the injection position of the fluid injection nozzle 7 with respect to the object can always be maintained optimally, and the dust suppressing effect is enhanced. Further, if the unmanned aerial vehicle is composed of the drone 2, fine position control is possible, so that it is possible to accurately inject the fluid into the dust, which is preferable especially in the dismantling work. In addition, although the entire unmanned aerial vehicle is configured to have a waterproof function, the waterproof function should be enhanced by covering the aircraft 8 with a waterproof cover so that the control box and the like provided in the aircraft 8 are not exposed to water. It may be. By enhancing the waterproof function in this way, the dustproof performance can also be enhanced.

The present invention is not limited to the above embodiment, and various modifications can be made without departing from the gist of the present invention. For example, various changes such as the shape of the outer frame and the mounting position of the legs can be made.

In the above embodiment, the strain gauge is used as the detection means 28, but a pressure sensor or a load cell including a pressure sensitive element may be used. In addition, various means can be used as long as it can detect a state change due to a reaction force received by the airframe.

Further, in the above-described embodiment, the unmanned aerial vehicle of the present invention is used when spraying water at a dismantling site, but it may be used when spraying paint on the wall surface of a tunnel or a building to paint the wall surface. It may be used for extinguishing a fire in a building on a high floor, and the present invention is particularly effective when used for injecting fluid in an unstable high place where it is difficult for a person to work. As the fluid to be injected, various fluids such as gas such as water and air, paint, liquid resin, and powder such as fire extinguishing agent can be used. In addition, at sites where a plurality of construction machines are used, it is more efficient because one unmanned aircraft can be moved to the operating position of each construction machine and used as compared with the case where a watering nozzle is attached to the construction machine itself. There is no need to modify the construction machine to attach a watering nozzle or water supply pipe.

Further, in the above-described embodiment, the canceling force generator 19 is composed of a plurality of (two) rotor blades 27, 27, but may be one rotor blade, or any number of three or more rotor blades. It may be.

Further, in the above-described embodiment, the drive of the canceling force generator 19 is controlled so that the reaction force received by the airframe becomes 0 (all of the reaction force is canceled), but the reaction force received by the airframe approaches 0 (anti-reaction). The drive of the canceling force generator 19 may be controlled so as to cancel a part of the force), and may be used in combination with the control by the rotary blade 18.

Further, in the above embodiment, one fluid injection nozzle 7 is provided at the front portion of the unmanned aerial vehicle, but not only one fluid injection nozzle 7 but also a plurality of fluid injection nozzles 7 are provided at the front portion and the side portion. Alternatively, one or a plurality may be provided in the central portion of the aircraft.

Further, in the above-described embodiment, a drone having eight rotor blades 18 is used as an unmanned aerial vehicle, but a drone having three, four, or six rotor blades may be used. Further, as another configuration, a helicopter equipped with a main rotor and a tail rotor may be used, or an airship type unmanned aerial vehicle may be used. Further, it may be an unmanned aerial vehicle equipped with a canceling force generator 19 composed of a jet engine, a fluid injection device, a thrust generator using electromagnetic force, or the like.

Further, in the above-described embodiment, the feedback control is shown in which the resultant force of the injection reaction force and the thrust by the rotary blades 27 and 27 is measured and controlled so that the resultant force becomes 0. However, the injection reaction force and the thrust by the rotary blades 27 and 27 are shown. May be feedback control that controls the drive of the electric motors 26 and 26 so that the measured values are equal to each other, or the thrust characteristics of the rotary blades 27 and 27 are stored. Then, the injection reaction force is measured by a sensor, a thrust equal to the measured value is picked up from the thrust characteristics, and an open loop (feed forward) that controls the drive of the rotary blades 27 and 27 so that the picked up thrust is generated. It may be control.

1 ... Weight unloading machine (hydraulic excavator), 2 ... Drone (multicopter), 3 ... Body, 4 ... Boom, 5 ... Arm, 6 ... Crusher, 7 ... Fluid injection nozzle, 7A ... Injection port, 8 ... Aircraft, 9 ... outer frame, 10, 11 ... disk member, 12 ... leg, 13 ... connecting member, 14 ... connecting frame, 16 ... electric motor, 17 ... drive shaft, 18 ... rotary blade, 19 ... canceling force generator, 20 ... Control box, 21 ... DC-DC converter, 22 ... Support frame, 23 ... Mounting member, 24 ... Frame, 24A ... Front, 25 ... Horizontal frame, 26 ... Electric motor, 26A ... Drive shaft, 27 ... Rotating blade, 28 ... Detection means (strain gauge), 29 ... Drive control means, 30 ... Integrator, 31 ... ESC

Claims (3)

An unmanned aerial vehicle equipped with a fluid injection nozzle that injects fluid into an object.
An offsetting force generator that generates an offsetting force that offsets at least a part of the reaction force received by the aircraft by injecting fluid from the fluid injection nozzle .
A detection means for detecting the reaction force received by the aircraft and
The airframe is provided with a drive control means for driving the canceling force generator based on the detection result from the detection means and controlling the drive thereof.
The fluid injection nozzle
It is attached to the airframe so as to inject the fluid in front of the airframe.
The detection means
An unmanned aerial vehicle characterized by being composed of means for detecting distortion when a frame provided on the aircraft is distorted due to a reaction force received by the aircraft. The offsetting force generator is configured to increase the thrust that advances the aircraft in order to prevent the aircraft from retreating due to the reaction force caused by the injection of fluid from the fluid injection nozzle to the front of the aircraft. The unmanned aircraft according to claim 1, wherein the aircraft is characterized by being The unmanned aerial vehicle according to any one of claims 1 or 2, wherein the aircraft provided with the canceling force generator is provided with a plurality of rotor blades and is composed of a drone capable of autopilot or remote control. aircraft.

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