JP7140584B2 - Mobile flying device - Google Patents

Description

The present invention relates to a mobile aircraft device.

Conventionally, unmanned crawler dump trucks, bulldozers, backhoes, etc. are operated remotely at dangerous work sites where people cannot enter, for example, work sites where the sediment deposited by volcanic eruptions is transported. Machines are used and various operations are performed unmanned.
In addition, a remote control device connected to the work machine via a wireless line is installed at the control station away from the work site, and the command information is sent to the work via the wireless line by the operator operating the remote control device. The command information is transmitted to the machine, and the work machine is remotely operated based on the command information.
In addition, the work machine is equipped with a camera, image information captured by the camera is transmitted to the work place via a wireless line, and the image information is displayed on a monitor device installed in the control station. While monitoring the work machine, remote control is performed.
However, when a plurality of work machines work at the same time at a work site, it is difficult to accurately grasp the positional relationship of the work machines that are close to each other with only the image information from the camera of each work machine. There is room for improvement in avoiding situations such as contact.
On the other hand, in recent years, flying objects (drones) equipped with cameras and batteries have been used for surveillance purposes. It is possible to accurately grasp the positional relationship between work machines by obtaining

JP 2007-13554 A

However, due to the limited capacity of the batteries mounted on the aircraft, the flight time of the aircraft is usually only about 15 minutes.
The flying object must fly to a work site away from the control center, perform monitoring for a predetermined period of time, and then fly back to the control center to recharge the battery.
Since the flight required to go back and forth between the control center and the work site consumes the power of the battery, the flight time for monitoring the work machine is inevitably short, and the work machine cannot be monitored for a long time. It has the disadvantage that it cannot be done continuously over time.

Therefore, a housing containing a power supply unit such as a large-capacity battery or a power generation device is provided, and an aircraft connected to the power supply unit via a power supply cable is placed on the upper part of this housing for unmanned transportation. It is conceivable that the working machine carries this housing to a work site, and at the work site, the flying body is made to fly by supplying power from the power supply unit to the flying body through a power supply cable.
According to such a method, it is possible to continuously monitor the work machine by the flying object for a long time.
However, when the work machine is monitored, when it is transported from the control center to the work site by the unmanned transport machine, or after being monitored, when it is transported from the work site to the control center by the unmanned transport machine. In many cases, unmanned working machines for transportation run on rough terrain, and shaking and vibration during running act on the flying object on the housing.
Therefore, depending on the magnitude of shaking or vibration, the flying object may fall from the housing to the ground and be dragged by the power supply cable. There is concern that the member may be damaged or deteriorated.
The present invention has been made in view of such circumstances, and its purpose is to prevent the flying object from falling during transportation, to improve the durability of the flying object, to secure the operating rate for a long period of time, and to improve the monitoring work. To provide a mobile flying body device advantageous in reliably performing

In order to achieve the above object, the present invention comprises a housing in which a power feeding section is housed and whose upper part is an aircraft launching and landing section, and an aircraft connected to the power feeding section via a power feeding cable. In the mobile aircraft apparatus, the aircraft landing section is provided with a fall-off prevention section for preventing the aircraft from falling out of the aircraft landing section when the mobile aircraft apparatus is moved. The falling-off preventing portion includes an arm provided on the housing and capable of swinging between a first swinging position and a second swinging position; and an actuator made of a flexible material, one end of which is located in the vicinity of the arm positioned at the first swing position. It is attached to a portion of the housing, the other end is attached to the arm, and the upper side of the flying object landing section is opened at the first swinging position, and the flying object at the second swinging position. a sheet for covering the flying object positioned on the takeoff and landing part for the aircraft from above; and a housing-side control unit that controls the actuator based on the falling prevention unit operation command information received by the body-side communication unit .
Further, the present invention is a mobile aircraft apparatus comprising: a housing in which a power feeding section is housed and an aircraft take-off and landing section is formed on the top thereof; and an aircraft connected to the power feeding section via a power feeding cable. wherein the aircraft landing section is provided with a fall-off prevention section for preventing the aircraft from falling out of the aircraft landing section when the mobile aircraft device is moved, and the housing comprises: It has a pair of side portions facing each other below the aircraft takeoff and landing portion, and a pair of end portions facing each other in a direction perpendicular to the facing direction. A plurality of intermediate movable arms, a drive arm, a seat that spans between the arms, a first swing position in which the drive arm falls to one end of a pair of ends, and a pair of ends and an actuator for swinging between a second swinging position lying down at the other end of the fixed arm, the plurality of intermediate movable arms, and the drive arm. a pair of arm bodies each having their bases positioned at the center of the arm body, and a rod connecting the tips of the arm bodies, wherein the fixed arm is fixed at the first swing position; The seat is attached to the rods of the fixed arm, the plurality of intermediate movable arms, and the drive arm, and is attached to the tip side upper halves of the pair of arm bodies of these arms. The upper and side sides of the aircraft landing section are opened at the swing position of , and the upper and side sides of the aircraft positioned on the aircraft launch section are opened at the second swing position of the drive arm. The housing includes a housing-side communication unit that receives drop-off prevention unit operation command information via a wireless line, and based on the drop-off prevention unit operation command information received by the housing-side communication unit and a housing-side control section that controls the actuator.

According to the present invention, when the aircraft landing section is transported by the unmanned work machine for transportation in a state in which the aircraft is mounted on the aircraft landing section, the flight of the aircraft is controlled. A fall prevention part is provided to prevent the body from falling off.
Therefore, even if the place where the unmanned working machine for transportation travels is uneven ground and the flying object placed on the landing and landing part for the flying object is shaken or vibrates during traveling, it can be prevented from falling out. The part prevents the flying object from dropping out of the landing part for the flying object.
As a result, the flying object falls from the housing to the ground due to shaking or vibration, and the flying object is subjected to impact by being dragged by the power supply cable, which damages or deteriorates the parts and members that make up the flying object. This is advantageous in that the durability of the aircraft can be improved, the operating rate can be secured over a long period of time, and the surveillance work can be performed reliably.

1 is a configuration diagram showing the overall configuration of a remote control system for a working machine to which the mobile flying vehicle device for the working machine of the first embodiment is applied; FIG. It is an explanatory view explaining operation of a mobile flying object device. It is a side sectional view of a housing. 4 is a plan view of the housing; FIG. FIG. 4 is a side cross-sectional view showing a state in which the flying object is mounted on the deck of the housing; FIG. 10 is a block diagram showing the configuration of a control station, a housing, and an aircraft in a second embodiment; FIG. 10 is a side view of the housing in the second embodiment, showing a state where the arm is positioned at the first swing position; FIG. 10 is a plan view of the housing in the second embodiment, showing a state in which the arm is positioned at the first swing position; FIG. 10 is a side view showing a state in which the flying object is mounted on the housing in the second embodiment, and shows a state in which the arm is positioned at the first swing position; FIG. 10 is a plan view showing a state in which the flying object is mounted on the housing in the second embodiment, and shows a state in which the arm is positioned at the second swing position; FIG. 11 is a side view showing a state in which the flying object is mounted on the housing in the second embodiment, and shows a state in which the arm is positioned at the second swing position; FIG. 12 is a cross-sectional view taken along the line XX of FIG. 11; FIG. 11 is a block diagram showing the configuration of a control station, a housing, and an aircraft in a third embodiment; FIG. 11 is a side view showing a state in which a flying object is placed on a housing according to a third embodiment; FIG. 11 is a block diagram showing the configuration of a control station, a housing, and an aircraft in a fourth embodiment; FIG. 11 is a side view of the housing in the fourth embodiment, showing a state where the drive arm is positioned at the first swing position; FIG. 11 is a plan view of a housing according to the fourth embodiment, showing a state in which the drive arm is positioned at the first swing position; FIG. 14 is a side view showing a state in which the flying object is mounted on the housing in the fourth embodiment, and shows a state in which the drive arm is positioned at the second swing position; FIG. 19 is a cross-sectional view taken along the line XX of FIG. 18;

(First embodiment)
BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings.
First, a remote control system for a working machine to which the mobile aircraft device according to the present invention is applied will be described.
As shown in FIG. 1 , the remote control system includes a control center 10 and a plurality of work machines 12 .
The control station 10 is provided at a location away from a dangerous work site inaccessible to workers who operate the work machine 12 , and is a place where a worker remotely controls the work machine 12 .
In this specification, the work site includes the work area 13 where work is performed by the plurality of work machines 12 and the surrounding area of the work area 13 where the housing 36 is placed.
The control station 10 is provided with a work machine remote operation commander 14, a first communication unit 16, a first display unit 18, an aircraft remote operation commander 22, a second communication unit 24, and a second display unit 26. ing.
The control station 10 is also provided with a fuel tank (not shown) that is larger than the fuel tank 48 of the housing 36, which will be described later.

