JP6376580B1 - Drone cart and drone cart unit - Google Patents

Abstract

The present invention provides a drone cart that incorporates a mechanism of an unmanned air vehicle to reduce the load on an operator involved in transporting a heavy parcel and can be carried more easily and safely. In the present invention, a packing box 2, a weighing scale 3 for measuring the weight of a load mounted on the packing box, a weighing scale are arranged on a plane, and a tire unit 8 is arranged on the bottom surface. A pedestal portion 6 and a drone unit 10 mounted in the pedestal portion are provided. The drone unit 10 includes three or more propellers 18-1 to 18-n. The pedestal portion 6 has the same number as the number of propellers. The drone unit 10 is a drone cart 1 mounted in the pedestal 6 so that the propeller is positioned below the opening. [Selection] Figure 1

Description

  The present invention relates to a drone cart and a drone cart unit that make it easy to transport small packages by incorporating a mechanism of an unmanned air vehicle.

  Conventionally, carts are used for transporting small parcels and the like. According to the cart, small parcels carried by a small truck or the like can be easily transported to a delivery destination where the truck or the like cannot pass. The cart is used for carrying and carrying a plurality of small parcels by an operator, and depending on the type of parcels, the total weight increases and the load on the operator may increase.

  On the other hand, today, it is common to use unmanned air vehicles such as drones for logistics, and various proposals have been made for this purpose.

  For example, Patent Document 1 discloses a transportation system using an unmanned aerial vehicle that can receive a power supply and can move three-dimensionally. In this technology, an unmanned air vehicle is equipped with a container for storing a package to be transported, and flies through a relay base that connects a delivery destination of the package to a delivery destination, and the container is supplied to the unmanned air vehicle. A power storage unit for providing electric power is provided, and the power storage unit is transported while being charged at a relay base while not moving.

Japanese Patent No. 6084675

  However, what is disclosed in Patent Document 1 is merely an unmanned air vehicle used for air transportation, and does not describe a viewpoint that makes it easy to transport small parcels or the like by a carriage.

  In this way, by incorporating the mechanism of an unmanned air vehicle into a cart, the burden on workers involved in transporting heavy loads by the cart is reduced, so that small packages can be transported more easily and safely. There was no prior art to do this.

  The present invention has been made in view of such a problem, and an object of the present invention is to reduce the burden on an operator involved in transporting a heavy parcel by incorporating a mechanism of an unmanned air vehicle. And to make it easier and safer to carry.

In order to solve the above-mentioned problem, a drone cart according to a first aspect of the present invention includes a packing box, a weighing scale for measuring the weight of a load mounted on the packing box, and the weighing scale disposed on a plane. And a pedestal part on which a tire unit is disposed on a bottom surface, and a drone unit mounted in the pedestal part, the drone unit includes three or more propellers, The same number of openings as the number of propellers are provided, the packing box is disposed in a central region that does not touch the opening, the drone unit is located in the pedestal, and the propeller is disposed in the opening. It is mounted so as to be positioned below.

The drone cart according to the second aspect of the present invention includes a packing box, a weighing scale for measuring the weight of a load mounted on the packing box, a pedestal portion on which the weighing scale is disposed on a plane, A drone unit mounted in the pedestal portion; and a cart to which the pedestal portion is fixed. The drone unit includes three or more propellers, and the pedestal portion has the same number as the number of the propellers. An opening is provided, and the drone unit is mounted so that the propeller projects outward from the opening of the pedestal so as not to contact the cargo box .

  In the first and second aspects, the drone unit includes a gyro sensor, an acceleration sensor, a flight controller, and a motor that rotates the propeller. The flight controller includes an output signal from the weighing scale and Based on the output signals from the gyro sensor and the acceleration sensor, the rotational speed of the motor is controlled to adjust the flying height and posture of the drone unit.

