JP7134927B2 - flying object - Google Patents

Description

The present invention relates to aircraft.

Air vehicles that fly in the stratosphere to provide a stratospheric platform have been known (see, for example, US Pat.
[Prior art documents]
[Patent Literature]
[Patent Document 1] JP-A-2002-211496

For example, it is desirable to provide a technique for preventing breakage of the main wing of a flying object when the flying object suddenly receives a gust of high wind speed.

According to a first aspect of the invention, an air vehicle is provided. The aircraft has a main wing. The aircraft may comprise a first projection and a second projection downwardly projecting from the main wing, arranged at different positions in the spanwise direction of the main wing. The flying object may have a linear member. When a predetermined condition is satisfied, the flying object shifts the linear member from the stowed state to a separation restriction state in which separation of the first protrusion and the second protrusion due to deflection of the main wing is restricted. It may be provided with a member control unit that controls to change to .

The linear member may be accommodated in the first projecting portion, one end of the linear member may have a piercing portion, and the other end of the linear member may be fixed to the first projecting portion. The member control section may have an injection section arranged on the first projection section for injecting the piercing section toward the second projection section, and the linear member may include the The separation restricted state may be achieved by the piercing portion sticking into the second projecting portion. The second projecting portion may have a plate-like member into which the protruding portion pierces. The piercing portion may be a board anchor. The first projecting portion may have a winding portion around which the linear member is wound, and the linear member may be wrapped around the winding portion and stored. The first projecting portion may have a tension adjusting portion that adjusts the tension of the linear member in a state where the piercing portion is pierced into the second projecting portion. The tension adjusting section may adjust the tension of the linear member by adjusting the winding of the linear member by the winding section. The injection part may have a direction adjustment part for adjusting the injection direction of the laser sight and the piercing part. The injection section may have a wing control section for controlling the wing section provided on the piercing section. The flying object may include a vibration canceller that reduces vibration applied to the ejection section. The flying object includes a second linear member having a piercing portion on one end side and a second linear member fixed to the first projecting portion or the second projecting portion on the other end side, and the second linear member is fixed. a second injection part arranged on the first projection part or the second projection part of the second projection part for projecting the piercing part of the second linear member toward the wing tip of the main wing part; Be prepared for more.

The linear member may have one end fixed to the first projecting portion and the other end fixed to the second projecting portion, and may be supported by a support portion on the bottom surface of the main wing portion in the stored state. The member control section may cause the support section to release the linear member, thereby changing the linear member from the stored state to the separation restricted state. The first projecting portion may have a winding portion around which the linear member is wound, and the member control portion causes the support portion to release the linear member, and then causes the linear member to be wound by the winding portion. The tension in the linear member may be adjusted by adjusting the winding of the member.

The aircraft may include a deflection amount detection section that detects a deflection amount of the main wing section, and the member control section detects the linear member when the deflection amount of the main wing section is greater than a predetermined threshold value. may be controlled to change from the housed state to the separation restricted state. The flying object may include a tilt amount detection unit that detects a tilt amount of at least one of the first projecting portion and the second projecting portion. When the number of linear members is greater, the linear member may be controlled to change from the stored state to the separation restricted state. The flying object may include a distance detection section that detects a distance between the first protrusion and the second protrusion, and the member control section detects a distance between the first protrusion and the second protrusion. becomes longer than a predetermined threshold value, the linear member may be controlled to change from the housed state to the separation restricted state. The flying object may include a vibration amount detection unit that detects an amount of vibration applied to the main wing, and an alternating load derivation unit that derives an alternating load applied to the main wing based on the amount of vibration, and The member control section may control the linear member to change from the stored state to the separation restricted state when the alternating load derived by the alternating load deriving section satisfies a predetermined condition. The linear member may be a wire having elasticity. The linear member may have a swivel. The flying object may include a flight control unit that controls flight of the flying object, and the flight control unit moves the flying object to a predetermined area when the predetermined condition is satisfied. Flight of the vehicle may be controlled to move.

It should be noted that the above summary of the invention does not list all the necessary features of the invention. Subcombinations of these feature groups can also be inventions.

An example of an aircraft 100 is shown schematically. 1 schematically illustrates an example air vehicle 100 that functions as a stratospheric platform. An example of an injection device 300 is shown schematically. 3 schematically shows an example of an injection device 300 comprising a winding section 360 and a tension adjustment section 362. FIG. An example of a vibration canceller 500 is shown schematically. An example of a plate member 370 is shown schematically. An example of an injection device 300 is shown schematically. An example of the functional configuration of the injection device 300 is shown schematically. An example of the member management apparatus 380 is shown schematically. An example of the functional configuration of the member management device 380 is shown schematically. 1 schematically shows an example of the hardware configuration of a computer 1200 that functions as an injection device 300 or a member management device 380. FIG.

Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. Also, not all combinations of features described in the embodiments are essential for the solution of the invention.

FIG. 1 schematically shows an example of an aircraft 100. As shown in FIG. The aircraft 100 includes a main wing section 110 , a propeller 120 , a central section 130 and a pod 200 . The aircraft 100 has two or more pods 200 . Although FIG. 1 illustrates a case in which four pods 200 are provided, the number of pods 200 is not limited to this.

The main wing portion 110 has a property of bending. The main wing portion 110 has, for example, a wing structure with spars, ribs, and outer surfaces. The spar is a member incorporated in the spanwise direction of the main wing portion 110, the rib is a member attached so as to cross the spar, and the outer surface is provided for the spar and the rib. The spar and rib material may be of any material. The material of the outer surface can also be any material. A plate-like member, a film-like member, or the like can be employed as the material for the outer surface.

Main wing 110 has solar panels 112 . The solar panel 112 is arranged, for example, on the upper surface of the main wing portion 110 . Also, if the outer surface of the main wing portion 110 is made of a transparent material, the solar panel 112 may be arranged inside the main wing portion 110 .

Electric power generated by the solar panel 112 is stored in batteries arranged in at least one of the main wing section 110 , the central section 130 , and the pod 200 . The electric power stored in the battery can be used by each component of the aircraft 100 .

A control device for controlling the flying object 100 may be arranged in the central part 130 . The controller may be located within the wing section 110 or within the pod 200 .

A controller may control the flight of the air vehicle 100 . The controller controls the flight of the aircraft 100 by controlling the rotation of the propellers 120, for example. Further, the flying object 100 may control the flight of the flying object 100 by changing the angles of flaps and elevators (not shown).

The controller may control communications of the aircraft 100 . The flying object 100 performs wireless communication with the ground using, for example, an antenna (not shown).

Air vehicle 100 may be capable of flying in any area of the sky. The flying object 100 flies in the stratosphere, for example. Air vehicle 100 may function as a stratospheric platform.

FIG. 2 schematically illustrates an example air vehicle 100 that functions as a stratospheric platform. The aircraft 100 has a feeder link antenna and a service link antenna.

The aircraft 100 establishes a feeder link with the gateway 22 on the ground using a feeder link antenna. Also, the aircraft 100 forms a wireless communication area 102 on the ground by irradiating a beam toward the ground using a service link antenna, and provides wireless communication services to the user terminals 30 within the wireless communication area 102. offer.

The user terminal 30 may be any terminal as long as it can communicate with the aircraft 100 . For example, the user terminal 30 is a mobile phone such as a smart phone. The user terminal 30 may be a tablet terminal, a PC (Personal Computer), or the like. The user terminal 30 may be a so-called IoT (Internet of Thing) device. The user terminal 30 can include anything that corresponds to the so-called IoE (Internet of Everything).

The aircraft 100 provides wireless communication services to the user terminals 30 by, for example, relaying communications between the user terminals 30 and the network 20 on the ground. Network 20 may include a core network provided by a carrier. The core network may conform to any mobile communication system, such as 3G (3rd Generation) communication system, LTE (Long Term Evolution) communication system, 4G (4th Generation) communication system, and 5G (5th Generation) communication system. It conforms to the mobile communication system after the communication system. Network 20 may include the Internet.

The aircraft 100 , for example, establishes service links with gateways 22 located at various locations on the ground, and communicates with the ground network 20 via the gateways 22 . Also, for example, the aircraft 100 communicates with the network 20 via a communication satellite 80 . In this case, the aircraft 100 has an antenna for communicating with the communications satellite 80 .

The flying object 100 , for example, circulates over a ground area to be covered along a circular flight path, and covers the ground area with a wireless communication area 102 . The flight path may be a perfect circle, an ellipse, or a figure-eight shape. In some cases, the flying object 100 circling above the ground area is referred to as fixed-point flight. Further, the flying object 100 covers the entire ground area by moving over the ground area while covering part of the ground area to be covered by the wireless communication area 102, for example.

The aircraft 100 transmits data received from user terminals 30 within the wireless communication area 102 to the network 20, for example. Further, for example, when the aircraft 100 receives data addressed to the user terminal 30 within the wireless communication area 102 via the network 20 , the aircraft 100 transmits the data to the user terminal 30 .

Air vehicle 100 may be controlled by flight management equipment 40 on the ground. Air vehicle 100 flies and forms wireless communication area 102 according to instructions sent by flight management device 40 via network 20 and gateway 22, for example. Flight management device 40 may transmit instructions to air vehicle 100 via communications satellite 80 .

