WO2023135713A1

WO2023135713A1 - Aircraft, load landing method, and terrestrial vehicle

Info

Publication number: WO2023135713A1
Application number: PCT/JP2022/000973
Authority: WO
Inventors: 鈴木陽一
Original assignee: 株式会社エアロネクスト
Priority date: 2022-01-13
Filing date: 2022-01-13
Publication date: 2023-07-20

Abstract

[Problem] To provide an aircraft or the like capable of reducing impact at the time when a loaded object is detached and preventing cases of defects and incompletion of the detachment. [Solution] Provided is an aircraft 100 comprising a loading unit 20 which holds a loaded object 10, and an assist mechanism 60 which applies a force to the loaded object 10 toward a detachment direction when the loaded object 10 is to be detached from the loading unit 20 to thereby assist in moving the loaded object 10 during detachment.

Description

Aircraft, landing method and ground mobile

The present disclosure relates to an aircraft, an arrival method, and a ground mobile.

In recent years, research and demonstration experiments are progressing toward the practical use of services using flying objects (hereinafter collectively referred to as "flying objects") such as drones and unmanned aerial vehicles (UAVs). . In the development of a home delivery service using an autonomous flight system or a remote-controlled flight system, it is desirable to put it into practical use at an early stage in terms of speeding up the process from ordering to receiving products on e-commerce sites and realization of immediate delivery to remote islands. In addition, there is a need to improve the quality of transportation.

Items that require immediate delivery include highly urgent items such as medical equipment and medical specimens, and meals purchased by end users. Currently, most of these are transported using four-wheeled vehicles and two-wheeled vehicles. The time required for transportation by land varies greatly depending on the presence or absence of paved roads and traffic conditions. Especially in mountains and remote islands, it is difficult to access in a straight line by vehicle, so there are cases where it takes a long time to transport.

Patent Document 1 discloses an aircraft capable of delivering cargo to a predetermined location using an air route by automatically flying and detaching the payload.

U.S. Pat. No. 9,536,216

In Patent Document 1, dropping from the sky can maintain the posture of the load depending on the position of the center of gravity of the load while it is falling, but it is difficult to control the posture of the load due to rebounding after contact with the ground, and it is possible to contact the ground. There is a possibility that the package will be impacted, and the shape of the package will be lost, mixed up, or damaged. In particular, it is desirable to avoid shocks as much as possible, such as pre-cooked food, where the quality of taste and appearance is impaired by crumbling or mixing products, and medical equipment and precision equipment. With regard to objects, such a method may not be suitable as a method for separating the load.

Therefore, in order to prevent the cargo from collapsing or being damaged, the cargo is detached so that the payload mounted on the aircraft is close to the landing surface, and the impact that occurs on the payload during detachment is within a predetermined impact range. It can be released as follows. This can reduce the impact on the load during unloading and improve the quality of delivery. However, in the detachment operation to reduce impact, smooth detachment cannot be performed due to the bias of the center of gravity of the load, and there are cases where tilting of the load cannot be prevented or the detachment cannot be completed.

Therefore, the present disclosure provides a flying object or the like that can reduce the impact at the time of disconnection of a mounted object, and can prevent the case of disconnection failure and incomplete disconnection.

According to the present disclosure, there is provided a mounting portion that holds a mounted object, and a force applied to the mounted object in a separation direction when the mounted object is separated from the mounted object to move the mounted object during separation. and an auxiliary mechanism for assisting.

Further, according to the present disclosure, there is provided a method for landing a payload using an aircraft including a mounting portion for holding the payload, wherein an assistance provided to the aircraft during landing or hovering of the aircraft. A landing method is provided in which a force is applied to the mounted object in a separation direction using a mechanism to move the mounted object to separate it from the aircraft.

Further, according to the present disclosure, there is provided a mounting portion for holding a mounted object, and a force applied to the mounted object in a separation direction when the mounted object is separated from the mounted object to separate the mounted object. and an auxiliary mechanism for assisting movement.

According to the present disclosure, it is possible to reduce the impact at the time of detaching the mounted object, and to prevent a case where the detachment is unsuccessful or incomplete.