The drone cart unit according to the third aspect of the present invention includes a packing box, a weighing scale for measuring the weight of the load mounted on the packing box, a pedestal portion on which the weighing scale is disposed on a plane, and a drone unit mounted in the pedestal portion, the drone unit is provided with three or more propellers, the base portion, the same number of openings of the propeller is provided, wherein The cargo box is disposed in a central region that does not conflict with the opening, and the drone unit is mounted in the pedestal so that the propeller is positioned below the opening.

A drone cart unit according to a fourth aspect of the present invention includes a packing box, a weighing scale for measuring the weight of a load mounted on the packing box, a pedestal portion on which the weighing scale is disposed on a plane, A drone unit mounted in the pedestal portion, the drone unit includes three or more propellers, the pedestal portion is provided with the same number of openings as the number of the propellers, The drone unit is mounted so that the propeller projects outward from the opening of the pedestal so as not to conflict with the cargo box .

  In the third or fourth aspect, the drone unit further includes a gyro sensor, an acceleration sensor, a control unit, a motor drive control unit, and a motor that rotates the propeller, and the control unit includes: Based on the output signal from the weighing scale and the output signal from the gyro sensor and the acceleration sensor, a control signal is sent to the motor drive control unit to adjust the flying height and posture of the drone unit, The motor drive control unit controls the number of rotations of the motor based on the control signal.

  In the third or fourth aspect, the drone cart unit is fixed to the cart by a clamp or a belt member.

In a fifth aspect of the present invention, the packing box, the packing box is laminated, a pedestal portion in which a tire unit is disposed on the bottom surface, and a drone unit mounted in the pedestal portion, The drone unit includes three or more propellers, the pedestal portion is provided with the same number of openings as the number of the propellers, and the packing box is located in a central region that does not conflict with the openings. The drone unit is mounted in the pedestal so that the propeller is positioned below the opening.

In a sixth aspect of the present invention, the drone includes: a packing box; a pedestal portion on which the packing box is stacked; a drone unit mounted in the pedestal portion; and a carriage to which the pedestal portion is fixed. The unit includes three or more propellers, and the pedestal portion is provided with the same number of openings as the number of propellers, and the drone unit does not touch the cargo box. The propeller is mounted so as to protrude outward from the opening.

  According to the present invention, by incorporating a mechanism of an unmanned air vehicle, a drone trolley and a drone trolley unit that reduce the burden on an operator involved in transporting a heavy parcel and can be carried more easily and safely. Can be provided.

It is a lineblock diagram of a drone cart concerning a 1st embodiment of the present invention. It is a disassembled perspective view of the drone cart. It is a figure which shows the structure of the control system of the drone cart. It is a figure which shows the mode of the screen of the control controller of the drone cart. It is a block diagram of the drone trolley | bogie which concerns on 2nd Embodiment of this invention. It is a disassembled perspective view of the drone cart. It is a figure which shows the mode of mounting | wearing the drone trolley | bogie unit etc. to a trolley | bogie. It is a figure which shows the mode of mounting | wearing of the drone trolley | bogie unit to the trolley | bogie which concerns on the example of improvement.

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

<First Embodiment>

  FIG. 1 shows a configuration diagram of the drone cart according to the first embodiment of the present invention, and FIG. 2 shows an exploded perspective view of the drone cart, which will be described. This example is a bogie integrated type.

  As shown in the figure, the drone cart 1 includes a pedestal portion 6, and a weight scale 3 is disposed at the center of the plane of the pedestal portion 6, and a packing box is placed on the weight scale 3. 2 is disposed. A gripping part 5 is mounted behind the plane of the pedestal part 6. The lower part of the base part 6 is opened, and the drone unit 10 is inserted and fixed from the lower opening. At this time, six openings 7 are provided on the plane of the pedestal 6, and the six propellers 18-1 to 18-6 of the drone unit 10 are positioned below the opening 7. A control controller 4 is connected to the drone unit 10 via wiring. In addition to the above, tire units 8 are disposed at four locations behind the plane of the pedestal 6. The configuration in which the grip portion 5 and the tire unit 8 are excluded from the drone cart 1 is a versatile drone cart unit.