The main wing portion 110 of the flying object 100 is designed to have sufficient strength so as not to break even if it receives a strong wind, although it will bend during flight. Therefore, the risk of breakage is extremely low, but even if the main wing section 110 encounters a situation that greatly exceeds expectations, such as a sudden gust with an abnormal wind speed, there is no risk of the main wing section 110 breaking. It is desirable to have reducible functionality on board the vehicle 100 .

In the aircraft 100 according to the present embodiment, for example, when the deflection of the main wing 110 exceeds a predetermined threshold value, the separation between the adjacent pods 200 is restricted by the linear member, so that the main wing 110 is bent. It has a function of suppressing the bending of the When a predetermined condition is satisfied, the flying object 100 changes the linear member from the stored state to the separation restriction state that restricts the separation of the adjacent pods 200 due to the bending of the main wing portions 110. A member control unit that controls the

The aircraft 100 includes, for example, at least one of the plurality of pods 200 with an injection device that injects a linear member into an adjacent pod 200 . The linear member has a protruding portion at one end and is fixed to the injection device at the other end. The injection device changes the state of the linear member to the separation restricted state by injecting the piercing portion into the adjacent pod 200 in response to the satisfaction of a predetermined condition. The injection device may be an example of the member controller.

FIG. 3 schematically shows an example of an injection device 300. As shown in FIG. In FIG. 3 , an injection device 300 is arranged in a pod 210 that is one of a plurality of pods 200 , and the injection device 300 pushes a piercing portion 402 of a linear member 400 toward a pod 220 adjacent to the pod 210 . A case of injection is illustrated. Pod 210 may be an example of a first protrusion, and pod 220 may be an example of a second protrusion.

The aircraft 100 includes a frame 212 fixed to the spar 114 of the main wing section 110 and an injection device 300 fixed to the frame 212 . The aircraft 100 also includes a frame 222 fixed to the spar 114 and a plate member 370 fixed to the frame 222 .

The flying object 100 also includes a sensor for detecting when the deflection amount of the main wing portion 110 exceeds a predetermined threshold value. FIG. 3 illustrates a case where the flying object 100 includes a deflection sensor 140 that detects the amount of deflection of the spar 114 .

Injection device 300 changes linear member 400 in the housed state to a separation restriction state in which the separation between pods 210 and 220 is restricted in response to the satisfaction of a predetermined condition. The injection device 300 may change the linear member 400 into the separation restricted state by injecting the piercing portion 402 toward the plate-shaped member 370 in response to the satisfaction of a predetermined condition. The injection device 300 may determine that the predetermined condition is satisfied when the amount of deflection detected by the deflection sensor 140 exceeds a predetermined threshold.

For example, after piercing the plate-like member 370 , the barb of the piercing portion 402 automatically expands and is held by the plate-like member 370 . The piercing portion 402 is, for example, a so-called board anchor. The structure of the board anchor may be any known structure. The linear member 400 with the piercing portion 402 pierced into the plate member 370 restricts the separation between the pods 210 and 220 .

The linear member 400 is, for example, a metal wire. The material of the metallic wire can be any material. The linear member 400 may be a non-metallic wire. The material of the non-metallic wire can be any material. For example, linear member 400 may be a fiber wire.

The plate member 370 is pierced by the piercing portion 402 . The plate-like member 370 may be made of any material as long as it can be pierced by the piercing portion 402 .

It is desirable that the linear member 400 has high strength. As a result, the separation between the pods 210 and 220 can be more firmly restricted.

The linear member 400 preferably has high elasticity. As a result, the linear member 400 elastically extends during ejection and contracts after being held, thereby further restricting the separation between the pods 210 and 220 . Further, when a sudden force such as a gust of wind is applied to the main wing portion 110 and the force acts in the direction in which the pods 210 and 220 are separated from each other, the force can be absorbed by the elasticity of the linear member 400 .

It is desirable that the linear member 400 be lightweight. As a result, the overall weight of the flying object 100 can be reduced.

It is desirable that the linear member 400 has a small diameter. Thereby, the air resistance that the linear member 400 receives can be reduced.

Linear member 400 may have a swivel 404 . Thereby, it is possible to suppress the occurrence of kink due to twisting when the linear member 400 is loosened.

The injection device 300 may be equipped with safety devices. For example, launcher 300 may include double or triple safeguards to prevent ejection of piercing portion 402 while handling aircraft 100 on the ground.

The injection device 300 may include a winding section around which the linear member 400 is wound. Further, the injection device 300 may include a tension adjustment section that adjusts the tension of the linear member 400 .

FIG. 4 schematically shows an example of an injection device 300 comprising a winding section 360 and a tension adjustment section 362. As shown in FIG. The linear member 400 may be wrapped around the winding portion 360 and stored.