1 is a conceptual side view of an aircraft equipped with an auxiliary mechanism according to the present invention; FIG. FIG. 2 is a side view of the aircraft of FIG. 1 during cruising; 2 is a top view of the aircraft of FIG. 1; FIG. 2 is a side view of the aircraft of FIG. 1 in a landing state; FIG. FIG. 5 is a side view of the aircraft of FIG. 4 when the payload is lowered; 5 is a front view of the aircraft of FIG. 4; FIG. FIG. 6 is a front view of the aircraft of FIG. 5; FIG. 2 is a functional block diagram of the aircraft of FIG. 1; 1 is a side view of an example implementation of a mounting portion of an aircraft according to the present invention; FIG. FIG. 10 is a partial front view of the mounting portion of FIG. 9; FIG. 2 is a front view of a mounting portion provided in the aircraft according to the present invention; FIG. 12 is a front view of the mounting portion of FIG. 11 when the mounted object is lowered; FIG. 12 is a front view of the mounting portion of FIG. 11 when the mounted object is released; FIG. 12 is a front view of the mounting portion of FIG. 11 after releasing the mounted object; FIG. 12 is a front view of the mounting portion of FIG. 11 after releasing the mounted object; 1 is a front view of an example of the configuration of a mounting portion of an aircraft according to the present invention, at the time of landing; FIG. FIG. 17 is a front view of the mounting portion of FIG. 16 when the mounted object is released; FIG. 17 is a front view of the mounting portion of FIG. 16 after releasing the mounted object; FIG. 4 is a side view of a mounting with an auxiliary mechanism according to the invention; 20 is a front view of the mounting portion of FIG. 19; FIG. FIG. 20 is a top view of the mounting portion of FIG. 19; FIG. 22 is a view when the auxiliary mechanism of FIG. 21 is attached and detached; 1 is a side view of an aircraft without auxiliary mechanisms; FIG. FIG. 24 is a view when the aircraft of FIG. 23 has successfully detached the payload; FIG. 24 is a diagram when the aircraft of FIG. 23 fails to separate the payload; 1 is a side view of an aircraft without auxiliary mechanisms; FIG. FIG. 27 is a top view when the aircraft of FIG. 26 fails to separate the payload; FIG. 10 is a top view of the flying object equipped with the auxiliary mechanism when the payload is detached. FIG. 2 is a side view of an aircraft equipped with an auxiliary mechanism; FIG. 30 is a view when the auxiliary mechanism of the aircraft of FIG. 29 acts on the payload; FIG. 10 is a diagram of an aircraft equipped with an auxiliary mechanism when the auxiliary mechanism acts on a payload; FIG. 2 is a conceptual side view of a moving body equipped with an auxiliary mechanism according to the present invention; FIG. 33 is a diagram when the moving body of FIG. 32 separates the mounted object;

The contents of the embodiments of the present invention are listed and explained. An embodiment of the present invention has the following configuration.
(Item 1)
a mounting portion for holding a mounted object;
an auxiliary mechanism for applying a force in a separating direction to the mounted object when separating the mounted object from the mounting portion to assist the movement of the mounted object during separation;
Air vehicle with
(Item 2)
The aircraft according to item 1,
The mounting section has a holding section that holds the bottom surface of the mounted object,
The mounted object is separated from the mounting portion by releasing the holding of the bottom surface of the mounted object by the holding portion and moving the mounted object downward,
Airplane.
(Item 3)
The aircraft according to items 1 and 2,
The auxiliary mechanism assists the movement of the mounted object by a reaction force obtained by elastic deformation.
Airplane.
(Item 4)
The aircraft according to item 3,
The flying object, wherein the auxiliary mechanism is provided so as to span over a space for accommodating the load of the mounting portion.
(Item 5)
The aircraft according to items 1 and 2,
The auxiliary mechanism assists the movement of the mounted object with a force obtained by motor power.
An aircraft characterized by:
(Item 6)
A method for landing a load using an aircraft having a mounting portion for holding the load,
At the time of landing or hovering of the flying object, an auxiliary mechanism provided on the flying object is used to apply a force to the mounted object in a detachment direction to move the mounted object, thereby separating the mounted object from the flying object. ,
delivery method.
(Item 7)
a mounting portion for holding a mounted object;
an auxiliary mechanism for applying a force in a separating direction to the mounted object when separating the mounted object from the mounting portion to assist the movement of the mounted object during separation;
A ground vehicle comprising a

<Details of embodiment according to the present invention>
Hereinafter, an aircraft, a method, a system, a program, etc. according to an embodiment of the present disclosure will be described with reference to the drawings. In this specification, the term “separate” means that the mounted object is released from the holding by the flying object or the mounting portion provided in the flying object, the mounted object can be mechanically separated from the flying object or the mounting portion, and the mounted object is placed on the ground. It means a state in which the load is not locked when placed on the load or moved in the take-out direction.