  In such a configuration, the drone generally gains lift by continuously applying air to the blades of the propeller. Therefore, if the upper part of the propeller is blocked, there is a possibility that air cannot be continuously applied to the blade. Therefore, in this embodiment, a packing box 2 is provided in which a load is placed in a central region that does not conflict with the propeller opening 7 of the pedestal 6.

  A weight scale 3 is mounted on the bottom surface of the cargo box 2, and load information is transmitted to a flight controller (not shown) in the drone unit 10 in real time.

  That is, in this embodiment, the cargo box 2 is installed on the weighing scale 3, the weight of the load is measured in real time, the load information is transmitted to the flight controller, and the flight controller is connected to the propellers 18-1 to 18-. 6 is controlled. Strictly speaking, the ESC controls the rotational speed of the motor based on a control signal from the flight controller. Thereby, the flying height is maintained at a predetermined height by keeping the lift with respect to the load constant.

  Thus, in the drone unit 10, the flight controller receives the load information from the weight scale 3 of the pedestal 6 and controls the rotation speed of the propellers 18-1 to 18-6 based on the load information and the like. To control the lift. Further, the posture is controlled based on an output signal from a gyro sensor or the like which will be described later. And the conveyance setting according to the condition is also attained by those combination, for example.

  Here, for example, load control and safety control are as follows.

  As for load control, in this example, a weight scale 3 is provided at a lower position of the cargo box 2 to detect the weight of the load, and control based on the load is executed. The flight controller determines how much (how many centimeters) the aircraft is currently flying, based on the relationship between the weight of the load and the lift of the drone unit 10, and uses a lift that matches the load to achieve the specified flying height. Judgment is made automatically and the carriage is not raised above a predetermined height. This also contributes to power saving.

  That is, if the drone cart 1 is set to be lifted from the ground by n (n = 0, 1, 2,...) Cm, etc., the flight controller automatically determines the load and controls the lift force to increase the flying height. Control to maintain (n centimeters). Therefore, it can be transported without worrying about places with many steps or even rough roads. Moreover, when a level | step difference etc. are confirmed visually, it can also avoid by raising lift manually and raising a trolley | bogie.

  On the other hand, for the safety control, since the flight controller determines the load and controls the buoyancy based on the output signal from the weigh scale 3, the safety does not exceed the preset flying height. Can be increased.

Specifically, for example, the following safety control is possible.
・ When it rises more than n [cm] from the ground, it descends automatically immediately.
・ Control the sudden throttle so that it does not suddenly rise or fall.
・ The load does not increase over n [kg].

  Next, FIG. 3 shows and describes the configuration of the control system of the drone unit 10.

  As shown in the figure, the drone unit 10 includes a flight controller 15 as a control unit that performs overall control. The flight controller 15 is connected to the gyro sensor 12 and the acceleration sensor 13, and is further connected to the controller 4 via the interface (I / F) 11 and is connected to the weighing scale 3 via the I / F 14. Yes. In this example, an example in which the controller 4 is connected by wire is shown. However, the present invention is not limited to this, and a predetermined application program can be installed in a smartphone or the like and can be controlled by short-range wireless communication or the like. is there. In that case, the drone unit 10 further includes a communication unit connected to the flight controller 15.

  The flight controller 15 is connected to ESCs (Electronic Speed Controllers) 16-1 to 16-n (n = 1, 2, 3,...) That function as motor drive control units. The outputs of the ESCs 16-1 to 16-n are connected to the motors 17-1 to 17-n. The motors 17-1 to 17-n are mechanically connected to the propellers 18-1 to 18-n. In this example, since it is assumed that six propellers 17-1 to 17-6 are provided, six ESCs 16-1 to 16-6 and six motors 17-1 to 17-6 are provided.

  The flight controller 15 functions as a control unit, obtains information from the gyro sensor 12, the acceleration sensor 13, and various sensors such as a compass and an atmospheric pressure (not shown), monitors the attitude of the drone unit 10, and motor 17-1. Thru 17-n and the direction of travel is controlled. If a GNSS (global satellite positioning system) such as GPS is installed, autonomous flight is possible.