The work machine remote operation command unit 14 generates work machine operation command information for remotely operating the work machine 12 by the operator operating an operation member such as a joystick.
The first communication section 16 communicates with the working machine side communication section 30 of the working machine 12 via the first wireless line C1, and has a first antenna 1602 for the first wireless line C1.
That is, the first communication unit 16 transmits the work machine operation command information to the work machine side communication unit 30 of the work machine 12 via the first wireless line C1.
In the present embodiment, the frequency band of the first wireless line C1 is the 2.4 GHz band, and even if there is an obstacle between the first communication unit 16 and the working machine side communication unit 30, It is designed so that radio waves can reach up to and communication can be carried out without problems.
The first communication unit 16 also receives image information captured by the work machine side camera 28 from the work machine side communication unit 30 of the work machine 12 via the first wireless line C1.
The first display unit 18 displays image information received by the first communication unit 16 .
Therefore, the operator can remotely operate the work machine 12 based on the image information displayed by the first display unit 18 .

The flying object remote control command unit 22 generates flying object operation command information for remotely controlling the flying object 38 by the operator operating an operation member such as a joystick.
The second communication unit 24 communicates with the flying object 38 via the second wireless line C2 and the housing side communication unit 50 of the housing 36, and transmits flying object operation command information to the flying object 38. It receives image information transmitted from the body 38, and has a second antenna 2402 for a second radio channel C2.
In the present embodiment, the frequency band of the second radio line C2 is 25 GHz, which is higher than the frequency band of the first radio line C1.
The second display section 26 displays the image information received by the second communication section 24 .
Therefore, the operator remotely operates the flying object 38 based on the image information displayed by the second display unit 26, and also determines the working conditions of the plurality of work machines 12 and the relationship between the work machines 12 based on the image information. It is designed so that the positional relationship can be grasped.

The work machine 12 includes a work machine side camera 28 , a work machine side communication section 30 , a work machine side control section 32 , an actuator 34 and an operation lever 35 .
The working machine-side camera 28 is attached to the vehicle body of the working machine 12 and captures an image of the surroundings of the working machine 12 to generate image information.
The work machine side communication section 30 communicates with the first communication section 16 via the first wireless line C1, has a work machine side antenna 3002, and issues a work machine operation command via the first wireless line C1. Information is received, and image information generated by the work machine side camera 28 is transmitted to the first communication unit 16 via the first wireless line C1.
The work machine control section 32 operates the actuator 34 based on the work machine operation command information received by the first communication section 16 via the first wireless line C1.
The operation lever 35 is operated when the work machine 12 is caused to run, stop, or perform various operations, and a plurality of operation levers 35 are provided.
The actuator 34 is provided for each operating lever 35 and operates each operating lever 35 .

Next, the mobile aircraft device 20 of this embodiment will be described.
The mobile flying device 20 monitors a plurality of working machines 12 remotely controlled via the first wireless line C1.
The mobile flying body device 20 includes a housing 36 , a flying body 38 , and a connection cable 40 connecting the housing 36 and the flying body 38 .
The connection cable 40 includes a power supply cable 4002 that supplies electric power from a generator 4604 (see FIG. 4) described later to the aircraft 38, and a communication cable that transmits information between the housing-side communication unit 50 and the aircraft-side communication unit 54. 4004.

The housing 36 is placed on the ground near the work area 13 of the work machine 12 .
Specifically, as shown in FIG. 2 , housing 36 , along with aircraft 38 and connecting cables 40 , can be transported by a forklift or the like between control station 10 and a location near work area 13 of work machine 12 . It is transported by the unmanned work machine 12A for use and placed on the ground near the working area 13 of the work machine 12 when the work machine 12 is monitored.
This unmanned work machine 12A for transportation is also remotely operated by the work machine remote control command unit 14 of the control center 10 in the same manner as the work machine 12 that performs work at the work site.

As shown in FIGS. 3 and 4, the upper part of the housing 36 is a landing section 44 for aircraft, and inside the housing 36 is a power generating device 46 for generating power using fuel and a fuel tank for storing fuel. 48, housing-side communication section 50, and winding section 52 are accommodated, and housing 36 is waterproof so that rainwater does not enter inside when it rains.
The housing 36 has a rectangular shape in plan view, and includes a rectangular bottom wall 3602, four side walls 3604 rising from four sides of the bottom wall 3602, a top wall 3606 connecting the tops of the four side walls 3604, and a bottom wall. and four legs 3608 extending from the four corner portions of the wall 3602 .
A space is formed between the ground and the bottom wall 3602 by placing the four legs 3608 on the ground. It is designed to be easy.

The power generation device 46 includes an engine 4602 and a power generator 4604 .
The engine 4602 burns fuel supplied from the fuel tank 48 to generate power.
Generator 4604 is driven by the power of engine 4602 to generate power.
The fuel tank 48 includes a tank body 4802 and a filler port 4804 .
The engine 4602, the generator 4604, and the tank body 4802 are arranged on one side of the housing 36. A fuel supply pipe 4806 protruding from the tank body 4802 penetrates the side wall 3604, and the end of the fuel supply pipe 4806 is filled with oil. A port 4804 is positioned outside the housing 36 and can be opened and closed by a fuel cap 4808 .
The tank body 4802 can store, for example, about 10 to 15 liters of fuel, and the electric power generated by the generator 4604 ensures a continuous flight time of the aircraft 38 of about 9 to 10 hours.
The starting of the power generator 46 is provided to the engine 4602 at the control center 10, for example, before being transported from the control center 10 to a location near the work area 13 of the work machine 12 by the unmanned work machine 12A for transportation. This is done by manually pulling the recoil starter rope to force the engine 4602 crank to rotate.
The power generator 46 is stopped by operating a stop button provided on the engine 4602, for example.
In this embodiment, the power supply unit is configured by the power generation device 46 .

As shown in FIG. 1, the housing side communication unit 50 communicates with the flying object remote control command unit 22 provided in the control station 10, and communicates with the flying object side communication unit 54 of the flying object 38. As shown in FIG. 4, the housing-side communication unit 50 is supplied with power from a generator 4604 via the wiring unit 51, and the housing-side communication unit 50 is connected to the other side of the housing 36. are placed in
The housing-side communication unit 50 has a housing-side antenna 5002 for the second wireless line C2, and transmits the flying object operation command information transmitted from the flying object remote control command unit 22 via the second wireless line C2 to the communication cable. 4004 to the aircraft 38, and the image information captured by the aircraft-side camera 56 and received via the communication cable 4004 is sent to the second display unit 26 provided in the control center 10 via the second wireless line C2. Send to

Winding unit 52 winds and feeds connection cable 40 including power supply cable 4002 and communication cable 4004 .
The winding unit 52 includes a winding drum 5202, which is always urged in the direction of rotation for winding the connection cable 40, so that the flying object 38 flies with thrust against the urging force. , the connection cable 40 is let out from the winding drum 5202 .
Therefore, a constant tension is applied to the connection cable 40 that is let out, and the slackness of the connection cable 40 is suppressed.

As shown in FIG. 5, the aircraft 38 includes an aircraft body 3802, legs 3804 provided at the bottom of the aircraft body 3802, and a plurality of rotors 3806 provided on the aircraft body 3802. By rotating the rotor 3806, it flies in the air or stands still (hovering) in the air. In the drawing, reference numeral 3810 denotes a guard ring that protects the rotor 3806. FIG.
As shown in FIG. 1 , the aircraft 38 further includes an aircraft-side communication unit 54 , an aircraft-side camera 56 , an aircraft-side control unit 58 , and a plurality of motors 60 provided for each rotor 3806 to rotate the rotor 3806 . and
The aircraft-side communication unit 54 receives aircraft operation command information from the housing-side communication unit 50 via the communication cable 4004, and transmits image information captured by the aircraft-side camera 56 via the communication cable 4004 to the housing-side communication unit. 50.
The flying object side camera 56 is attached to the flying object main body 3802 and supplies captured image information to the flying object side communication section 54 .
The aircraft-side control unit 58 controls the rotation of each motor 60 based on the aircraft operation command information received by the aircraft-side communication unit 54, thereby causing the aircraft 38 to fly and stand still.
The aircraft-side communication unit 54 , the aircraft-side camera 56 , the aircraft-side control unit 58 , and the motor 60 are operated by power supplied from the power generator 46 of the housing 36 via the power supply cable 4002 .

