JP6583874B1 - Delivery system, air vehicle, and controller - Google Patents

Abstract

A baggage is delivered in a stable posture. A delivery system includes a flying object capable of carrying a load and a controller for controlling the operation of the flying object so that the shipment is delivered from a departure point to a destination point. ing. The flying body 100 has an outer tube and an inner tube housed in the outer tube, and has a frame body 20 composed of a plurality of struts that can be expanded and contracted in the axial direction. Another frame 10 having a mounting surface 15 for mounting is connected. A main body 30 having a flight mechanism 31 is provided on the upper portion of the frame body 20. The flying object 100 wirelessly communicates with the controller 160 and a controller 160 that performs a flight attitude control that controls expansion and contraction of a plurality of support columns and a flight control that controls the operation of the flight mechanism in order to control the flight attitude of the object. A first communication unit 60B. The controller 160 includes a second communication unit 160 </ b> A for wirelessly communicating with the flying object 100. [Selection] Figure 1

Description

  The present invention relates to a delivery system for delivering a package using a flying object, a flying object used for the delivery system, and a controller used for the delivery system.

  In recent years, a delivery system has been developed that uses a flying object such as a drone or an unmanned aerial vehicle (UAV) to carry luggage. Various structures for mounting a load on a flying object have been proposed in order to safely carry the load without dropping it in a delivery system. For example, Patent Document 1 describes that a loading platform having a substantially rectangular parallelepiped appearance is attached to a lower surface of a main body of a flying object via a connection mechanism. Patent Document 2 describes that an arm for gripping a container is provided on a side portion of a base portion of a flying object.

In general, the flying object is susceptible to wind, and the attitude of the flying object may be tilted during driving, such as when moving forward.
In this regard, for example, Patent Document 3 describes that a mounting portion for mounting a load on a drone has a structure that always holds a predetermined direction (for example, vertically downward), and maintains the position and orientation of the load. To do. Specifically, the mounting portion has a hinge (gimbal), and is configured such that the luggage is bent according to the inclination of the flying object with the hinge as a fulcrum.

JP 2018-39420 A Japanese Patent No. 6084675 Japanese Patent No. 6384013

  As described above, there is a demand for appropriately fixing an object and controlling the posture of the object during the flight in the delivery system that uses the flying object to carry an object such as a load mounted on the mounting mechanism. .

  The present invention has been made in view of the above points, and an object of the present invention is to deliver an object such as a luggage in a stable posture in a delivery system that delivers the luggage using a flying object. The present invention is not limited to this purpose, and is a function and effect derived from each configuration shown in the embodiment for carrying out the invention described later, and has another function and effect that cannot be obtained by conventional techniques. is there.

  (1) The delivery system of the present invention includes a flying object capable of carrying a load, and the flying object so that the load is loaded on the flying object and delivered to a predetermined destination from a predetermined starting point. And a controller for controlling the operation of the vehicle, wherein the flying body has a mounting portion on an upper portion, and the mounting portion is configured to be able to adjust the vertical direction thereof. The frame is configured as a structure and connects the object carrying the load on the lower part, the main body located on the upper part of the frame and having a flight mechanism, and the object according to the attitude of the flight mechanism A control unit for performing a flight attitude control for controlling the vertical position of the mounting unit and a flight control for controlling the operation of the flight mechanism in order to control the flight attitude of the vehicle, and a first for wirelessly communicating with the controller And a communication unit The controller is characterized in that there delivery system, characterized in that it comprises a second communication unit for the aircraft by wireless communication.

  (2) The flying object further includes a horizontal flight mechanism for horizontal flight, in addition to the flight mechanism of the main body configured as a vertical flight mechanism for vertical flight. Preferably it is.

  (3) Further, the delivery system of the present invention includes a flying body on which a load can be mounted, and the load is mounted on the flying body so that the load is delivered from a predetermined departure point to a predetermined destination point. A controller for controlling the operation of the flying object, wherein the flying object has an outer tube and an inner tube housed in the outer tube, and is capable of extending and contracting in the axial direction. A frame that connects the object carrying the load at the bottom, a main body that is located above the frame and has a flight mechanism, and a plurality of the plurality of frames for controlling the flight posture of the object. A control unit for performing flight attitude control for controlling expansion and contraction of the support column and flight control for controlling the operation of the flight mechanism, and a first communication unit for wirelessly communicating with the controller. Mounting surface for loading the luggage And other frame with, the controller is characterized by comprising a second communication unit for the aircraft by wireless communication.

(4) The controller includes an operation control unit having a route setting function for setting a route from the departure point to the destination point and a monitoring function of the operation status of the flying object, and via the second communication unit. The route setting information including the set route information is transmitted to the aircraft, and the aircraft receives the route setting received by the control unit via the first communication unit. Preferably, flight control information based on the information is generated, and the operation of the flight mechanism is controlled based on the generated flight control information.
(5) In addition, the flying body includes a first delivery confirmation mechanism that transmits a delivery confirmation signal for delivery confirmation of the package to the controller via the first communication unit. It is preferable that a second delivery confirmation mechanism for confirming delivery of the package is provided based on a delivery confirmation signal received from the flying object via the second communication unit.