  The gyro sensor 12 detects angular velocities along the three axes of the drone unit 10. The flight controller 15 obtains an angle by integrating this angular velocity. The acceleration sensor 13 mainly detects gravity acceleration and detects the downward direction of the drone unit 10.

  Hereinafter, altitude control and attitude control by the above configuration will be described in detail.

<Advanced control>
A general formula for calculating the flying height of drones is shown below.
Height (flying height) c = weight (gravity) a-rotational speed (lift) b of propeller
Therefore, if the generated lift is greater than the weight (a <b), the drone cart 1 to which the drone unit 10 is fixed moves up. Falls below the weight (a> b).

  If the above calculation formula is used, the flying height of the drone cart 1 to which the drone unit 10 is fixed can be maintained at a predetermined height. That is, the rotational speed of the propellers 18-1 to 18-n may be increased or decreased in accordance with the weight of the small package in the packing box.

  Since the drone unit 10 can individually electronically control the rotation speeds of the propellers 18-1 to 18-n, the flight controller 15 determines the height relative to the weight based on the load information obtained from the weigh scale 3. Is calculated, and a control signal is transmitted to the ESCs 16-1 to 16-n, and the rotational speeds of the motors 17-1 to 17-n are controlled by the ESCs 16-1 to 16-n. The number of revolutions 18-1 to 18-n is controlled.

<Attitude control>
Generally, a drone has three or more propellers in the vertical direction. If the number of propellers is 2 or less, to control the attitude, a mechanism that continuously changes the propeller angle during rotation, such as a cyclic pitch mechanism, is required, but by increasing the number of propellers, The posture can be controlled appropriately by increasing or decreasing the rotation speed of each propeller. Therefore, in this example, the configuration includes six propellers 18-1 to 18-n.

  Also in the attitude control, the rotation number of each motor 17-1 to 17-n is controlled by the flight controller 15 detecting the inclination of the drone unit 10 based on the output signals from the gyro sensor 12 and the acceleration sensor 13, This is done by changing the number of rotations of the motors 17-1 to 17-n in accordance with the direction to be corrected.

  Thus, the flight controller 15 detects the attitude of the drone unit 10 by combining the sensor signals of the gyro sensor 12 and the acceleration sensor 13. And based on this detection result, the output of each motor 17-1 thru | or 17-n which rotates the propeller 18-1 thru | or 18-n is controlled, and the attitude | position of the unit 10 is controlled.

  That is, the flight controller 15 sends control signals related to the rotational speeds of the motors 17-1 to 17-n to the ESCs 16-1 to 16-n. Then, the ESCs 16-1 to 16-n control the rotation speeds of the motors 17-1 to 17-n to rotate the propellers 18-1 to 18-n for flying height control and attitude control. .

  More specifically, in order to perform attitude control, the flight controller 15 receives a signal related to the amount of change in angle sent from the gyro sensor 12 attached to the drone body 10. The flight controller 15 outputs control signals to the ESCs 16-1 to 16-n, and controls the motors 17-1 to 17-n to generate lift in the direction opposite to the direction in which the drone unit 10 is tilted (direction to cancel). Control the number of revolutions. Thereby, the inclination of the drone unit 10 is eliminated. Since the gyro sensor 12 can detect only the change amount of the angle, high stability is realized by detecting the tilting speed by the acceleration sensor 13.

  Further mention is made of the relationship between wind direction and lift. Even if the propellers 18-1 to 18-n of the drone unit 10 have the same outputs of the motors 17-1 to 17-n, factors such as the wind direction act on them, and the actual lift differs. Therefore, the attitude of the drone unit 10 is constantly changing. Therefore, this inclination is detected by the gyro sensor 12, calculated by the flight controller 15, and based on the calculation result, the ESCs 16-1 to 16-n keep the drone unit 10 horizontal so that each of the motors 17-1 to 17-17. -3 is adjusted so that the drone unit 10 is always kept horizontal.