As shown in FIGS. 4 and 5, the aircraft landing section 44 is provided in the upper part of the housing 36 and is a place where the aircraft 38 takes off and lands. Consists of walls 3606 .
An insertion hole 3610 for the connection cable 40 wound by the winding section 52 and fed out is provided in the center of the aircraft landing section 44 .
A sealing member 41 is attached to the insertion hole 3610 , and the connection cable 40 is wound up by the winding unit 52 via the sealing member 41 and fed out.
Therefore, rainwater is prevented from entering the housing 36 through the insertion hole 3610 .
Further, the aircraft take-off part 44 includes a cushion material 45 , and the surface of the aircraft take-off part 44 is formed of the cushion material 45 in this embodiment.
By configuring the aircraft landing section 44 including the cushion material 45 in this way, the mobile aircraft device 20 can perform unmanned transportation work while the aircraft 38 is placed on the aircraft landing section 44 . Vibrations received by the housing 36 when being transported by the machine 12A are designed not to be directly transmitted to the flying object 38, and the durability of the flying object 38 is enhanced.
Various conventionally known materials such as urethane foam, soft rubber, and sponge can be used as the cushion material 45 .

In addition, as shown in FIGS. 3 to 5, the aircraft take-off/landing section 44 is provided with a fall prevention section 62 .
When the mobile aircraft device 20 is transported by the unmanned work machine 12A for transportation in a state where the aircraft 38 is placed on the aircraft take-off/landing part 44, the drop-off prevention part 62 prevents the aircraft 38 from falling off. This is to prevent it from coming off from the application landing section 44 .
In the present embodiment, the drop-out preventing portion 62 is composed of an upright portion 64 that rises from the periphery of the aircraft take-off and landing portion 44, and the upright portion 64 is an upright wall that rises from the entire circumference of the upper wall 3606. 6402.
It should be noted that the standing portion 64 only needs to prevent the flying object 38 from falling off, and the standing portion 64 may be partially formed with a gap like a fence. Standing walls erected at intervals in the circumferential direction on the entire periphery of the landing/departure portion 44 may be used.
In addition, the height of the standing wall 6402 and the fence may be 1/2 or more of the height of the flying object 38 when the flying object 38 is placed on the flying object landing section 44. This is more advantageous in preventing the flight object 38 from falling off.

Next, a method of using the mobile aircraft device 20 will be described.
The mobile aircraft device 20 with the aircraft 38 mounted on the aircraft take-off/landing section 44 is stored in the control center 10 away from the work site.
At this time, almost the entire length of the connection cable 40 is wound by the winding portion 52, and the tension of the connection cable 40 causes the leg portion 3804 of the aircraft 38 to be placed stably on the landing/landing portion 44 for the aircraft. This is advantageous in preventing the flying object 38 from falling from the flying object launching/landing part 44 due to vibrations and impacts during transportation.
In addition, before transporting the work machine 12 to a location near the work area 13, the engine 4602 is started in the control center 10 so that electric power from the generator 4604 is supplied to each part.

Next, the fork of the unmanned working machine 12A for transportation such as a forklift is inserted into the space between the bottom wall 3602 of the housing 36 of the mobile flying device 20 and the ground to lift the mobile flying device 20, By remote control, the unmanned working machine 12A for transportation is transported from the control center 10 to a location near the working area 13 of the working machine 12, and the fork is lowered to place the mobile aircraft device 20 on the ground near the working area 13. place.
Since the flying object 38 positioned on the flying object launching/landing part 44 is surrounded by the rising portion 64 (the rising wall 6402) that constitutes the falling prevention portion 62 while the work machine for transportation is running, it is not shaken or vibrated. is applied to the flying body 38, the flying body 38 is prevented from falling.
The unmanned working machine 12A for transportation may be temporarily returned to the control center 10, or may be placed in a standby state in the vicinity of the housing 36. FIG.
Alternatively, while holding the mobile flying object device 20 with a fork, the work machine 12A for transportation is stopped at a location near the work area 13, and after the work is completed, the work machine 12A for transportation is used to move the mobile flying object. Device 20 may be transported to control station 10 .
At the control station 10 , the operator operates the flying object remote control command unit 22 while viewing the image information displayed on the second display unit 26 to fly the flying object 38 and operate the plurality of work machines 12 . The flying object 38 is remotely operated so that the image information obtained by picking up the working state of 1 is displayed on the second display unit 26 .
When the desired image information is displayed on the second display section 26, the flying object 38 is remotely operated so as to stand still in the air.
As a result, the aircraft 38 that flies by the power of the power generator 46 is maintained in a stationary state in the air, and an image of the working state of the plurality of work machines 12 captured by the aircraft-side camera 56 to which the power of the power generator 46 is supplied. Information can be continuously monitored.
If the work machine 12 moves with the passage of time and the work machine 12 moves out of the photographing range of the aircraft-side camera 56, the operator operates the aircraft-side remote control command unit 22 to capture the aircraft-side camera 56. A flying object 38 is remotely controlled so that a plurality of working machines 12 are within the photographing range.
In the present embodiment, work is performed by a plurality of work machines 12 in a plurality of work areas 13, and a mobile aircraft device 20 having a flying body 38 is mounted in the vicinity of each work area 13. Each work area 13 is monitored by a flying object 38 .

When it is time to finish the work, the mobile aircraft device 20 can fly the aircraft 38 by operating the aircraft remote control command unit 22 while viewing the image information displayed on the second display unit 26 . It is made to land on the body landing section 44 .
Next, the unmanned working machine 12A for transportation is remotely operated to retrieve the mobile flying device 20 and transport it to the control center 10. FIG.
Even if shaking or vibration acts on the flying object 38 during transportation of the mobile flying object device 20 by the unmanned work machine 12A for transportation, the drop-off prevention part 62 prevents the flying object from being positioned on the landing part 44 for the flying object. As in the case described above, the body 38 is prevented from falling.
When the unmanned working machine 12A for transportation reaches the control station 10, the mobile flying device 20 is lowered from the unmanned working machine 12A for transportation, and the power generation device 46 is stopped.
Then, in preparation for the next monitoring work, the fuel filler cap 4808 of the fuel tank 48 is removed, fuel is supplied to the fuel filler port 4804 from the large fuel tank provided in the control station 10, and the series of operations is completed. The flying device 20 is stored in the control center 10.

According to the present embodiment, the aircraft landing section 44 is transported by the unmanned work machine 12A for transportation while the aircraft 38 is mounted on the aircraft landing section 44. A falling prevention portion 62 is provided to prevent the flying body 38 from falling out of the flying body takeoff/landing portion 44 when the flying body 38 is mounted.
Therefore, even if the portion where the unmanned working machine 12A for transportation travels is uneven ground, and the shaking and vibration during travel act on the flying object 38 placed on the flying object take-off and landing section 44, The drop-off preventing portion 62 prevents the flying object 38 from dropping out of the flying object takeoff/landing portion 44 .
Therefore, the flying object 38 falls from the housing 36 to the ground due to shaking and vibration, and the flying object 38 is impacted by being dragged by the power supply cable 4002, and parts and members constituting the flying object 38 are damaged. This is advantageous in that the durability of the aircraft 38 can be improved, the operating rate can be secured over a long period of time, and the monitoring work can be reliably performed.

Further, in the present embodiment, since the falling-off preventing portion 62 is configured with a simple structure such as the erecting portion 64 that stands up from the periphery of the flying object take-off/landing portion 44, the size, number, and arrangement of the rotors 3806 of the flying object 38 can be reduced. Regardless of the structure, the size and number of the legs 3804, and their arrangement structure, it is possible to reliably prevent the flying object 38 from falling out of the flying object launching and landing part 44, and furthermore, the falling-off prevention part 62 can be simplified. , which is advantageous for cost reduction.