The tension adjusting portion 362 adjusts the tension of the linear member 400 in a state where the protruding portion 402 is stuck into the plate-like member 370 . The tension adjusting section 362 may adjust the tension of the linear member 400 by adjusting the winding of the linear member 400 by the winding section 360 .

The aircraft 100 may include a vibration canceller that reduces vibrations applied to the ejection device 300 . The structure of the vibration canceller may be any structure. For example, vibration cancellers absorb vibrational energy by supporting the ejection device 300 with dampers. The vibration canceller may also reduce vibrations applied to the injection device 300 by controlling actuators that support the injection device 300 .

FIG. 5 schematically shows an example of a vibration canceller 500. As shown in FIG. A vibration canceller 500 illustrated in FIG. 5 has an actuator 510 that supports the injection device 300 and a gyro sensor 520 installed in the injection device 300 . Vibration canceller 500 drives actuator 510 so that the output of gyro sensor 520 becomes zero.

FIG. 6 schematically shows an example of the plate member 370. As shown in FIG. The plate member 370 has, for example, a circular shape as shown in FIG. 6 and is fixed to the frame 222 . The shape of the plate-like member 370 is not limited to circular and may be any shape.

FIG. 7 schematically shows another example of the injection device 300. As shown in FIG. The injection device 300 illustrated in FIG. 7 injects the piercing portion 412 of the linear member 410 toward the wing tip of the main wing portion 110 . The injection device 300 includes an injection portion that injects the stabbing portion 402 of the linear member 400 toward the pod 220 adjacent to the pod 210 in which the injection device 300 is installed, and a plate-shaped portion arranged at the wing tip of the main wing portion 110 . There may be two ejectors for ejecting the barbs 412 towards the member 372 . The material and the like of the linear member 410 may be the same as those of the linear member 400 . Linear member 410 may have a swivel 414 . The material and the like of the plate-like member 372 may be the same as those of the plate-like member 370 .

FIG. 8 schematically shows an example of the functional configuration of the injection device 300. As shown in FIG. The injection device 300 includes a detection section 310 , a determination section 320 , an injection section 330 , an injection section 340 and a movement instruction section 350 . It should be noted that it is not essential for the injection device 300 to have all of these.

The detection unit 310 has a deflection amount detection unit 311 , an inclination amount detection unit 312 , a distance detection unit 313 , a vibration amount detection unit 314 and an alternating load derivation unit 315 . It is not essential that the detection unit 310 have all of these.

The deflection amount detection section 311 detects the deflection amount of the main wing section 110 . The deflection amount detection section 311 may detect the deflection amount of the main wing section 110 using the deflection sensor 140 .

The tilt amount detection unit 312 detects the tilt amount of the pod 200 in which the injection device 300 is installed with respect to the main wing section 110 . The tilt amount detection unit 312 detects the tilt amount of the pod 200 using, for example, a tilt sensor installed in the pod 200 .

The distance detection unit 313 detects the distance between the pod 200 in which the injection device 300 is installed and the pod 200 adjacent to the pod 200 . The distance detection unit 313 detects the distance by, for example, a distance sensor arranged in the pod 200 in which the injection device 300 is installed.

Vibration amount detection section 314 detects the amount of vibration applied to main wing section 110 . The vibration amount detection section 314 may detect the amount of vibration by a vibration sensor installed on the main wing section 110, for example.

Alternating load derivation section 315 derives the alternating load applied to main wing section 110 . The alternating load derivation section 315 may derive the alternating load based on the amount of vibration detected by the vibration amount detection section 314 . The alternating load deriving unit 315 stores, for example, data indicating the relationship between the amount of vibration and the alternating load in advance, and calculates the alternating load from the amount of vibration detected by the vibration amount detecting unit 314 and the data. derive

Based on the data detected by the detection unit 310, the determination unit 320 determines whether a predetermined condition is satisfied. The determination unit 320 determines, for example, whether or not the deflection amount detected by the deflection amount detection unit 311 is greater than a predetermined threshold. The determination section 320 may determine that a predetermined condition is satisfied when the deflection amount detected by the deflection amount detection section 311 is greater than a predetermined threshold value.

Also, for example, the determination unit 320 determines whether or not the tilt amount detected by the tilt amount detection unit 312 is greater than a predetermined threshold. The determination section 320 may determine that a predetermined condition is satisfied when the tilt amount detected by the tilt amount detection section 312 is greater than a predetermined threshold value.

Also, for example, the determination unit 320 determines whether the distance detected by the distance detection unit 313 is longer than a predetermined distance. The determination unit 320 may determine that a predetermined condition is satisfied when the distance detected by the distance detection unit 313 is longer than a predetermined threshold.

Further, for example, when the alternating load derived by the alternating load derivation unit 315 satisfies a predetermined alternating load condition, the determination unit 320 may determine that the predetermined condition is satisfied. The alternating load condition may be arbitrarily set as a condition under which main wing portion 110 may break.