  As for the adjustment of the output, the flight controller 15 calculates and outputs the lift in the opposite direction to the inclination of each propeller 18-1 to 18-3, and maintains the lift when the inclination disappears. For example, the output adjustment may be continued so as to be horizontal while detecting the inclination.

  Even when a load is placed on the carriage, the inclination is determined depending on the place where the load is placed. Therefore, the level is maintained by increasing or decreasing the rotation speed of each propeller 18-1 to 18-n under the control of the flight controller 15 as described above. Like to do.

  Here, FIG. 4 shows an example of the operation screen of the controller 4 and will be described.

  The drone cart 1 can be controlled simply by designating the height to rise by the various controls described above. The operator lifts the drone cart 1 by a predetermined height and then grips the grip portion 5 and operates the front, rear, left and right.

  The ascending operation is set on the screen of FIG. In this example, the flying height from 0 cm to 5 cm can be set. When the flying height is set on this screen, the drone cart 1 is hovered at the flying height.

  The lowering operation is set on the screen shown in FIG. In this example, the flying height from 0 cm to 5 cm can be set. When the flying height is set on this screen, the drone cart hovers at the height.

  The stop operation is set on the screen shown in FIG. In this example, whether to stop or not is selected by two choices. When the stop is set, the rotation speed of the propellers 18-1 to 18-n is gradually decreased so as to descend slowly in order to prevent a sudden descent, and when the height reaches 0 cm, the propeller is completely stopped.

  About safety setting, it sets with the screen of FIG.4 (d). In this example, the maximum rising height can be set between 0 cm and 5 cm. When the safety setting is made, the rotational speed of the propellers 18-1 to 18-n is controlled. For example, when the maximum increase upper limit is exceeded, the rotational speed control is automatically performed so as to decrease. In addition, when the drone cart 1 is in a state where it cannot maintain the horizontal posture, it can be set to automatically descend.

  In addition to the above, a setting may be made such as what percentage to reduce the work load when the worker carries with the drone cart. In that case, the load of the load can be reduced by the lift force even if the drone cart itself does not lift up completely.

  According to the drone cart according to the first embodiment described above, the drone unit is mounted on the pedestal portion and the entire baggage is lifted, so that a heavy baggage can be easily carried.

  A normal drone is a type that hangs luggage and is intended to be transported unattended to a distant place. However, in the present embodiment, it is not necessary to raise the load so that balance control by hanging a load and route control for unmanned flight are not required.

  In addition, after the drone cart is lifted, the front / rear and left / right movements can be moved manually using the gripping part of the drone cart, so the operation method is simple and anyone can do it. It is safe to operate the transporter with the handle directly in the city and in narrow streets. Furthermore, it is sufficient if the load of the load can be eliminated or reduced by the lifting force of the drone unit, and it can be safely transported with small driving and power saving. In addition, steps and stairs can be easily transported depending on the strength of lift. That is, it can be transported easily and safely by adjusting the flying height according to the height and inclination angle of steps, stairs and the like.

Second Embodiment

  FIG. 5 shows a configuration diagram of the drone cart according to the second embodiment of the present invention, and FIG. 6 shows an exploded perspective view of the drone cart. In this example, it is an attachment type which fixes a drone cart unit to a general cart.

  As shown in the figure, the drone cart 20 includes a pedestal portion 24, a weight scale 22 is disposed on the plane of the pedestal portion 24, and a packing box 21 is disposed on the weight scale 22. It is arranged. Six openings 25 are provided on the side surface of the pedestal portion 6, and when the drone unit 30 is mounted, shaft members connected to the six propellers 31-1 to 31-6 of the drone unit 30. Is positioned so as to protrude from the opening 25 to the outside. A control controller 23 is connected to the drone unit 30 via wiring. The pedestal portion 24 is fixed to the carriage 26 by a U-shaped clamp 29 or the like. In this example, the left and right side surfaces are fixed at a total of four locations. The carriage 26 has a grip portion 28. The configuration excluding the carriage 26 (including the grip portion 28) and the U-shaped clamp 29 for connection from the above configuration corresponds to the drone cart unit.