Further, according to the present embodiment, the power generating device provided in the mobile aircraft device 20 mounted on the ground near the working area 13 of the working machine 12 remotely controlled via the first wireless line C1 Since power is supplied from 46 to the flying object 38 via the power supply cable 4002, for example, for nine hours from 8:00 am to 5:00 pm, monitoring of the remotely controlled work machine 12 can be continuously interrupted. It is advantageous to do without
Continuous monitoring by the aircraft 38 for about 9 hours can be sufficiently performed if the capacity of the fuel tank 48 is about 10 to 15 liters. can be realized, which is advantageous in efficiently and smoothly performing work with a plurality of work machines 12 .

After the monitoring work is completed, when the mobile flying device 20 is transported to the control station 10 by the transporting unmanned working machine 12A, the fuel cap 4808 is removed and a large fuel tank (not shown) is installed in the fuel tank 48. By refueling from the tank, the preparation work for the next day's monitoring work can be easily finished in a short time.
Therefore, in the present embodiment, it is sufficient to install a large fuel tank in the control station 10, and a large-capacity battery is carried to a location near the work area 13 of the work machine 12 by the unmanned work machine 12A for transportation. Compared to the case where the flying object 38 is flown by supplying the electric power of the battery to the flying object 38 through the power supply cable, the preparatory work for the next day's monitoring work can be done in an extremely short time and easily. be advantageous.
In particular, when a plurality of flying bodies 38 are provided corresponding to a plurality of work areas 13, it is extremely advantageous in that the preparatory work can be easily performed in a short time.
In addition, the control station 10 does not require expensive charging equipment, and it is sufficient to install a fuel tank that is cheaper than the charging equipment, which is advantageous in terms of reducing the cost associated with monitoring.
That is, when a large-capacity battery is carried to the work site by the unmanned working machine 12A for transportation and the aircraft 38 is flown by the power of this battery, it is necessary to install an expensive charging facility in the control station 10. Also, it takes a long time to charge a battery with a large capacity.
In particular, when a plurality of flying bodies 38 are provided corresponding to a plurality of work areas 13, a plurality of large-capacity batteries must be charged, so preparation work for the next day's monitoring work can be performed quickly and easily. This is a disadvantage in terms of reducing the costs associated with monitoring.

In addition, the control center 10, which is located at a distance from the housing 36, and the housing 36 are connected by the second wireless line C2, and the housing 36 and the aircraft 38 are connected by the communication cable 4004. Interference between the second radio line C2 and the first radio line C1 can be avoided, which is advantageous in stably performing remote control of a plurality of work machines 12 and remote control of the flying object 38, and improves work efficiency of the work machine 12. In addition to improving the performance, it is advantageous in stabilizing the monitoring work by the flying object 38 .
In this case, since power is supplied from the power generation device 46 to the housing-side communication unit 50, communication with the control center 10 and communication with the aircraft 38 are also performed stably, and the work machine 12 can be monitored. It is advantageous in doing so.
In addition, since the power generator 46, the fuel tank 48, the housing-side communication section 50, and the winding section 52 of the housing 36 are housed in the waterproof housing 36, the work machine 12 can be monitored even when it rains. This is advantageous for smooth work.

Further, according to the present embodiment, since the insertion hole 3610 for the connection cable 40 wound up by the winder 52 and paid out is provided in the center of the aircraft takeoff/landing part 44, the aircraft 38 can be connected to the aircraft. It can be stably placed in the center of the loading/unloading section 44 for the printer.
Therefore, when the mobile flying device 20 is transported by the unmanned working machine 12A for transportation, it is advantageous in preventing the flying body 38 from slipping or falling from the landing section 44 for transportation. This is advantageous in preventing damage to the flying object 38 during transportation by 12A and improving the durability of the flying object 38 .

Further, according to the present embodiment, the surface of the flying object landing section 44 is made of the cushioning material 45, so that the flying object 38 placed on the flying object landing section 44 can be used for mobile flight. When the body apparatus 20 is transported by the unmanned working machine 12A for transportation, the vibration received by the housing 36 is not directly transmitted to the flying object 38, which is advantageous in enhancing the durability of the flying object 38.

Further, according to the present embodiment, since the frequency band of the second radio line C2 is higher than the frequency band of the first radio line C1, interference between the second radio line C2 and the first radio line C1 can be reliably avoided. This is advantageous for stable remote control of a plurality of working machines 12 and the flying object 38, which improves the working efficiency of the working machine 12 and stabilizes the monitoring work by the flying object 38. advantage over
Further, by increasing the frequency band of the second wireless line C2 that connects the housing 36 and the control station 10, the wireless transmission speed of the second wireless line C2 can be increased. This is advantageous in transmitting a large amount of image information to the second display unit 26 of the control station 10 at high speed.
In addition, radio waves in a high frequency band have the property of being highly rectilinear and difficult to reach a wide range. Since the relative positional relationship between 10 and housing 36 is substantially fixed, there is no problem in stably performing communication using second wireless line C2.
Specifically, if the orientation of the second antenna 2402 of the second communication unit 24 of the control center 10 is adjusted in accordance with the orientation of the housing-side antenna 5002 of the housing-side communication unit 50 of the housing 36, the second radio Communication using the line C2 can be stably performed.

Further, in the present embodiment, the frequency band of the first wireless line C1 is set to 2.4 GHz band, and the frequency band of the second wireless line C2 is set to 25 GHz band. can be advantageous.
The frequency bands of the first radio line C1 and the second radio line C2 are not limited to the 2.4 GHz band and the 25 GHz band.
However, if at least the frequency band of the second wireless line C2 is higher than the frequency band of the first wireless line C1, interference between the first wireless line C1 and the second wireless line C2 can be avoided. and the flying object 38 in a stable manner, improving the work efficiency of the working machine 12, and stabilizing the monitoring work by the flying object 38. Since the wireless transmission speed of the second wireless line can be increased, it is advantageous for high-speed transmission of a large amount of image information supplied from the aircraft-side camera 56 .

(Second embodiment)
Next, a second embodiment will be described with reference to FIGS. 6 to 12. FIG.
In the following embodiments, parts and members that are the same as those in the first embodiment are denoted by the same reference numerals as in the first embodiment, and description thereof will be omitted.
The second embodiment differs from the first embodiment in that the drop-off preventing portion 62 is constructed using a sheet 74 that covers the flying body 38 .

As shown in FIG. 6, the control station 10 is provided with a dropping-prevention remote control command section 66 in addition to the configuration of the first embodiment.
When the operator operates the drop prevention remote operation command unit 66, the drop prevention remote operation command unit 66 generates drop prevention unit operation command information, and transfers the drop prevention unit operation command information to the second. It is supplied to the housing side control section 68 to be described later via the communication section 24, the second wireless line C2, and the housing side communication section 50. FIG.

The housing 36 has a housing-side control section 68 in addition to the configuration of the first embodiment.
The housing-side control unit 68 controls an actuator 72, which will be described later, based on the falling-off prevention unit operation command information received from the falling-off prevention remote control command unit 66 via the second wireless line C2 and the housing-side communication unit 50. It is.
The housing-side control unit 68 and the actuator 72 operate by receiving power from the power generation device 46 .

As shown in FIGS. 7 to 10, the drop-out preventing portion 62 is configured including an arm 70, an actuator 72, and a seat 74. As shown in FIGS.
The arm 70 is provided on the housing 36 and can swing between a first swing position P1 (FIG. 7) and a second swing position P2 (FIG. 11).
In this embodiment, arm 70 includes a pair of arm bodies 7002 and rod 7004 .
A pair of arm bodies 7002 are provided so as to sandwich a pair of opposing side walls 3604 of the housing 36 .
The bases of the pair of arm bodies 7002 are arranged at the center of the pair of side walls 3604 in the width direction, and as shown in FIGS. , and the second swing position P2, the tips of the pair of arm bodies 7002 are positioned laterally away from the housing .
A chain double-dashed line connecting point A and point B in FIG. Show the trajectory.

The actuator 72 is supported inside one side wall 3604 of the pair of side walls 3604 , and the base of one arm body 7002 is connected to the drive shaft 7202 of the actuator 72 passing through one side wall 3604 .
The actuator 72 is composed of a motor 72A whose rotation is controlled by the housing-side controller 68 .
As the drive shaft 7202 of the motor 72A rotates forward and backward, the arm 70 moves between the first swing position P1 shown in FIGS. 7, 8 and 9 and the second swing position shown in FIGS. and P2.
A bearing 76 is supported inside the other side wall 3604 of the pair of side walls 3604 , and a support shaft 7010 is provided at the base of the other arm body 7002 . supported as possible.
The drive shaft 7202 and the support shaft 7010 are coaxially positioned and serve as the fulcrum of the pair of arm bodies 7002 .
The rod 7004 extends in a direction orthogonal to the extending direction of the pair of arm bodies 7002 and connects the tips of the pair of arm bodies 7002 .