(6) The flying object of the present invention is a flying object used for the delivery system, and has a frame-like structure configured to have an attachment part at an upper part, and the attachment part can adjust its vertical direction. A frame body that connects an object to the lower part, a main body part that is located at the upper part of the frame body and has a flight mechanism, and controls the flight attitude of the object according to the attitude of the flight mechanism A control unit for performing flight attitude control for controlling the vertical position of the mounting unit and flight control for controlling the operation of the flight mechanism, and a communication unit for wirelessly communicating with the controller of the delivery system. Prepare.
(7) The flying body is configured as a vertical flying mechanism for vertical flight, and the horizontal flying mechanism for horizontal flight is provided separately from the vertical flying mechanism. It is preferable that it is a flying body.
(8) It is preferable that the flying body includes an exchange confirmation mechanism that transmits an exchange confirmation signal for confirming delivery of the package to the controller via the communication unit.

(9) The controller of the present invention is a controller used in the delivery system, and sets a communication unit for wirelessly communicating with a flying body of the delivery system, and a route from the departure point to the destination point. An operation control unit having a route setting function and a monitoring function of the operating status of the flying object, and transmitting the route setting information including the set route information to the flying object via the communication unit. Features.
(10) The controller includes a delivery confirmation mechanism for receiving a delivery confirmation signal for delivery confirmation of the package from the aircraft via the communication unit and confirming the delivery of the package based on the delivery confirmation signal. It is preferable to provide.

  According to the delivery system of the present invention, since the flying object is configured to perform the flying attitude control for controlling the flying attitude of the object connected to the lower part of the frame, an object such as a luggage can be transported in a stable attitude.

1 is an overall configuration diagram of a delivery system according to a first embodiment. It is a side view of the flying body shown in FIG. It is the top view which looked at the flying body shown in FIG. 2 from the top. It is an external appearance perspective view of the flying body shown in FIG. 2, Comprising: It is a figure which abbreviate | omits and shows the main-body part which has a flight mechanism. It is the top view which looked at the 1st frame from the AA arrow cut surface in FIG. It is a side view for demonstrating the structure of the tubular body used as a 1st support | pillar, a 2nd support | pillar, an upper end connecting rod, a lower end connecting rod, and a leg part. It is a side view for demonstrating the structure of a joint block. It is a side view for demonstrating expansion / contraction control of a 1st support | pillar, (a), (b) is a figure explaining a mode that a 1st support | pillar is expanded-contracted according to the height of a load, respectively. It is a side view for demonstrating the expansion-contraction control of a 2nd support | pillar. It is a side view for demonstrating the expansion-contraction control of a leg part. It is a side view explaining the structure of the flying body which concerns on 2nd embodiment, Comprising: (a) shows the state by which the 2nd frame is attached to the main-body part via the winch, (b) is shown via the winch. The state where the second frame is lowered away from the main body is shown. FIGS. 11A and 11B are side views for explaining the modified example of FIG. 11, in which FIG. 11A shows a state in which the first frame body is attached to the main body through a winch, and FIG. 11B shows the first through the winch. A state in which the frame is lowered away from the main body is shown. It is a side view explaining the structure of the flying body which concerns on 3rd embodiment. It is the top view which looked at the flying body shown in FIG. 13 from the top. It is a side view which shows the state which mounted the motor vehicle on the flying body shown in FIG. It is a side view explaining the structure of the flying body which concerns on 4th embodiment, Comprising: (a) shows the state which closed the bottom face of the 1st frame, (b) opens the bottom face of the 1st frame. The state in which the load is lowered through the winch is shown. It is a side view explaining the structure which provided the wheel in the leg part as a modification of a flying body, Comprising: (a) shows the state which the flying body landed, (b) shows a 2nd frame body and a 1st through a winch The state which pulls apart one frame from a main-body part is shown. It is a side view explaining the structure which has a some flight mechanism as a modification of a flying body. It is a side view explaining another composition which has a plurality of flight mechanisms as a modification of a flying object. (A) is a side view explaining the structure of the flying body which provided the support member which supports a mounted object from right and left side surfaces in a 1st frame, (b) is a side view explaining a support member. It is a side view explaining the structure of the flying body which concerns on 5th embodiment. It is a side view explaining the modification of the flying body which concerns on 5th embodiment. It is a side view of the flying body which concerns on 6th embodiment. It is the top view which looked at the flying body concerning a 6th embodiment from the top. It is a side view of the flying body which concerns on 7th embodiment. It is the top view which looked at the flying body concerning a 7th embodiment from the top.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
Note that each embodiment described below is merely an example, and there is no intention of excluding various modifications and technical applications that are not explicitly described in the following embodiment. Each configuration of the following embodiments can be implemented with various modifications without departing from the spirit thereof, and can be selected as necessary or can be appropriately combined.