  In such a configuration, the drone generally gains lift by continuously applying air to the blades of the propeller. Therefore, if the upper part of the propeller is blocked, there is a possibility that air cannot be continuously applied to the blade. Therefore, in this embodiment, the pedestal portion 24 is provided with a propeller opening 25 so that the propellers 31-1 to 31-6 protrude from the opening 25 to the outside. Accordingly, the propellers 31-1 to 31-6 can be rotated on the left and right sides of the pedestal portion 24 without contacting the pedestal.

  A weight scale 22 is provided on the bottom surface of the packing box 21, and load information is transmitted in real time to a flight controller (not shown) in the drone unit 30 here.

  In other words, in this embodiment, the cargo box 21 is installed on the weighing scale 22, the weight of the load is measured in real time, and the load controller 21-1 to 31-6 controls the number of revolutions. Send information. Thereby, the lift corresponding to the load is generated, and the lift is maintained so as to have a predetermined flying height.

  The drone unit 30 can control the lift by controlling the rotation speed of the propellers 31-1 to 31-6. Further, the attitude can be controlled by the gyro sensor. Furthermore, since the flight controller receives load information from the weighing scale 22 arranged on the pedestal portion 24 in real time, various electronic controls can be performed. For example, it is possible to carry settings according to the situation. Become.

  Note that the load control and the safety control are as described above in the first embodiment, and the configuration of the control system of the drone unit 30 is also as described above with reference to FIG. 3 in the first embodiment. A duplicate description is omitted. Furthermore, since the state of the screen of the controller 23 is also as described above with reference to FIG.

  Here, FIG. 7 shows and explains how the drone unit is attached to the carriage.

  As shown in the figure, a U-shaped clamp 29 is screwed to the bottom surface of the pedestal 24 of the drone cart 20 and is fixed to the cart 26 by the U-shaped clamp 29. The U-shaped clamp 29 does not conflict with the arrangement area of the tire unit 27 and is devised so as not to obstruct the rotation.

  According to the drone cart which concerns on 2nd Embodiment demonstrated above, a heavy small baggage can be easily carried by carrying a cart with the baggage floated by rotation of the propeller of the drone unit which protruded from the base part. In addition, a normal drone for transportation is a type that hangs luggage, and is intended for unmanned transportation to a distant place, but the drone cart according to this embodiment does not need to be raised high and hangs the luggage. No need for balance control and route control for unmanned flight.

  In addition, since the front / rear / left / right movement is manually moved using the grip of the drone cart, the operation method is simple and anyone can do it. It is safe to operate the transporter with the handle directly in the city and in narrow streets. Moreover, it is sufficient that the load of the load can be eliminated or reduced by the lifting force of the drone unit, and it can be safely transported with small driving and power saving. In addition, steps and stairs can be easily transported depending on the strength of lift.

  As described above in detail, according to the embodiment of the present invention, the packing box 2, the weighing scale 3 for measuring the weight of the load mounted on the packing box 2, and the weighing scale 3 are arranged on a plane, A pedestal portion 6 on which the tire unit 8 is disposed on the bottom surface and a drone unit 10 mounted in the pedestal portion 6 are provided. The drone unit 10 includes three or more propellers 18-1 to 18-n. The pedestal part 6 is provided with the same number of openings 7 as the number of propellers, and the drone unit 10 is mounted in the pedestal part 6 so that the propeller is positioned below the opening part. A drone cart 1 in which the rotation speed of the propeller is controlled based on the output signal 3 is provided. Accordingly, since the entire drone cart can be lifted and maintained up to a predetermined height by the flying force of the drone unit 10, it is possible to easily carry a heavy parcel or the like.