As exemplified in FIGS. 1 to 7, an auxiliary mechanism (hereinafter collectively referred to as an auxiliary mechanism 60) for assisting the separation of the mounted object 10 according to the present invention is attached to the aircraft 100 or the mounting section 20 provided in the aircraft 100. provided in connection.

The flying object 100 can fly with the mounting portion 20 holding or placing the mounted object 10, and can detach the mounted object 10 at a predetermined timing.

The flying object 100 holding the payload 10 takes off from the takeoff point and delivers the cargo to the destination. The flying object that reaches the destination completes the delivery by separating the load 10. - 特許庁The flying object 100 from which the payload 10 has been detached moves to another destination (for example, a delivery destination of another package, a physical distribution center, a warehouse, etc.). When the payload is detached, the aircraft 100 may be in a landed state or in a state in which it continues to fly.

The flying object 100 used in the present embodiment is any flying object (eg, multicopter, helicopter, fixed-wing aircraft, etc.). In the following description, a case of using a multicopter having a plurality of rotor blades will be described.

As shown in FIG. 1, an air vehicle 100 has a flight section including a plurality of rotors comprising at least a propeller 110 and a motor 111, motor mounts for supporting the rotors, a frame 120, and other elements for flight. I have. It is desirable to have an energy source (for example, secondary battery, fuel cell, fossil fuel, etc.) to operate them. Such energy may be used not only for the flight of the aircraft 100 but also for the operation of the auxiliary mechanism 60 and the like.

It should be noted that the illustrated flying object 100 is drawn in a simplified manner in order to facilitate the description of the structure of the present invention, and for example, detailed configurations such as a control unit are not illustrated.

The flying object 100 advances in the direction of arrow D (-Y direction) in the drawing (details will be described later).

In addition, in the following explanation, terms may be used according to the following definitions. Forward/backward direction: +Y direction and -Y direction, Vertical direction (or vertical direction): +Z direction and -Z direction, Left/right direction (or horizontal direction): +X direction and -X direction, Forward direction (forward): -Y direction, Backward direction (backward): +Y direction, Upward direction (upward): +Z direction, Downward direction (downward): -Z direction

The propeller 110 rotates by receiving the output from the motor 111 . Rotation of the propeller 110 generates a propulsive force for taking off, moving, and landing the aircraft 100 from the starting point. The propeller 110 can rotate rightward, stop, and rotate leftward.

The propeller 110 of the flying object of the present invention has one or more blades. Any number of blades (rotors) may be used (eg, 1, 2, 3, 4, or more blades). Also, the vane shape can be any shape, such as flat, curved, twisted, tapered, or combinations thereof. It should be noted that the shape of the wing can be changed (for example, stretched, folded, bent, etc.). The vanes may be symmetrical (having identical upper and lower surfaces) or asymmetrical (having differently shaped upper and lower surfaces). The airfoil, wing, or airfoil can be formed into a geometry suitable for generating dynamic aerodynamic forces (eg, lift, thrust) as the airfoil is moved through the air. The geometry of the blades can be selected to optimize the dynamic air properties of the blades, such as increasing lift and thrust and reducing drag.

In addition, the propellers provided in the flying object 100 of the present invention may have fixed pitch, variable pitch, or a mixture of fixed pitch and variable pitch, but are not limited to this.

The motor 111 causes rotation of the propeller 110, and for example the drive unit can include an electric motor or an engine. The vanes are drivable by a motor and rotate about the axis of rotation of the motor (eg, the longitudinal axis of the motor).

All the blades can rotate in the same direction, and they can also rotate independently. Some of the vanes rotate in one direction and others rotate in the other direction. The blades can all rotate at the same speed, or they can each rotate at different speeds. The number of rotations can be determined automatically or manually based on the dimensions (eg, size, weight) and control conditions (speed, direction of movement, etc.) of the moving body.

The flying object 100 determines the number of rotations of each motor and the flight angle according to the wind speed and direction using the flight controller 1001, ESC 112, transmitter/receiver (propo) 1006, and the like. As a result, the flying object can move such as ascending/descending, accelerating/decelerating, and changing direction.