The sheet 74 is made of a flexible material, has a rectangular shape in plan view in the present embodiment, and is rectangular in the present embodiment.
As shown in FIGS. 7 and 8, one short side of the seat 74 is attached to a portion of the housing 36 near the base of the arm body 7002 positioned at the first swing position P1. is attached to rod 7004 at its short side.
The seat 74 opens above the aircraft landing section 44 at the first swinging position P1 of the arm 70, allowing the aircraft 38 to take off from the aircraft landing section 44 and fly to the aircraft landing section 44. Landing of the body 38 becomes possible.
Further, as shown in FIGS. 9 to 12, the sheet 74 covers the flying object 38 positioned on the flying object landing section 44 at the second swing position P2 of the arm 70, and the flying object 38 is supported by the sheet 74. It becomes difficult to move on the landing section 44 for the flying body and is prevented from dropping out from the landing section 44 for the flying body.
In the present embodiment, the seat 74 is formed with a contour larger than that of the aircraft 38 when viewed from above. The seat 74 is positioned directly above the rotor 3806 and, as shown in FIG. 11, and both sides of the aircraft 38 in the direction perpendicular to the direction connecting the fulcrums of the pair of arm bodies 7002 that hang down due to the weight of the seat 74 as shown in FIG. The portion 74A prevents upward movement of the flying object 38, and the portions 74B and 74C prevent the flying object landing section 44 from moving in two orthogonal directions. The movement of the flying object 38 is prevented, which is advantageous in preventing the flying object 38 from dropping out of the landing/landing part 44 for the flying object.
Further, as shown in FIGS. 11 and 12, when the sheet 74 covers the aircraft 38 positioned on the aircraft landing section 44, each rotor 3806 is covered with the sheet 74 via the guard ring 3810. , the weight of the sheet 74 does not act on the rotors 3806, which is advantageous in protecting the rotors 3806.

Next, a method of using the mobile aircraft device 20 will be described.
As in the first embodiment, the mobile aircraft device 20 with the aircraft 38 positioned on the aircraft takeoff and landing section 44 is stored in the control center 10 away from the work site.
In this case, the arm 70 of the falling-out preventing portion 62 is positioned at the second swing position P2, and the flying object 38 positioned on the flying object takeoff/landing portion 44 is covered with the sheet 74 .
Then, before transporting the work machine 12 to a location near the work area 13, the engine 4602 is started in the control center 10 so that electric power from the generator 4604 is supplied to each part.
Then, as in the case of the first embodiment, the unmanned working machine 12A for transportation such as a forklift is used to lift the mobile aircraft device 20, and the unmanned working machine 12A for transportation is remotely controlled to the control center 10. to a location near the working area 13 of the working machine 12, and the fork is lowered to place the mobile aircraft device 20 on the ground.
The flying object 38 positioned on the flying object landing part 44 is covered with the sheet 74 while the working machine for transportation is traveling, and the flying object 38 is in a state where it is difficult to move on the flying object landing part 44 due to the sheet 74. - 特許庁Therefore, even if the flight body 38 is shaken or vibrated, the flight body 38 is prevented from falling.
Then, when the operator operates the fall prevention remote operation command unit 66 at the control station 10, the fall prevention unit operation command information is transmitted from the fall prevention remote operation command unit 66 to the second wireless line C2 and the housing side. It is transmitted to the housing side control section 68 via the communication section 50 .
As a result, the housing-side controller 68 rotates the motor 72A to swing the arm 70 from the second swing position P2 to the first swing position P1.
As a result, the upper side of the aircraft landing section 44 is opened, and the aircraft 38 can take off from and land on the aircraft landing section 44 .
Therefore, at the control station 10, the operator operates the flying object remote control command unit 22 to fly the flying object 38 while viewing the image information displayed on the second display unit 26. 56 continuously monitors the image information of the working conditions of the plurality of work machines 12 .

When it is time to finish the work, the mobile aircraft device 20 can fly the aircraft 38 by operating the aircraft remote control command unit 22 while viewing the image information displayed on the second display unit 26 . It is made to land on the body landing section 44 .
Next, the worker operates the drop-prevention remote control command unit 66 to transmit the drop-off prevention unit operation command information from the drop-off prevention remote control command unit 66 to the second wireless line C2 and the housing side communication unit 50. to the housing-side control unit 68 via.
As a result, the housing-side controller 68 rotates the motor 72A to swing the arm 70 from the first swing position P1 to the second swing position P2.
As a result, the sheet 74 covers the aircraft 38 positioned on the aircraft landing section 44 .
Next, the unmanned working machine 12A for transportation is remotely operated to retrieve the mobile flying device 20 and transport it to the control center 10. FIG.
Even if shaking or vibration acts on the flying object 38 during transportation of the mobile flying object device 20 by the unmanned work machine 12A for transportation, the drop-off prevention part 62 prevents the flying object from being positioned on the landing part 44 for the flying object. As in the case described above, the body 38 is prevented from falling.
When the unmanned working machine 12A for transportation reaches the control station 10, the mobile flying device 20 is lowered from the unmanned working machine 12A for transportation, and the power generation device 46 is stopped.
Then, in preparation for the next monitoring work, the fuel tank 48 is replenished with fuel, the series of work is completed, and the mobile aircraft device 20 is stored in the control center 10 .
When the mobile aircraft device 20 is stored in the control station 10, the arm 70 of the falling-off prevention section 62 is moved from the second swing position P2 to the first swing position P1, and the aircraft take-off/landing section 44 is moved. It is optional to open the upper part and store the aircraft 38 in a place different from the landing section 44 for the aircraft.
In this case, prior to transporting the mobile aircraft device 20 to the work site, the aircraft 38 is placed on the aircraft take-off part 44, and the arm 70 of the falling prevention part 62 is moved to the first position. The flying object 38 placed on the flying object takeoff/landing section 44 may be covered with the sheet 74 from the swinging position P1 to the second swinging position P2.

According to the second embodiment, the sheet 74 covers the flying object 38 placed on the flying object landing section 44 , so that the flying object 38 is less likely to move on the flying object landing section 44 due to the sheet 74 . Since the flying object 38 can be prevented from falling due to shaking and vibration acting on the flying object 38 during transportation, the durability of the flying object 38 can be improved, and the operating rate can be secured for a long period of time and monitored. It is more advantageous for reliably performing work.
In addition, the drop-off preventing portion 62 covers the flying object 38 placed on the flying object landing portion 44 with the sheet 74 from above, thereby making it difficult for the flying object 38 to move on the flying object landing portion 44 . Therefore, regardless of the size, number and arrangement of the rotors 3806 of the flying object 38, or the size, number and arrangement of the legs, the flying object 38 can be dropped from the flying object landing section 44. This is advantageous in terms of reliably preventing it.
In addition, when it rains, the sheet 74 covers the flying object 38 positioned on the flying object launching/landing part 44, so that the flying object 38 can be protected from rainwater, and failure or deterioration of the flying object 38 can be prevented. This is advantageous in terms of suppression, and is advantageous in improving the durability of the flying object 38 .
In this embodiment, the arm 70 is configured to include a pair of the arm body 7002 and the rod 7004. However, the arm 70 may be composed of a single arm body 7002 and rod 7004. good. However, if the arm 70 includes a pair of arm bodies 7002 as in the embodiment, it is advantageous in smoothly opening and closing the seat 74 .

(Third Embodiment)
Next, a third embodiment will be described with reference to FIGS. 13 and 14. FIG.
The third embodiment differs from the first and second embodiments in that the drop-out preventing portion 62 is configured using an electromagnet.

As shown in FIG. 13, the control station 10 is provided with a fall-off prevention remote control command section 66, as in the second embodiment.
When the operator operates the drop prevention remote operation command unit 66, the drop prevention remote operation command unit 66 generates drop prevention unit operation command information, and transfers the drop prevention unit operation command information to the second. It is supplied to the housing side control section 68 via the communication section 24, the second wireless line C2, and the housing side communication section 50. FIG.