When the determining unit 320 determines that a predetermined condition is satisfied, the ejecting unit 330 moves the pod 200 adjacent to the pod 200 in which the ejecting device 300 is installed (sometimes referred to as the own pod). (It may be described as an adjacent pod.) The piercing part 402 is ejected. The ejection part 330 may eject the piercing part 402 toward the plate member 370 of the adjacent pod.

The injection section 330 has a direction adjusting section 332 . The direction adjusting part 332 adjusts the injection direction of the piercing part 402 . The direction adjusting part 332 adjusts the ejection direction of the piercing part 402 by changing the angle of the ejection opening of the piercing part 402, for example. The direction adjusting section 332 may adjust the emission direction of the piercing section 402 using a laser sight. For example, the direction adjusting section 332 identifies the direction of the plate-like member 370 using a laser sight, and adjusts the emission direction of the piercing portion 402 to the identified direction. Note that the injection section 330 may not have the direction adjustment section 332 .

The injection section 330 has a vane section control section 334 . The wing controller 334 controls the wing provided on the piercing portion 402 . The wing controller 334 may change the advancing direction of the piercing portion 402 by changing the angle of the wing after ejecting the piercing portion 402 . The wing controller 334 specifies the direction of the plate-like member 370 by using, for example, a laser sight, and controls the wing so that the piercing portion 402 advances toward the plate-like member 370 . Note that the injection unit 330 may not have the vane control unit 334 .

When the determination unit 320 determines that a predetermined condition is satisfied, the ejection unit 340 ejects the piercing portion 412 toward the wing tip. The ejection part 340 may eject the stabbing part 412 toward the plate-like member 372 at the tip of the wing.

The injection section 340 has a direction adjusting section 342 . The direction adjusting part 342 adjusts the ejection direction of the piercing part 412 . The direction adjusting part 342 adjusts the ejection direction of the piercing part 412 by changing the angle of the ejection opening of the piercing part 412, for example. The direction adjusting section 342 may adjust the emission direction of the piercing section 412 using a laser sight. For example, the direction adjusting section 342 identifies the direction of the plate-like member 372 using a laser sight, and adjusts the emission direction of the piercing portion 412 to the identified direction. Note that the injection section 340 may not have the direction adjustment section 342 .

The injection section 340 has a vane section control section 344 . The wing controller 344 controls the wing provided on the piercing portion 412 . The wing controller 344 may change the advancing direction of the piercing portion 412 by changing the angle of the wing after the piercing portion 412 is ejected. The wing controller 344 specifies the direction of the plate-like member 372 by, for example, a laser sight, and controls the wing so that the piercing portion 412 advances toward the plate-like member 372 . Note that the injection unit 340 does not have to have the vane control unit 344 .

Movement instruction section 350 transmits a movement instruction to control device 600 to move flying object 100 to a predetermined area when determination section 320 determines that a predetermined condition is satisfied. The movement instruction unit 350 may transmit the movement instruction to the control device 600 after the condition predetermined by the determination unit 320 is satisfied and the injection unit 330 ejects the piercing portion 402 . Further, the movement instructing section 350 may transmit the movement instruction to the control device 600 after the condition predetermined by the determining section 320 is satisfied and the projecting section 340 ejects the piercing portion 412 .

The control device 600 has a flight control section 610 that controls the flight of the aircraft 100 and a communication control section 620 that controls communication by the aircraft 100 . The flight control unit 610 controls the flight of the flying object 100 so as to move the flying object 100 to a predetermined area in response to receiving the movement instruction. Flight controller 610 may control the flight of aircraft 100 by controlling propellers 120 and flaps 122 .

The flight control unit 610 controls the flight of the aircraft 100, for example, to move it to a predetermined airport. Further, the flight control unit 610 controls the flight of the aircraft 100 so as to move it to an area registered as a safe area, such as the sea, where there is little impact if the aircraft 100 were to crash.

Upon receiving the movement instruction, the communication control unit 620 notifies the flight management device 40 to that effect. The communication control unit 620 may notify the flight management device 40 of the destination to which the flight control unit 610 moves the aircraft 100 . The communication control unit 620 may communicate with the flight management device 40 via the feeder link antenna 124 . Upon receiving a movement instruction, the communication control unit 620 notifies the user terminal 30 that has established a service link via the service link antenna 126 that the aircraft 100 will move, or instructs handover. or disconnect the communication connection.

FIG. 9 schematically shows an example of the member management device 380. As shown in FIG. The member management device 380 may be an example of a member controller.