The flying object 100 can fly autonomously according to the route and rules set in advance or during the flight, and can fly by maneuvering using the transmitter/receiver (propo) 1006 .

The flying object 100 described above has some or all of the functional blocks shown in FIG. Note that the functional blocks in FIG. 8 are an example of a minimum reference configuration. A light controller 1001 is a so-called processing unit. A processing unit may have one or more processors, such as a programmable processor (eg, central processing unit (CPU)). The processing unit has a memory (not shown) and can access the memory. The memory stores logic, code, and/or program instructions executable by the processing unit to perform one or more steps. The memory may include, for example, removable media or external storage devices such as SD cards and random access memory (RAM). Data acquired from sensors 1002 may be communicated directly to and stored in memory. For example, still image/moving image data captured by a camera or the like is recorded in a built-in memory or an external memory.

The processing unit includes a control module configured to control the state of the rotorcraft. For example, the control module may adjust the spatial orientation, velocity, and/or acceleration of a rotorcraft having six degrees of freedom (translational motions x, y, and z, and rotational motions _θx , _θy , and _θz ). control the propulsion mechanism (motor, etc.) of the rotorcraft. The control module can control one or more of the state of the payload, sensors.

The processing unit can communicate with a transceiver 1005 configured to send and/or receive data from one or more external devices (eg, terminals, displays, or other remote controllers). Transceiver 1006 may use any suitable means of communication, such as wired or wireless communication. For example, the transceiver 1005 utilizes one or more of a local area network (LAN), a wide area network (WAN), infrared, wireless, WiFi, point-to-point (P2P) networks, telecommunications networks, cloud communications, etc. can do. The transmitting/receiving unit 1005 transmits and/or receives one or more of data obtained by the sensors 1002, processing results generated by the processing unit, predetermined control data, user commands from a terminal or a remote controller, and the like. can be done.

Sensors 1002 according to the present embodiment may include inertial sensors (acceleration sensors, gyro sensors), GPS sensors, proximity sensors (eg lidar), or vision/image sensors (eg cameras).

The plane of rotation of the propeller 110 provided in the flying object 100 according to the embodiment of the present invention is tilted forward as illustrated in FIG. The forward-leaning plane of rotation of propeller 110 produces upward lift and forward thrust, which propels vehicle 100 .

The flying object 100 includes a motor, a propeller, a frame, and the like, and may include a main body that can contain a processing unit, a battery, and the like mounted on the flight section in the flight section that generates lift and thrust. The main body optimizes the shape of the aircraft 100 during cruising, which is expected to be maintained for a long time while the aircraft 100 is moving, and improves the flight speed, thereby effectively shortening the flight time. It is possible to

It is desirable that the main body has an outer skin that is strong enough to withstand flight, takeoff and landing. For example, plastics, FRP, and the like are suitable as materials for the outer skin because of their rigidity and waterproofness. These materials may be the same materials as the frame 120 (including the arms) included in the flight section, or may be different materials.

Also, the motor mount, frame 120, and main body included in the flight section may be configured by connecting the respective parts, or may be integrally molded using a monocoque structure or integral molding. Good (for example, the motor mount and the frame 120 are integrally molded, the motor mount, the frame 120 and the main body are all integrally molded, etc.). By integrating the parts, it is possible to smooth the joints of each part, so it can be expected to reduce drag and improve fuel efficiency of flying objects such as blended wing bodies and lifting bodies.

The shape of the flying object 100 may have directivity. The shape with directivity is, for example, a streamlined main body that has little drag when the flying object 100 is cruising in no wind, a substantially wing-shaped main body, or the like. A shape that improves flight efficiency when flying.

The flying object 100 includes a mounting section 20 capable of holding or placing a load or the like (hereinafter collectively referred to as a mounted object 10) to be transported to a destination. The mounting portion 20 may be fixedly connected to the flight portion 140 or independently displaceable via a connection portion 22, such as a pivot axis or a gimbal having one or more degrees of freedom, as shown in FIGS. can be connected as well. As a result, regardless of the attitude of the aircraft 100, the mounted object 10 is connected so as to be able to maintain a predetermined attitude (for example, horizontal).

Further, as a method of maintaining the mounted object 10 in a predetermined posture, the connecting portion 22 may be provided between the flying portion 140 and the mounting portion 20, or the connecting portion 22 may be provided between the mounting portion 20 and the mounted object 10. may be provided. That is, the connecting portion 22 can be provided at any position between the flight portion 140 and the mounted object 10 .