The housing 36 has a housing-side control section 68 as in the second embodiment.
The housing-side control unit 68 controls the energization unit 80 described later based on the falling-off prevention unit operation command information received from the falling-off prevention remote control command unit 66 via the second wireless line C2 and the housing-side communication unit 50. It is something to do.
Note that the housing-side control unit 68 and the power supply unit 80 operate by receiving power from the power generation device 46 .
As shown in FIGS. 13 and 14 , the fall-off prevention portion 62 includes an electromagnet portion 78 and a current-carrying portion 80 .
The electromagnet part 78 is provided in the aircraft take-off/landing part 44 and generates a magnetic force when energized.
In the present embodiment, electromagnet portion 78 is provided over substantially the entire upper surface of upper wall 3606 excluding the periphery of insertion hole 3610 .
A cushion material 45 is provided over almost the entire area between the electromagnet portion 78 and the upper surface of the upper wall 3606 , and the movable flying object device 20 can be moved when the flying object 38 is placed on the landing/landing portion 44 for the flying object. is transported by the unmanned working machine 12A for transportation, the vibration received by the housing 36 is not directly transmitted to the flying object 38, and the durability of the flying object 38 is improved.
The energization section 80 switches between energization and non-energization of the electromagnet section 78 and is operated under the control of the housing-side control section 68 .

Also, at least the lower ends of the plurality of legs 3804 of the flying body 38 are made of a material 82 that is attracted to magnets. Various conventionally known materials such as iron and alloys can be used as such materials.

Next, a method of using the mobile aircraft device 20 will be described.
As in the first and second embodiments, the mobile aircraft device 20 with the aircraft 38 positioned on the aircraft takeoff/landing section 44 is stored in the control center 10 away from the work site.
Then, before transporting the work machine 12 to a location near the work area 13, the engine 4602 is started in the control center 10 so that electric power from the generator 4604 is supplied to each part.
Next, when the operator operates the fall prevention remote control command unit 66 at the control station, the fall prevention unit operation command information is transmitted from the fall prevention remote control command unit 66 to the second wireless line C2 and the housing side communication. It is transmitted to the housing side control section 68 via the section 50 .
As a result, the housing-side control unit 68 controls the energizing unit 80 to energize the electromagnet unit 78, generate magnetic force in the electromagnet unit 78, and the material 82 of each leg 3804 of the aircraft 38, which is attracted by the magnet, The formed lower end is in a state of being attracted by the electromagnet portion 78 .
Then, as in the first and second embodiments, the unmanned working machine 12A for transportation such as a forklift is used to lift the mobile aircraft device 20, and the unmanned working machine 12A for transportation is remotely operated to the control center. 10 to a location near the working area 13 of the working machine 12, and the forks are lowered to place the mobile flying body device 20 on the ground.
While the transport work machine is traveling, the flying object 38 positioned on the flying object take-off part 44 is attracted to the electromagnet part 78 by the magnetic force of the electromagnet part 78 at the lower end of each leg part 3804 , and the flying object 38 Since it becomes difficult to move on the landing section 44, even if the flying body 38 is shaken or vibrated, the flying body 38 is prevented from falling.
When the operator operates the drop-prevention remote control command unit 66, the drop-off prevention unit operation command information is transmitted from the drop-off prevention remote control command unit 66 to the second wireless line C2 and the housing side communication unit 50. to the housing-side control unit 68 via.
As a result, the housing-side control section 68 controls the energization section 80 to deenergize the electromagnet section 78, stop the generation of the magnetic force of the electromagnet section 78, and the lower end of each leg section 3804 of the aircraft 38 is driven by the electromagnet section 78. Release the sucked state.
As a result, the flying object 38 can take off from the flying object takeoff/landing section 44 .
Therefore, at the control station 10, the operator operates the flying object remote control command unit 22 to fly the flying object 38 while viewing the image information displayed on the second display unit 26. 56 continuously monitors the image information of the working conditions of the plurality of work machines 12 .

When it is time to finish the work, the mobile aircraft device 20 can fly the aircraft 38 by operating the aircraft remote control command unit 22 while viewing the image information displayed on the second display unit 26 . It is made to land on the body landing section 44 .
Next, the worker operates the drop-prevention remote control command unit 66 to transmit the drop-off prevention unit operation command information from the drop-off prevention remote control command unit 66 to the second wireless line C2 and the housing side communication unit 50. to the housing-side control unit 68 via.
As a result, the housing-side control section 68 controls the energization section 80 to energize the electromagnet section 78, generate a magnetic force of the electromagnet section 78, and attract the lower end of each leg section 3804 of the aircraft 38 with the electromagnet section 78. and
Next, the unmanned working machine 12A for transportation is remotely operated to retrieve the mobile flying device 20 and transport it to the control center 10. FIG.
Even if shaking or vibration acts on the flying object 38 during transportation of the mobile flying object device 20 by the unmanned work machine 12A for transportation, the drop-off prevention part 62 prevents the flying object from being positioned on the landing part 44 for the flying object. As in the case described above, the body 38 is prevented from falling.
When the unmanned working machine 12A for transportation reaches the control station 10, the mobile flying device 20 is lowered from the unmanned working machine 12A for transportation, and the power generation device 46 is stopped.
As a result, since the power supply to the energized portion 80 is stopped, the electromagnet portion 78 is de-energized, the generation of the magnetic force of the electromagnet portion 78 is stopped, and the lower end of each leg portion 3804 of the aircraft 38 is attracted by the electromagnet portion 78. state is released.
Then, in preparation for the next monitoring work, the fuel tank 48 is replenished with fuel, the series of work is completed, and the mobile aircraft device 20 is stored in the control center 10 .

The same effects as those of the first and second embodiments can be obtained in the third embodiment.
In the third embodiment, the magnetic force of the electromagnet portion 78 attracts the lower end of the leg portion 3804 of the flying object 38, which is formed of the material 82 that is attracted to the magnet, so that the flying object 38 can be moved to and from the flying object. Since it is held on the portion 44, it is possible to prevent the flying body 38 from falling due to shaking and vibration acting on the flying body 38 during transportation. This is advantageous in securing the operating rate and reliably performing the monitoring work.
In addition, since the falling-off prevention portion 62 is configured with a simple structure in which the lower end of the leg portion 3804 of the flying object 38 is attracted by the electromagnet portion 78, the size, number, and arrangement of the rotors 3806 of the flying object 38, or Regardless of the size and number of legs 3804 and their arrangement structure, it is possible to reliably prevent the flying object 38 from falling out of the flying object takeoff/landing part 44, and the falling-off prevention part 62 can be simplified and reduced in cost. It is advantageous in planning

(Fourth embodiment)
Next, a fourth embodiment will be described with reference to FIGS. 15 to 19. FIG.
In the fourth embodiment, in addition to the drop-off preventing portion 62 (hereinafter referred to as the first drop-off preventing portion 62) of the third embodiment, a second drop-off preventing portion having a rainproof function covering the aircraft 38 is provided. A portion 84 is provided in the housing 36 to protect the aircraft 38 from rainwater.

As shown in FIG. 15, the control station 10 includes a remote operation commander 66 for the drop-out prevention part of the third embodiment (hereinafter referred to as the first drop-out prevention part remote control commander 66), and a second remote control commander 66. A remote commander 86 is provided for the dropout prevention unit.
When the operator operates the second drop-out prevention unit remote operation command unit 86, the second drop-out prevention unit remote operation command unit 86 generates second drop-out prevention unit operation command information, and operates the second drop-out prevention unit. The falling prevention unit operation command information is supplied to the housing side control unit 68 via the second communication unit 24, the second wireless line C2, and the housing side communication unit 50. FIG.
In the fourth embodiment, the drop-out prevention unit operation command information generated by the first drop-out prevention unit remote operation command unit 66 is referred to as first drop-out prevention unit operation command information.

The housing 36 includes a housing-side control unit 68 similar to that of the third embodiment, and the housing-side control unit 68 transmits signals from the remote control command unit 86 for the second drop-off prevention unit to the second wireless line C2 and the housing side. It further has a function of controlling an actuator 90, which will be described later, based on the second drop-out prevention unit operation command information received via the communication unit 50. FIG.
Note that the housing-side control unit 68 and the actuator 90 operate by receiving power from the power generation device 46 .