The member management device 380 manages a linear member 420 which has one end fixed to the pod 210 and the other end fixed to the pod 220 and supported by the support portion 384 on the bottom surface of the main wing portion 110 in the stored state. The member management device 380 changes the linear member 420 from the housed state to the separation restricted state by causing the support portion 384 to release the linear member 420 when a predetermined condition is satisfied.

In the example shown in FIG. 9 , one end of the linear member 420 is fixed by a member management device 380 installed in the pod 210 , and the other end of the linear member 420 is fixed to a fixing portion 382 fixed to the frame 222 of the pod 220 . is fixed to The fixed part 382 may be a plate-like member.

The support portion 384 releasably supports the linear member 420 . The support portion 384 supports the linear member 420 by, for example, a hook that can be opened and closed.

For example, when a predetermined condition is satisfied, the member management device 380 causes the support section 384 to release the linear member 420 and causes the winding section 386 to wind the linear member 420. To limit the separation between the pods 210 and 220. - 特許庁For example, when the deflection amount detected by the deflection sensor 140 exceeds a predetermined threshold value, the member management device 380 determines that the predetermined condition is satisfied.

FIG. 10 schematically shows an example of the functional configuration of the member management device 380. As shown in FIG. The member management device 380 includes a detection section 310 , a movement instruction section 350 and a determination section 390 . The detection unit 310 and the movement instruction unit 350 may be the same as the detection unit 310 and the movement instruction unit 350 described with reference to FIG.

Based on the data detected by the detection unit 310, the determination unit 390 determines whether a predetermined condition is satisfied. A determination method may be the same as that of the determination unit 320 . The determination unit 390 causes the support unit 384 to release the linear member 420 when determining that the predetermined condition is satisfied.

FIG. 11 schematically shows an example of the hardware configuration of a computer 1200 that functions as the injection device 300 or the component management device 380. As shown in FIG. Programs installed on the computer 1200 cause the computer 1200 to function as one or more "parts" of the apparatus of the present embodiments, or cause the computer 1200 to operate or perform operations associated with the apparatus of the present invention. Multiple "units" can be executed and/or the computer 1200 can be caused to execute the process or steps of the process according to the present invention. Such programs may be executed by CPU 1212 to cause computer 1200 to perform certain operations associated with some or all of the blocks in the flowcharts and block diagrams described herein.

Computer 1200 according to this embodiment includes CPU 1212 , RAM 1214 , and graphics controller 1216 , which are interconnected by host controller 1210 . Computer 1200 also includes input/output units such as communication interface 1222 , storage device 1224 , and IC card drives, which are connected to host controller 1210 via input/output controller 1220 . Storage devices 1224 may be hard disk drives, solid state drives, and the like. Computer 1200 also includes legacy input/output units, such as ROM 1230 and keyboard, which are connected to input/output controller 1220 via input/output chip 1240 .

The CPU 1212 operates according to programs stored in the ROM 1230 and RAM 1214, thereby controlling each unit. Graphics controller 1216 retrieves image data generated by CPU 1212 into a frame buffer or the like provided in RAM 1214 or itself, and causes the image data to be displayed on display device 1218 .

Communication interface 1222 communicates with other electronic devices over a network. Storage device 1224 stores programs and data used by CPU 1212 within computer 1200 . The IC card drive reads programs and data from IC cards and/or writes programs and data to IC cards.

ROM 1230 stores therein programs that are dependent on the hardware of computer 1200, such as a boot program that is executed by computer 1200 upon activation. Input/output chip 1240 may also connect various input/output units to input/output controller 1220 via USB ports, parallel ports, serial ports, keyboard ports, mouse ports, and the like.

A program is provided by a computer-readable storage medium such as an IC card. The program is read from a computer-readable storage medium, installed in storage device 1224 , RAM 1214 , or ROM 1230 , which are also examples of computer-readable storage media, and executed by CPU 1212 . The information processing described within these programs is read by computer 1200 to provide coordination between the programs and the various types of hardware resources described above. An apparatus or method may be configured by implementing information operations or processing according to the use of computer 1200 .

For example, when communication is performed between the computer 1200 and an external device, the CPU 1212 executes a communication program loaded into the RAM 1214 and sends communication processing to the communication interface 1222 based on the processing described in the communication program. you can command. Under the control of the CPU 1212, the communication interface 1222 reads the transmission data stored in the transmission buffer area provided in the RAM 1214, the storage device 1224, or a recording medium such as an IC card, and transmits the read transmission data to the network. Received data transmitted or received from a network is written in a receive buffer area or the like provided on a recording medium.

The CPU 1212 also causes the RAM 1214 to read all or necessary portions of files or databases stored in an external recording medium such as a storage device 1224 or an IC card, and performs various types of processing on the data on the RAM 1214. may be executed. CPU 1212 may then write back the processed data to an external recording medium.