  According to the embodiment of the present invention, the packing box 21, the weighing scale 22 for measuring the weight of the load mounted on the loading box 21, the pedestal portion 24 on which the weighing scale is disposed on the plane, the pedestal The drone unit 30 mounted in the unit and the carriage 26 to which the pedestal portion is fixed are provided. The drone unit 30 includes three or more propellers 31-1 to 31-n, and the pedestal portion 26 includes a propeller. The drone unit 30 is mounted so that the propeller protrudes outward from the opening of the pedestal, and the rotation speed of the propeller is controlled based on the output signal of the weigh scale. A drone cart 20 is provided. Accordingly, since the entire drone cart can be lifted and maintained up to a predetermined height by the flying force of the drone unit 30, it is possible to easily carry a heavy parcel or the like.

  Furthermore, according to the embodiment of the present invention, the packing box 2, the weighing scale 3 for measuring the weight of the load mounted on the packing box, the pedestal portion 6 on which the weighing scale is arranged on a plane, the pedestal portion The drone unit is equipped with three or more propellers 18-1 to 18-n, and the pedestal portion 6 has openings 7 as many as the number of propellers. In addition, the drone unit 10 is provided with a drone cart unit in which a propeller is mounted in a pedestal portion so as to be positioned below the opening, and the rotation speed of the propeller is controlled based on an output signal of a weigh scale. Accordingly, a drone cart unit that can be mounted on various carts is realized.

  Further, according to the embodiment of the present invention, the packing box 21, the weighing scale 22 for measuring the weight of the load mounted on the packing box, the pedestal portion 24 on which the weighing scale is arranged on a plane, The drone unit 30 is equipped with three or more propellers 31-1 to 31-n, and the pedestal is provided with the same number of openings as the number of propellers. The drone unit 30 is mounted so that the propeller protrudes from the opening of the pedestal, and a drone cart unit in which the rotation speed of the propeller is controlled based on the output signal of the weigh scale is provided. Accordingly, a drone cart unit that can be mounted on various carts is realized.

  Here, the drone unit 10 (or 30) includes a gyro sensor 12, an acceleration sensor 13, a flight controller 15, ESCs 16-1 to 16-n, and a motor 17 that rotates a propeller. Sends a control signal for adjusting the flying height and posture of the drone unit 10 (or 30) to the ESC based on the output signal from the weighing scale and the output signal from the gyro sensor and the acceleration sensor. Based on the control signal, the rotational speed of the motor is controlled. Accordingly, the drone bogie or the bogie equipped with the drone bogie unit can be lifted up to a predetermined height, the state can be maintained, and the parallel state of the seating surface can be maintained, so that highly stable transportation is realized. .

Therefore, according to the first and second embodiments of the present invention, the following effects are exhibited.
・ Transportation of packages will be greatly facilitated.
・ Even people without physical strength can be transported.
・ Since it is not a hanging type, it is easy to control.
・ Because the rising height is low, it is not affected by wind.
-Since the ascending height is low, safety is high.
・ Since it is not automatic transport, advanced control based on location information is not required.
-Attaching a packing box to the cart prevents the luggage from blocking the top of the drone.
・ Various load control is possible by combining the weighing sensor.
-Difficult operations are not necessary because the carrier manually operates the front, rear, left and right of the carriage.

  Although the first and second embodiments of the present invention have been described above, the present invention is not limited to this, and it is needless to say that various improvements and modifications can be made without departing from the spirit of the present invention.

  For example, when the drone cart according to the first embodiment is an attachment type, as shown in FIG. 8, two belt members 50 and 51 are provided on the pedestal portion 42, and the pedestal portion 42 is provided on the trolley 43. If the belt members 50 and 52 are connected by passing the shaft member of the engaging portion 52 of the belt member 50 through the opening of the belt member 51 in the state where the base member 42 is disposed, the base portion 42 and the carriage 43 are integrated. It becomes possible to do.