The position and direction of the rotating shaft 50 used to displace the mounting portion 20 or the mounted object 10 are determined, for example, by the attitude of the aircraft 100 during flight. If the main propulsion direction is the front-back direction, the flight part will tilt in the front-back direction. It is possible to maintain the posture of the object. Further, two or more rotating shafts may be provided in order to accommodate inclination in other axial directions (roll, yaw).

The displacement of the mounting portion 20 or the mounted object 10 may be performed by passive control that maintains the attitude by the weight of the object that should maintain the attitude, or by active control that uses a motor, servo, or the like to control the attitude. may Active control is desirable for more precise attitude control, but the addition of a mechanism leads to an increase in weight and the like, so the control method can be appropriately determined according to the purpose.

It is preferable that the mounting section 20 is made of a material having strength enough to withstand flight, takeoff and landing while holding the mounted object 10 . For example, resin, FRP, etc. are rigid and lightweight, and are therefore suitable as the constituent material of the mounting portion 20 . When metal is used as the material for the mounting portion 20, it is preferable to use a material with a low specific gravity such as aluminum or magnesium. As a result, it is possible to prevent an increase in weight while improving the strength. These materials may be the same material as the frame 120 included in the flying portion 140, or may be different materials.

Also, the motor mount (not shown) and the frame 120 included in the flying section 140 may be configured by connecting the respective parts, or may be integrally molded using a monocoque structure or integral molding. good too. For example, the motor mount and frame 120 may be integrally molded. By integrating the parts, it is possible to smooth the joints of each part, which can reduce drag and improve fuel efficiency.

The flying object 100 carrying the payload 10 lands or hovers after reaching the destination point, and detaches the payload 10 . In a flying object 100 that lands, landing legs 130 provided in the flying object 100 preferably prevent the payload 10 from being impacted by direct contact with the landing surface 200 when the flying object lands. In this case, for example, the landing leg 130 is preferably configured to be longer downward (-Z direction) than the payload 10, at least in a side view of the landing state on a plane. The landing leg 130 may further include a shock absorbing device 131 such as a damper.

The aircraft 100 has a mounting portion 20 that can hold the mounted object 10 so as not to drop it at an unintended timing such as during flight or during takeoff and landing. The mounting section 20 includes a holding section 21 capable of releasing the mounted object 10 from the aircraft at a predetermined timing.

For example, FIGS. 1 to 7 illustrate a method in which the flying object 100 carrying the payload 10 lands after it reaches the sky above the destination point, and the payload is detached.

As shown in FIGS. 4 to 7, after the flying object 100 lands, the mounting section 20 descends while holding the payload 10 and then releases the payload 10 . At this time, the impact applied to the mounted object or the inclination of the mounted object is controlled to be within a predetermined range. The surface with which the released payload 10 comes into contact (hereinafter collectively referred to as landing surface 200) has a flat shape such as a landing pad of a landing facility or a port, and does not cause the released payload to lose its posture or tilt. is desirable.

Any method for holding the mounted object 10 may be used as long as the holding and detachment of the mounted object 10 can be easily performed. For example, as shown in FIGS. 1 to 7, a method of holding the mounted object 10 by supporting the mounted object 10 from the bottom surface by the holding portion 21 may be used, or as shown in FIGS. A method of holding from

FIGS. 9 and 10 show enlarged views of configuration examples of the mounting portion 20 when the bottom surface of the mounted object 10 is held. The holding portion 21 that supports the bottom surface of the mounted object 10 can be raised and lowered by rotating a motor 40 connected to a fully threaded rod 41 . Further, after the load 10 reaches the landing surface 200, the holding portions 21 are rotated outward in the left and right directions (+-X directions) by the hinge 23 provided in the center in the vertical direction, thereby lifting the load 10. can be released. The release by the hinge 23 can be achieved, for example, by using a hinge (generally called a spring hinge) that opens when the hinge moves downward from the cover portion 24 by using a spring reaction force, or by using a servo that moves outward in the left-right direction. It is possible to pull it open by providing a rod that connects with etc.

A servo 30 and a horn 31 shown in FIG. 9 are connected to the cover portion 24 via a rod 32, and when the servo 30 operates, the cover portion 24 and the mounted object 10 rotate about the connecting portion 22. and controls the attitude of the mounted object 10 .