Various types of information, such as various types of programs, data, tables, and databases, may be stored on recording media and subjected to information processing. CPU 1212 performs various types of operations on data read from RAM 1214, information processing, conditional decisions, conditional branching, unconditional branching, and information retrieval, which are described throughout this disclosure and are specified by instruction sequences of programs. Various types of processing may be performed, including /replace, etc., and the results written back to RAM 1214 . In addition, the CPU 1212 may search for information in a file in a recording medium, a database, or the like. For example, when a plurality of entries each having an attribute value of a first attribute associated with an attribute value of a second attribute are stored in the recording medium, the CPU 1212 selects the first attribute from among the plurality of entries. search for an entry that matches the specified condition of the attribute value of the attribute, read the attribute value of the second attribute stored in the entry, and thereby determine the first attribute that satisfies the predetermined condition An attribute value of the associated second attribute may be obtained.

The programs or software modules described above may be stored in a computer-readable storage medium on or near computer 1200 . Also, a recording medium such as a hard disk or RAM provided in a server system connected to a dedicated communication network or the Internet can be used as a computer-readable storage medium, whereby the program can be transferred to the computer 1200 via the network. offer.

The blocks in the flowcharts and block diagrams in this embodiment may represent steps in the process in which the operations are performed or "parts" of the apparatus responsible for performing the operations. Certain steps and "sections" may be provided with dedicated circuitry, programmable circuitry provided with computer readable instructions stored on a computer readable storage medium, and/or computer readable instructions provided with computer readable instructions stored on a computer readable storage medium. It may be implemented by a processor. Dedicated circuitry may include digital and/or analog hardware circuitry, and may include integrated circuits (ICs) and/or discrete circuitry. Programmable circuits, such as Field Programmable Gate Arrays (FPGAs), Programmable Logic Arrays (PLAs), etc., perform AND, OR, EXCLUSIVE OR, NOT AND, NOT OR, and other logical operations. , flip-flops, registers, and memory elements.

A computer-readable storage medium may comprise any tangible device capable of storing instructions to be executed by a suitable device, such that a computer-readable storage medium having instructions stored thereon may be illustrated in flowchart or block diagram form. It will comprise an article of manufacture containing instructions that can be executed to create means for performing specified operations. Examples of computer-readable storage media may include electronic storage media, magnetic storage media, optical storage media, electromagnetic storage media, semiconductor storage media, and the like. More specific examples of computer readable storage media include floppy disks, diskettes, hard disks, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory) , electrically erasable programmable read only memory (EEPROM), static random access memory (SRAM), compact disc read only memory (CD-ROM), digital versatile disc (DVD), Blu-ray disc, memory stick , integrated circuit cards, and the like.

The computer readable instructions may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state setting data, or object oriented programming such as Smalltalk, JAVA, C++, etc. language, and any combination of one or more programming languages, including conventional procedural programming languages, such as the "C" programming language or similar programming languages. good.

Computer readable instructions are used to produce means for a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, or programmable circuits to perform the operations specified in the flowchart or block diagrams. A general purpose computer, special purpose computer, or other programmable data processor, locally or over a wide area network (WAN) such as the Internet, etc., to execute such computer readable instructions. It may be provided in the processor of the device or in a programmable circuit. Examples of processors include computer processors, processing units, microprocessors, digital signal processors, controllers, microcontrollers, and the like.

Although the present invention has been described above using the embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It is obvious to those skilled in the art that various modifications and improvements can be made to the above embodiments. It is clear from the description of the scope of claims that forms with such modifications or improvements can also be included in the technical scope of the present invention.

The execution order of each process such as actions, procedures, steps, and stages in the devices, systems, programs, and methods shown in the claims, the specification, and the drawings is particularly "before", "before etc., and it should be noted that they can be implemented in any order unless the output of the previous process is used in the subsequent process. Regarding the operation flow in the claims, the specification, and the drawings, even if the description is made using "first," "next," etc. for convenience, it means that it is essential to carry out in this order. not a thing

20 network, 22 gateway, 30 user terminal, 40 flight management device, 80 communication satellite, 100 aircraft, 102 wireless communication area, 110 main wing, 112 solar panel, 114 spar, 120 propeller, 122 flap, 124 antenna, 126 Antenna 130 central portion 140 deflection sensor 200, 210, 220 pod 212, 222 frame 300 injection device 310 detector 311 deflection amount detector 312 tilt amount detector 313 distance detector 314 vibration amount detection unit 315 alternating load derivation unit 320 determination unit 330 injection unit 332 direction adjustment unit 334 wing control unit 340 injection unit 342 direction adjustment unit 344 wing control unit 350 movement instruction unit 360 windings Attachment part 362 Tension adjustment part 370, 372 Plate-like member 380 Member management device 382 Fixing part 384 Support part 386 Winding part 390 Judgment part 400, 410, 420 Linear member 402, 412 Stab Projection 404, 414 Swivel 500 Vibration canceller 510 Actuator 520 Gyro sensor 600 Control device 610 Flight control unit 620 Communication control unit 1200 Computer 1210 Host controller 1212 CPU 1214 RAM 1216 Graphic controller 1218 display device, 1220 input/output controller, 1222 communication interface, 1224 storage device, 1230 ROM, 1240 input/output chip