The housing 36 is provided with a second drop-out preventing portion 84 in addition to the configuration of the third embodiment.
As shown in FIGS. 16 to 19, the second drop-out prevention portion 84 includes a plurality of arms 88, a pair of actuators 90, and a seat 92. As shown in FIGS. 17 omits illustration of the sheet 92 for the sake of simplification of the drawing.
As described above, the housing 36 has four side walls 3604 rising from the four sides of the rectangular bottom wall 3602. It consists of a pair of side walls 3604A facing each other under the aircraft landing section, and a pair of side walls 3604A consisting of the remaining two side walls 3604 of the four side walls 3604 facing each other in a direction perpendicular to the facing direction. end 3604B.
A plurality of arms 88 are provided in the housing 36, and are provided with a total of five arms 88 including a fixed arm 88A, first, second and third intermediate movable arms 88B, 88C and 88D, and a drive arm 88E. there is
Each arm 88 has a pair of arm bodies 8802 and a rod 8804 that connects the tips of the pair of arm bodies 8802 .
A pair of arm bodies 8802 are provided on the pair of side portions 3604A, and their base portions are arranged in the center of the pair of side portions 3604A.

The actuators 90 are supported inside the pair of side portions 3604A, respectively, and the base portions of the pair of arm bodies 8802 are connected to drive shafts 9002 of the actuators 90 that pass through the side portions 3604A.
The actuator 90 is in a first swing position P1 (see FIG. 16) in which the drive arm 88E is tilted to one end 3604B of the pair of ends 3604B and the other end 3604B of the pair of ends 3604B. It is made to swing between the second swinging position P2 (see FIG. 18) where it falls down.
The fixed arm 88A, the first, second, and third intermediate movable arms 88B, 88C, 88D, and the drive arm 88E comprise a pair of arm bodies 8802 whose bases are respectively positioned at the center of the pair of side portions 3604A, and a rod 8804 that connects the tips of the arm bodies 8802 .
As shown in FIG. 17, the bases of the arm bodies 8802 of the fixed arm 88A and the first, second and third intermediate movable arms 88B, 88C and 88D are spaced apart axially of the single drive shaft 9002. The base of each arm body 8802 of drive arm 88E is coupled to a single drive shaft 9002 for rotation therewith.

The fixed arm 88A is fixed at the first swing position P1.
As shown in FIG. 17, at the first swing position P1, the fixed arm 88A, the first, second and third intermediate movable arms 88B, 88C, 88D and the drive arm 88E are connected to the rods 8804 of these arms 88A-88E. is located laterally away from the end 3604B of the housing 36, and the fixed arm 88A extends horizontally at the first swing position P1.
The fixed arm 88A is fixed to the first swing position P1 by, for example, hooks (not shown) protruding from the pair of side portions 3604A engaging the pair of arm bodies 8802 of the fixed arm 88A. there is
As shown in FIG. 18, in the second swing position P2 of the drive arm 88E, the rod 8804 of the drive arm 88E is positioned laterally away from the end 3604B of the housing 36 on the opposite side of the fixed arm 88A. The drive arm 88A extends horizontally at the second swing position P2.
As the drive shaft 9002 of each motor 90A rotates forward and backward, the drive arm 88E swings between a first swing position P1 shown in FIG. 16 and a second swing position P2 shown in FIG. be done.

Sheet 92 is formed from a flexible material.
The seat 92 is attached to the rods 8804 of the fixed arm 88A, the first, second and third intermediate movable arms 88B, 88C and 88D and the drive arm 88E, and the pair of arm bodies 8802 of these arms 88A to 88E. Attached to the top half of the tip side.
At the first swing position P1 of the drive arm 88E, the upper and side portions of the aircraft landing section 44 are opened. It covers the top and sides of the aircraft 38 .

Therefore, as shown in FIG. 16, the fixed arm 88A, the first, second and third intermediate movable arms 88B, 88C, 88D, and the drive arm 88E are pivoted at the first swing position P1 of the drive arm 88E. Adjacent to each other in the direction of motion, the seat 92 becomes folded between adjacent arms 88 .
That is, the seat 92 opens the upper side and the side of the aircraft landing section 44 at the first swing position P1 of the drive arm 88E, and the aircraft 38 takes off from the aircraft landing section 44. Landing of the aircraft 38 on the takeoff/landing section 44 becomes possible.
Further, the first, second, and third intermediate movable arms 88B, 88C, and 88D move through the seat 92 by swinging the driving arm 88E from the first swinging position P1 to the second swinging position P2. It swings following the drive arm 88E, and as shown in FIGS. 18 and 19, the fixed arm 88A, the first, second and third movable arms 88B, 88C, 88D and drive arm 88E are separated from each other in their swing directions, and seat 92 is in a state of being unfolded in the swing direction of drive arm 88E.
That is, the seat 92 covers the upper and lateral sides of the flying object 38 positioned on the flying object takeoff/landing section 44 at the second swinging position P2 of the drive arm 88E, and the flying object 38 is supported by the seat 92. It becomes difficult to move on the part 44 and is in a state in which it is prevented from dropping out from the landing part 44 for the aircraft.
In this case, the sheet 92 covers the flying object 38 positioned on the flying object landing section 44 from above and from the sides, thereby protecting the flying object 38 from rainwater. This is advantageous in suppressing failure and deterioration of the airframe 38, and is advantageous in improving the durability of the flying object 38.

Next, a method of using the mobile aircraft device 20 will be described.
As in the third embodiment, the mobile aircraft device 20 with the aircraft 38 positioned on the aircraft takeoff/landing section 44 is stored in the control center 10 away from the work site.
In this case, the drive arm 88 of the drop-out preventing portion 62 is positioned at the second swing position P2, and the upper and lateral sides of the flying object 38 positioned on the flying object takeoff/landing portion 44 are covered with the sheet 92. Let it be
Then, before transporting the work machine 12 to a location near the work area 13, the engine 4602 is started in the control center 10 so that electric power from the generator 4604 is supplied to each part.

Next, at the control station, the operator operates the first fall prevention remote control command unit 66 to transmit the first fall prevention unit operation command information from the fall prevention remote control command unit 66 to the second wireless line C2. and to the housing-side control section 68 via the housing-side communication section 50 .
As a result, the housing-side control unit 68 controls the energizing unit 80 to energize the electromagnet unit 78, generate magnetic force in the electromagnet unit 78, and the material 82 of each leg 3804 of the aircraft 38, which is attracted by the magnet, The formed lower end is in a state of being attracted by the electromagnet portion 78 .
Then, as in the third embodiment, the unmanned working machine 12A for transportation such as a forklift is used to lift the mobile aircraft device 20, and the unmanned working machine 12A for transportation is operated from the control center 10 by remote control. The machine 12 is transported to a location near the work area 13, and the forks are lowered to place the mobile aircraft device 20 on the ground.
While the transport work machine is traveling, the flying object 38 positioned on the flying object take-off part 44 is attracted to the electromagnet part 78 by the magnetic force of the electromagnet part 78 at the lower end of each leg part 3804 , and the flying object 38 Since it becomes difficult to move on the landing section 44, even if the flying body 38 is shaken or vibrated, the flying body 38 is prevented from falling.
In addition, the flying object 38 positioned on the flying object landing section 44 is covered with the sheet 92 while the work machine for transportation is traveling, and the flying object 38 is difficult to move on the flying object landing section 44 due to the sheet 92 . Therefore, even if the flying object 38 is shaken or vibrated, the flying object 38 is prevented from falling.

Then, in the control station 10, the operator operates the second drop-prevention remote control command unit 86, so that the second drop-off prevention unit operation command information is transmitted from the second drop-off prevention remote control command unit 86 to the second drop-off prevention unit operation command information. It is transmitted to the housing side control section 68 via the wireless line C2 and the housing side communication section 50 .
As a result, the housing-side controller 68 rotates the motor 90A to swing the drive arm 88E from the second swing position P2 to the first swing position P1.
As a result, the upper side and the side of the flying body landing section 44 are opened, and the flying body 38 can take off from and land on the flying body landing section 44 .
In addition, when the worker operates the first drop-off prevention remote control command unit 66, the first drop-off prevention unit operation command information is sent from the first drop-off prevention remote control command unit 66 to the second wireless line C2 and the second wireless line C2. It is transmitted to the housing-side control section 68 via the housing-side communication section 50 .
As a result, the housing-side control section 68 controls the energization section 80 to deenergize the electromagnet section 78, stop the generation of the magnetic force of the electromagnet section 78, and the lower end of each leg section 3804 of the aircraft 38 is driven by the electromagnet section 78. Release the sucked state.
As a result, the flying object 38 can take off from the flying object takeoff/landing section 44 .
Therefore, at the control station 10, the operator operates the flying object remote control command unit 22 to fly the flying object 38 while viewing the image information displayed on the second display unit 26. 56 continuously monitors the image information of the working conditions of the plurality of work machines 12 .