Further, as shown in FIG. 9, a holding portion 26 may be provided to prevent the mounted object 10 from shifting in the front-rear direction during flight of the aircraft 100 . The pressing portion 26 is a member (for example, a projection integral with the covering portion, a plate material, a roller mechanism, a cushioning material, etc.) provided inward from a cover or the like (hereinafter collectively referred to as a covering portion) that covers the holding portion 21 and the mounted object. is. In order to prevent the mounted object 10 from slipping or swinging, it is desirable that the mounted object 10 is mounted between the mounted object 10 and the cover without any room for movement. However, the smaller the gap between the payload 10 and the cover, the more likely the cover will come into contact with the payload 10 and give an impact when the aircraft 100 takes off after releasing the payload 10 .

It is difficult for the flying object 100 that has landed once to take off vertically upwards, such as outdoors, where it is affected by the wind. Therefore, in order to prevent contact when the aircraft 100 takes off obliquely upward, it is desirable to provide a clearance between the payload 10 and the cover. In order to prevent the mounted object 10 from swinging during flight and to prevent the flying object 100 from coming into contact with the covering portion when the flying object 100 takes off again, the holding portion 26 is provided at a position where the mounted object 10 is not intended at least during flight. It is desirable that the height is such that the movement of the mounted object 10 is suppressed and the movement of the mounted object 10 is not restricted when the mounted object 10 is completely lowered by the mounting portion 21 . The holding part 26 can keep the clearance between the load 10 and the covering part when the aircraft 100 takes off again while suppressing the unintended movement of the load 10 during flight.

　Figures 11 to 15 are conceptual diagrams showing the flow from landing of the aircraft equipped with the mechanism in Figure 9 to releasing the payload and taking off again. 11-15 are drawn in a simplified manner to facilitate the description of the unloading structure, and elements such as landing gear 130 and frame 120 of the vehicle are not shown.

First, as shown in FIG. 11, the landing surface 200 and the payload 10 are separated from each other when the aircraft has landed. The mounted object 10 and the holding portion 21 that supports it from the bottom surface are connected to a fully threaded rod 41 via a guide, and are lowered by the rotation of the motor 40 as shown in FIG. As the descent continues, the position of the hinge 23 using a spring hinge that tends to open laterally outward falls below the cover portion 24 . Then, the hinge 23, which has lost the cover portion 24 to hold down, is pushed open outward as shown in FIG.

By taking off again with the hinge 23 pushed open, the loading section can be extracted without the holding section 21 or the like touching the load 10 released on the landing surface. After taking off and securing a sufficient distance from the mounted object, as shown in FIGS. It is closed by being pressed.

The holding part 21 may be provided with a roller 25, a slipping agent, etc. at the end part in order to prevent the holding part 21 from being caught when the flying object staggers and touches the mounted object 10 at the time of re-takeoff.

As a method for vertically moving the mounted object 10, the holder 21 is raised and lowered by a motor, a servo, or the like, sent out by a gear or belt, a string-shaped member or belt-shaped member is hoisted or lowered, and a damper or the like is used to limit the speed. descent due to its own weight. In other words, any method that can achieve the task of lowering and releasing the payload so that the impact applied to the payload is within a predetermined impact range when the aircraft has landed is sufficient. do not have. In addition, when lifting, the movement of the mounted object is not limited to the vertical direction, and horizontal and oblique movement in the left-right direction and the front-rear direction may be performed as necessary.

The lowering method and speed of the holding part 21 and the position (height etc.) at which the load 10 is released are determined based on various conditions such as the type, size and weight of the load 10 and the material of the landing surface 200. It can be determined that the impact on the object has a predetermined magnitude. For example, in order to reduce the impact, it is desirable to lower the descent speed when lowering the load and to set the release position to a position close to the landing surface 200 . In this case, the speed of the entire unloading can be slowed down.

Also, the mounting portion 20 may or may not have a lifting function. As illustrated in FIGS. 23 and 24, when the flying object 100 lands or hovers, the mounting object 10 does not descend, etc., and the holding unit 21 stops holding the mounting object 10 and releases the mounting object 10. can be separated. At this time, if the separation position (height) of the load is far from the loading surface 200, the impact given to the load does not fall within a predetermined impact range, which may lead to collapse of the load. Therefore, it is desirable to determine the length of the landing leg 40 and the position of the mounting portion 20 so as to provide an appropriate uncoupling position.