  DESCRIPTION OF SYMBOLS 1 ... Drone trolley, 2 ... Packing box, 3 ... Weight meter, 4 ... Control controller, 5 ... Holding part, 6 ... Base part, 7 ... Opening part, 8 ... Tire unit, 10 ... Drone unit, 11 ... I / F , 12 ... Gyro sensor, 13 ... Acceleration sensor, 14 ... I / F, 15 ... Flight controller, 16-1 to 16-n ... ESC, 17-1 to 17-n ... Motor, 18-1 to 18-n ... Propeller, 20 ... Drone cart, 21 ... Cargo box, 22 ... Weigh scale, 23 ... Control controller, 24 ... Base, 25 ... Opening, 26 ... Dolly, 27 ... Tire unit, 28 ... Grip, 29 ... Character clamp, 30 ... drone unit, 31-1 to 31-n ... propeller, 41 ... packing box, 42 ... pedestal part, 43 ... trolley, 50, 51 ... belt member, 52 ... engagement part.

Claims (9)

A packing box,
A weigh scale for measuring the weight of the load mounted on the packing box;
A pedestal portion in which the weighing scale is disposed on a plane and a tire unit is disposed on a bottom surface;
A drone unit mounted in the pedestal,
The drone unit has three or more propellers,
The pedestal is provided with the same number of openings as the number of the propellers,
The packing box is disposed in a central region that does not conflict with the opening,
The drone unit is a drone cart mounted in the pedestal portion so that the propeller is positioned below the opening. A packing box,
A weigh scale for measuring the weight of the load mounted on the packing box;
A pedestal on which the weighing scale is disposed on a plane;
A drone unit mounted in the pedestal,
A carriage to which the pedestal portion is fixed,
The drone unit has three or more propellers,
The pedestal is provided with the same number of openings as the number of the propellers,
The drone trolley is mounted so that the propeller projects outward from the opening of the pedestal so that the drone unit does not touch the cargo box . The drone unit further includes a gyro sensor, an acceleration sensor, a control unit, a motor drive control unit, and a motor that rotates the propeller,
The control unit controls the motor drive control unit to adjust the flying height and posture of the drone unit based on the output signal from the weighing scale and the output signals from the gyro sensor and the acceleration sensor. The drone cart according to claim 1, wherein the motor drive control unit controls the rotation speed of the motor based on the control signal. A packing box,
A weigh scale for measuring the weight of the load mounted on the packing box;
A pedestal on which the weighing scale is disposed on a plane;
A drone unit mounted in the pedestal,
The drone unit has three or more propellers,
The pedestal is provided with the same number of openings as the number of the propellers,
The packing box is disposed in a central region that does not conflict with the opening,
The drone unit is a drone cart unit that is mounted in the pedestal so that the propeller is positioned below the opening. A packing box,
A weigh scale for measuring the weight of the load mounted on the packing box;
A pedestal on which the weighing scale is disposed on a plane;
A drone unit mounted in the pedestal,
The drone unit has three or more propellers,
The pedestal is provided with the same number of openings as the number of the propellers,
The drone unit mounted so that the propeller projects outward from the opening of the pedestal portion so that the drone unit does not conflict with the cargo box . The drone unit further includes a gyro sensor, an acceleration sensor, a control unit, a motor drive control unit, and a motor that rotates the propeller,
The control unit controls the motor drive control unit to adjust the flying height and posture of the drone unit based on the output signal from the weighing scale and the output signals from the gyro sensor and the acceleration sensor. The drone cart unit according to claim 4 or 5, wherein the motor drive control unit controls the rotation speed of the motor based on the control signal. The drone cart unit according to claim 4 or 5, wherein the drone cart unit is fixed to the cart by a clamp or a belt member. A packing box,
The packing box is laminated, and a pedestal portion on which a tire unit is disposed on the bottom surface,
A drone unit mounted in the pedestal,
The drone unit has three or more propellers,
The pedestal is provided with the same number of openings as the number of the propellers,
The packing box is disposed in a central region that does not conflict with the opening,
The drone unit is a drone cart mounted in the pedestal so that the propeller is positioned below the opening. A packing box,
A pedestal portion on which the packing boxes are stacked;
A drone unit mounted in the pedestal,
A carriage to which the pedestal portion is fixed,
The drone unit has three or more propellers,
The pedestal is provided with the same number of openings as the number of the propellers,
The drone trolley is mounted so that the propeller projects outward from the opening of the pedestal so that the drone unit does not touch the cargo box .