When it is time to finish the work, the mobile aircraft device 20 can fly the aircraft 38 by operating the aircraft remote control command unit 22 while viewing the image information displayed on the second display unit 26 . It is made to land on the body landing section 44 .
Next, the worker operates the first drop-off prevention remote control command unit 66 to transmit the first drop-off prevention unit operation command information from the first drop-off prevention remote control command unit 66 to the second wireless line C2 and the second wireless line C2. It is transmitted to the housing-side control section 68 via the housing-side communication section 50 .
As a result, the housing-side control section 68 controls the energization section 80 to energize the electromagnet section 78, generate a magnetic force of the electromagnet section 78, and attract the lower end of each leg section 3804 of the aircraft 38 with the electromagnet section 78. and
In addition, when the operator operates the second drop-off prevention remote control command unit 86, the second drop-off prevention unit operation command information is sent from the second drop-off prevention remote control command unit 86 to the second wireless line C2 and the second wireless line C2. It is transmitted to the housing-side control section 68 via the housing-side communication section 50 .
As a result, the housing-side controller 68 rotates the motor 90A to swing the drive arm 88E from the first swing position P1 to the second swing position P2.
As a result, the sheet 92 covers the upper side and sides of the aircraft 38 positioned on the landing section 44 for the aircraft.

Next, the unmanned working machine 12A for transportation is remotely operated to retrieve the mobile flying device 20 and transport it to the control center 10. FIG.
Even if shaking or vibration acts on the flying object 38 while the mobile flying object device 20 is being transported by the unmanned work machine 12A for transportation, the first drop-off preventing portion 62 and the second drop-off preventing portion 84 prevent the flying object from flying. As in the case described above, the flying object 38 positioned on the body landing/landing part 44 is prevented from falling.
When the unmanned working machine 12A for transportation reaches the control station 10, the mobile flying device 20 is lowered from the unmanned working machine 12A for transportation, and the power generation device 46 is stopped.
As a result, since the power supply to the energized portion 80 is stopped, the electromagnet portion 78 is de-energized, the generation of the magnetic force of the electromagnet portion 78 is stopped, and the lower end of each leg portion 3804 of the aircraft 38 is attracted by the electromagnet portion 78. state is released.
Then, in preparation for the next monitoring work, the fuel tank 48 is replenished with fuel, the series of work is completed, and the mobile aircraft device 20 is stored in the control center 10 .
It should be noted that when the mobile flying vehicle device 20 is stored in the control station 10, the driving arm 88E of the second drop-out preventing portion 84 is changed from the second swinging position P2 to the first swinging position P1. It is optional to open the upper part of the part 44 and store the flying object 38 in a place different from the landing part 44 for the flying object.
In this case, prior to transporting the mobile aircraft device 20 to the work site, the aircraft 38 is placed on the aircraft landing section 44, and the drive arm 88E of the second fall prevention section 84 is moved. from the first swinging position P1 to the second swinging position P2, and the sheet 92 covers the flying object 38 placed on the flying object takeoff/landing section 44 .

In the fourth embodiment as well, the same effect as in the third embodiment is of course obtained. Since the flying object 38 can be more reliably prevented from falling due to shaking and vibration acting on the flying object 38 during transportation, the durability of the flying object 38 can be improved, the operating rate can be secured for a long period of time, and monitoring work can be facilitated. This is even more advantageous in terms of reliability.
In addition, in the fourth embodiment, when it rains, the sheet 90 of the second drop-out preventing portion 84 is unfolded so that the sheet 90 covers the upper side and side of the flying object 38 positioned on the flying object takeoff/landing portion 44. In this state, the flying object 38 can be protected from rainwater, which is advantageous in suppressing failure and deterioration of the flying object 38 and in improving the durability of the flying object 38 .
In addition, in the fourth embodiment, the case where the second drop-off prevention portion 84 is provided in addition to the first drop-off prevention portion 62 has been described, but the first drop-off prevention portion 62 is omitted and the second drop-off prevention portion 84 is provided. The fall prevention portion 84 may be configured as a single unit.

In the embodiment, the power generated by the power generator 46 constituting the power supply unit is supplied to the aircraft 38 via the power supply cable 4002. However, the battery constituting the power supply unit is housed in the housing 36. Alternatively, battery power may be supplied to the aircraft 38 via the power supply cable 4002 .
In this embodiment, the case 36 and the flying object 38 are connected by the communication cable 4004, and communication between the control center 10 and the flying object 38 is performed via the second wireless line C and the casing 36. As described above, the flying object 38 may be provided with a communication unit capable of wireless communication, and the flying object operation command information and the image information may be transmitted and received between the control center 10 and the flying object 38 via a wireless line. .

20 Mobile aircraft device 36 Housing 3604A Side part 3604B End part 38 Aircraft 3804 Leg part 4002 Power supply cable 44 Aircraft take-off part 45 Cushion material 46 Power generator (power supply part)
50 Housing-side communication unit 62 Drop prevention unit (first drop prevention unit)
64 upright portion 68 housing-side control portion 70 arm 72 actuator 74 seat 78 electromagnet portion 80 current-carrying portion 82 material attracted to magnet 84 second fall prevention portion 88 arm 88A fixed arm 88B first intermediate movable arm 88C second Intermediate movable arm 88D Third intermediate movable arm 88E Drive arm 8802 Arm body 8804 Rod 90 Actuator 92 Seat P1 First swing position P2 Second swing position

Claims (3)

a housing in which the power feeding unit is housed and the upper part of which is a launching and landing unit for the flying object;
a flying object connected to the power supply unit via a power supply cable;
A mobile air vehicle device comprising:
The aircraft landing section is provided with a drop-off prevention section for preventing the aircraft from dropping out of the aircraft landing section when the mobile aircraft device is moved ,
The fall prevention part is
an arm provided on the housing and capable of swinging between a first swinging position and a second swinging position;
an actuator provided on the housing for swinging the arm between the first swing position and the second swing position;
It is made of a flexible material, and has one end attached to a portion of the housing near the arm positioned at the first swing position, the other end attached to the arm, and the first arm. a sheet that opens the upper side of the aircraft landing section at the swinging position of (1) and covers the aircraft positioned on the aircraft landing section from above at the second swinging position;
The housing is
a housing-side communication unit that receives drop prevention unit operation command information via a wireless line;
a housing-side control unit that controls the actuator based on the falling prevention unit operation command information received by the housing-side communication unit;
A mobile aircraft device characterized by: a housing in which the power feeding unit is housed and the upper part of which is a launching and landing unit for the flying object;
a flying object connected to the power supply unit via a power supply cable;
A mobile air vehicle device comprising:
The aircraft landing section is provided with a drop-off prevention section for preventing the aircraft from dropping out of the aircraft landing section when the mobile aircraft device is moved ,
The housing has a pair of side portions facing each other below the aircraft landing section and a pair of end portions facing each other in a direction orthogonal to the facing direction,
The falling-off prevention portion includes a fixed arm, a plurality of intermediate movable arms, a drive arm, a seat that spans these arms, and a seat that the drive arm falls on one end of a pair of ends. an actuator for rocking between a first rocking position and a second rocking position lying at the other end of the pair of ends,
The fixed arm, the plurality of intermediate movable arms, and the driving arm each include a pair of arm bodies whose bases are positioned at the centers of the pair of side parts, and a rod connecting the tips of the arm bodies. configured,
the fixed arm is fixed at the first swing position;
The seat is attached to the rods of the fixed arm, the plurality of intermediate movable arms, and the drive arm, and is attached to the tip side upper halves of the pair of arm bodies of these arms. The upper and side sides of the aircraft landing section are opened at the swing position of , and the upper and side sides of the aircraft positioned on the aircraft launch section are opened at the second swing position of the drive arm. cover the
The housing is
a housing-side communication unit that receives drop prevention unit operation command information via a wireless line;
a housing-side control unit that controls the actuator based on the falling prevention unit operation command information received by the housing-side communication unit;
A mobile aircraft device characterized by: The flying object take-off and landing part is configured to include a cushioning material that absorbs impact,
3. The mobile aircraft device according to claim 1 or 2 , characterized in that:

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