In this embodiment, when the mounted object 10 moves in a direction including at least the vertical downward direction (downward direction of the flying object) at the time of separation, as illustrated in FIGS. When it is in the vicinity of the center and has a weight suitable for dropping by its own weight, there is a high possibility that the separation from the mounting portion 20 will be performed smoothly. However, when actually providing a delivery service, there are cases in which the center of gravity of an article contained in a transport box or the like, which is a loaded item, is shifted depending on the position of the item, or the loaded item is extremely lightweight.

For example, if the center of gravity is to one side, the mounted object 10 tends to tilt to the heavier side, which may affect the detachment accuracy, especially when the mounted object 10 is detached in the vertical direction. Conversely, if the weight is extremely light, even a slight impact or friction may change the posture of the mounted object, which may affect the separation accuracy. For example, as shown in Figs. 23 and 25, when separating downward using the weight of the mounted object, the slanted object may get caught in the opening, etc., and the separation may not be performed smoothly. sell.

Further, even when the moving direction of the mounted object 10 accompanying the detachment is the front, rear, left, and right of the flying object, for example, as illustrated in FIGS. It may clog the disconnection port and make disconnection difficult. Moreover, in the case where a person manually moves the mounted object, if the clearance between the mounting portion 20 and the mounted object 10 is small, there is a possibility that the movement will be inconvenient.

Therefore, the mounting section 20 according to the present embodiment includes an auxiliary mechanism 60 for assisting the movement of the mounting section 10 in the separating direction. The auxiliary mechanism 60 assists the separation of the mounted object 10 from the mounting portion 20 by applying a predetermined force to the mounted object 10 when the mounted object 10 is separated. As a result, for example, the auxiliary mechanism 60 can expand the allowable range of the center-of-gravity position and the weight that allow the mounted object 10 to be smoothly detached.

As exemplified in FIGS. 19-22, 29 and 30, the auxiliary mechanism 60 may apply force to the mounted object 10 using, for example, reaction force based on elastic deformation of the rubber band 61. . Specifically, one end of the auxiliary mechanism 60 connected to the mounting portion 20 is partly or wholly formed of a rubber band, and the mounted object 10 contacts the auxiliary mechanism 60, thereby causing a shock as shown in FIGS. 13 and 29. By being provided in a deformed state, a force is applied to push the mounted object 10 in the detachment direction.

As illustrated in FIGS. 29 and 30, when the mounted object 10 is released in the detachment direction, the rubber band 61 tries to return to its original shape, so the auxiliary mechanism 60 pushes the mounted object 10 in the detachment direction. generate power. This assists in separating the mounted object 10 . If the mounted object 10 is light, it is possible to push out the mounted object 10 in the separation direction by applying an appropriate force from the rubber band 61 . Also, when the mounted object 10 tends to incline in the separation direction due to the deviation of the center of gravity, as shown in FIG. Since the force is applied to the point, an action to return the inclination of the mounted object is generated.

19 to 22 show one specific configuration example of the auxiliary mechanism 60 using the rubber band 61. FIG. The configuration of the auxiliary mechanism 60 and the method for assisting separation are not limited to the above configurations and methods as long as they can apply a predetermined force in the separation direction to the load 10 to be unloaded. For example, the same or similar effects can be obtained by using the elasticity of elastic materials other than rubber bands, the power of motors, servos, cylinders, etc., and the pressure such as air pressure, oil pressure, and water pressure. When a motor or the like is used, the timing and strength of force can be adjusted, but the weight of the auxiliary mechanism 60 may increase compared to the case where a rubber band or the like is used. Therefore, it is desirable to select a configuration suitable for the auxiliary mechanism according to the application, taking various trade-offs into consideration.

Even if the configuration of the auxiliary mechanism is different, for example, it is desirable that the contact area of the portion that applies force to the mounted object 10 (hereinafter collectively referred to as the action portion) is a line or a surface (for example, FIG. 28 and FIG. 28). Figure 31). When the area of the action portion is small, two or more points are used. By increasing the area of the acting portion, the precision of the force exerted by the auxiliary mechanism 60 on the mounted object 10 is improved, and the mounted object 10 can be separated more reliably.

When the auxiliary mechanism 60 includes a band- or string-shaped member, for example, the member may be temporarily split so that the load 10 can be placed from above. For example, as shown in FIGS. 21 and 22, by dividing a rubber band 61 into two and providing a detachable part 62 such as a buckle whose ends can be detached from each other, the load 10 can be placed and supported. Attachment of the mechanism 60 becomes simple.