Claims (20)

a main wing;
a first projecting portion and a second projecting portion projecting downward from the main wing portion and arranged at different positions in the spanwise direction of the main wing portion;
a linear member;
A separation restriction state in which separation of the first protrusion and the second protrusion due to deflection of the main wing is restricted from the stored state of the linear member in accordance with the satisfaction of a predetermined condition. and a member control unit that controls to change to . The linear member is housed in the first projecting portion, one end of the linear member has a piercing portion, and the other end of the linear member is fixed to the first projecting portion,
The member control section has an injection section arranged on the first projection section for injecting the piercing section toward the second projection section,
2. The flying object according to claim 1, wherein said linear member enters said separation restricted state when said piercing portion pierces said second projecting portion. 3. The aircraft according to claim 2, wherein said second projecting portion has a plate-like member into which said piercing portion pierces. 4. The aircraft according to claim 3, wherein said piercing portion is a board anchor. The first projecting portion has a winding portion around which the linear member is wound,
5. The flying object according to any one of claims 2 to 4, wherein the linear member is stored while being wound around the winding portion. 6. The flying object according to claim 5, wherein the first projecting portion has a tension adjusting portion that adjusts the tension of the linear member in a state where the stabbing portion is pierced into the second projecting portion. 7. The flying object according to claim 6, wherein the tension adjusting section adjusts the tension of the linear member by adjusting the winding of the linear member by the winding section. 8. The aircraft according to any one of claims 2 to 7, wherein the injection section has a direction adjustment section for adjusting the injection direction of the laser sight and the stabbing section. 9. The aircraft according to any one of claims 2 to 8, wherein the ejection section has a wing control section for controlling the wing section provided on the piercing section. 10. The flying object according to any one of claims 2 to 9, comprising a vibration canceller that reduces vibrations applied to the ejection section. a second linear member having a piercing portion on one end side and fixed to the first projecting portion or the second projecting portion on the other end;
The piercing portion of the second linear member disposed on the first projecting portion or the second projecting portion to which the second linear member is fixed is directed toward the wing tip of the main wing portion. 11. An aircraft according to any one of claims 2 to 10, further comprising a second ejection section for ejection. The linear member has one end fixed to the first projecting portion and the other end fixed to the second projecting portion, and is supported by a support portion on the bottom surface of the main wing portion in the stored state,
2. The flying object according to claim 1, wherein the member control section causes the support section to release the linear member, thereby changing the linear member from the stored state to the separation restricted state. The first projecting portion has a winding portion around which the linear member is wound,
13. The method according to claim 12, wherein the member control unit adjusts the tension of the linear member by adjusting the winding of the linear member by the winding unit after the support unit releases the linear member. described aircraft. a deflection amount detection unit that detects the deflection amount of the main wing,
14. The member control unit according to any one of claims 1 to 13, wherein, when the amount of deflection of the main wing is greater than a predetermined threshold value, the linear member is controlled to change from the stored state to the separation restricted state. or the aircraft according to item 1. a tilt amount detection unit that detects the tilt amount of at least one of the first projecting portion and the second projecting portion,
15. The member control unit according to any one of claims 1 to 14, wherein when the amount of inclination is greater than a predetermined threshold value, the linear member is controlled to change from the stored state to the separation restricted state. The aircraft described in . a distance detection unit that detects the distance between the first protrusion and the second protrusion,
The member control unit changes the linear member from the stored state to the separation restricted state when the distance between the first projecting portion and the second projecting portion becomes longer than a predetermined threshold value. 16. An aircraft according to any one of claims 1 to 15, which controls. a vibration amount detection unit that detects the amount of vibration applied to the main wing;
an alternating load derivation unit that derives an alternating load applied to the main wing based on the amount of vibration,
The member control unit controls the linear member to change from the stored state to the separation restricted state when the alternating load derived by the alternating load deriving unit satisfies a predetermined condition. 17. The aircraft according to any one of 1 to 16. The flying object according to any one of claims 1 to 17, wherein the linear member is an elastic wire. The aircraft according to any one of claims 1 to 18, wherein said linear member has a swivel. a flight control unit that controls the flight of the aircraft,
20. The flight control unit controls flight of the flying object to move the flying object to a predetermined area when the predetermined condition is satisfied. 3. Aircraft described in paragraph.

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