Also, even when the movement direction associated with the separation of the mounted object 10 is the front, rear, left, and right of the aircraft, the separation can be simplified by using the auxiliary mechanism 60 according to the present disclosure. For example, as shown in FIG. 27, even when the mounted object is separated from the rear of the aircraft, jamming or the like may occur due to the direction of the mounted object being shifted due to the impact or the touch of a human hand. be. Even in such a case, it is possible to reduce clogging or the like that may occur during separation of the mounted object 10 by performing separation using the auxiliary mechanism 60 according to the present invention as shown in FIG.

Furthermore, by lengthening the moving distance of the separation of the mounted object 10 by the auxiliary mechanism 60 and moving the mounted object 10 to a state where all the mounted object 10 is out of the mounting section 20, a person can approach the flying object 100 and lift the load by hand. It can be expected that work such as drawing out can be omitted.

The control of the flight of the aircraft 100 and the detachment operation of the mounting section 10, and the control of the accompanying operation of the auxiliary mechanism 60 may be executed by programs incorporated in part or wholly different control devices. It may be executed by a program possessed by a control unit provided in 100 . In addition, in preparation for cases where autonomous control becomes difficult, it is preferable that the control of the above operations can also be executed by remote control using a radio or a control system.

Also, as illustrated in FIGS. 32 and 33, the auxiliary mechanism 60 may be provided not only in the flying object 100 but also in a ground moving object 300 such as a UGV (Unmanned Ground Vehicle) having a mounting portion 20. By providing the auxiliary mechanism 60, the separation accuracy of the mounted object 10 separated from the ground moving body 300 can be improved, and the separation operation can be automated, as in the case of providing the auxiliary mechanism 60 in the aircraft 100.

The configuration of the aircraft in each embodiment can be implemented by combining multiple aircraft. It is desirable to consider a suitable configuration according to the cost of manufacturing the flying object and the environment and characteristics of the place where the flying object is operated.

The above-described embodiments are merely examples for facilitating understanding of the present technology, and are not intended to limit and interpret the present disclosure. It goes without saying that this disclosure can be modified and improved without departing from its spirit, and that this disclosure includes equivalents thereof.

10 Mounted object 20 Mounting part 21 Holding part 22 Connecting part 23 Hinge 24 Cover part 25 Roller 40 Motor 41 Fully threaded rod 50 Rotating shaft 60 Auxiliary mechanism 61 Rubber band 62 Detachable part 100 Aircraft 110a to 110h Propellers 111a to 111h Motor 120 Frame 130 Landing leg 131 Damper 140 Flying part 200 Landing surface (landing surface)
300 ground moving body 1000 battery 1001 flight controller 1002 sensors 1003 gimbal 1004 transmitter/receiver 1006 transmitter/receiver (propo)

Claims

a mounting portion for holding a mounted object;
an auxiliary mechanism for applying a force in a separating direction to the mounted object when separating the mounted object from the mounting portion to assist the movement of the mounted object during separation;
Air vehicle with
The aircraft according to claim 1,
The mounting section has a holding section that holds the bottom surface of the mounted object,
The mounted object is separated from the mounting portion by releasing the holding of the bottom surface of the mounted object by the holding portion and moving the mounted object downward,
Airplane.
The aircraft according to claim 1 and claim 2,
The auxiliary mechanism assists the movement of the mounted object by a reaction force obtained by elastic deformation.
Airplane.
The aircraft according to claim 3,
The flying object, wherein the auxiliary mechanism is provided so as to span over a space for accommodating the load of the mounting portion.
The aircraft according to claim 1 and claim 2,
The auxiliary mechanism assists the movement of the mounted object with a force obtained by motor power.
An aircraft characterized by:
A method for landing a load using an aircraft having a mounting portion for holding the load,
At the time of landing or hovering of the flying object, an auxiliary mechanism provided on the flying object is used to apply a force to the mounted object in a detachment direction to move the mounted object, thereby separating the mounted object from the flying object. ,
delivery method.
a mounting portion for holding a mounted object;
an auxiliary mechanism for applying a force in a separating direction to the mounted object when separating the mounted object from the mounting portion to assist the movement of the mounted object during separation;
A ground vehicle comprising a