  Each drawing is not intended to include only the components shown in the drawings, and may include other components. Hereinafter, in the drawings, the same reference numerals denote the same or similar parts unless otherwise specified.

[First embodiment]
[1. Overall system configuration]
FIG. 1 is an overall configuration diagram of a delivery system according to the first embodiment. The delivery system 1 of the present embodiment is configured so that the flying object 100 on which the luggage 50 can be mounted and the luggage 50 is mounted on the flying object 100 so that the luggage 50 is delivered from a predetermined departure point 3 to a predetermined destination point 5. A controller 160 for controlling the operation of the flying object 100 is provided, and the flying object 100 and the controller 160 are configured to be communicable via a wireless line 170, respectively.

  The flying object 100 is an aircraft that flies from the departure point 3 to the destination point 5 in order to deliver the luggage 50. The departure point 3 is a delivery source of the luggage 50 such as a warehouse, a factory, and a business office of a delivery company. The destination point 5 is a delivery destination of the luggage 50 such as a store or a private house.

  In order to control the operation of the flying object 100, the controller 160 has a wireless communication function for performing wireless communication with the flying object 100, a monitoring function for monitoring the operation state of the flying object 100, and the like. The controller 160 is installed at a service base of the delivery service provided by the delivery system 1 such as a delivery service sales office or a convenience store.

[2. Configuration of flying object]
The flying object 100 of the present embodiment is a relatively small unmanned flying object (so-called drone),
A second frame body 20 having a mounting portion 25 at the upper portion and configured as a frame-like structure configured so that the mounting portion 25 can adjust the vertical position thereof (the “frame body according to the claims”). ) And a main body 30 that is attached to the upper part of the second frame 20 and has a flight mechanism 31 for flying the aircraft 100. The 2nd frame 20 is comprised so that the object which mounted the load 50 in the lower part may be connected. Here, the object connected to the lower part of the second frame 20 is the first frame 10 having the mounting surface 15 for mounting the luggage 50 ("other frame" described in the claims). Equivalent). In addition, a plurality of leg portions 40 project from the lower surface of the first frame 10. In this specification, the luggage 50 is a loaded object that is mounted on the first frame 10 and is a target for transportation. Flying means moving in space three-dimensionally. The detailed configuration of each part of the flying object 100 of the present embodiment will be described later.

  The flying object 100 incorporates a control device 60 for controlling the flying object 100. The control device 60 includes a CPU (Central Processing Unit) (not shown), a storage device including a ROM (Read Only Memory) and a RAM (Random Access Memory), an input interface, an output interface, and a bus interconnecting them. The computer is configured to include. The storage device stores various control programs and various data necessary for executing these control programs.

  In the control device 60, there are a control unit 60A, a first communication unit 60B, a detection mechanism 60C, and an exchange confirmation mechanism (first exchange confirmation mechanism) 60D as functional elements for controlling the flying object 100. Is provided.

  The control unit 60 </ b> A performs flight attitude control for controlling the flight attitude of the first frame 10 and flight control for controlling the operation of the flight mechanism 31. The flight control function and the flight attitude control function are provided as software programs that are executed using the hardware resources of the control unit 60A.

  The first communication unit 60 </ b> B performs transmission / reception of various types of information with the controller 160 via the wireless line 170. The flying object 100 receives various control information from the controller 160 via the first communication unit 60B, and transmits various information such as detection information of the detection mechanism 60C to the controller 160.

  The detection mechanism 60C is a mechanism for detecting various information indicating the current flight status of the aircraft 100. The detection mechanism 60C includes various sensors (not shown), a camera (not shown) for photographing the periphery of the flying object, and a GPS (Global Positioning System) device (not shown) for acquiring position information. Etc. are included. The various sensors include, for example, a sensor for detecting information on flight status, such as a speed sensor, an acceleration sensor, an altimeter, or a radar for recognizing an obstacle present on the flight route, and the first frame 10. And a sensor for adjusting the height of the second frame 20 and the like.

  The detection mechanism 60C sends various information acquired by the various sensors, cameras, GPS devices, and the like as flight information to the controller 60A and also to the controller 160 via the first communication unit 60B. The flight information is information indicating the current flight status of the flying object 100, and is used for flight control by the control unit 60A and for monitoring the operation status of the flying object 100 on the controller 160 side.

  The delivery confirmation mechanism 60D is a mechanism for confirming delivery of the package 50, and includes, for example, an object detection sensor (detection mechanism) that detects whether or not the package 50 is on the mounting surface 15 of the first frame 10. Consists of. For example, when the load 50 is mounted on the first frame 10 at the departure point 3, the transfer confirmation mechanism 60D generates a transfer confirmation signal indicating that the load 50 is mounted. When the package 50 is unloaded from the first frame 10, a transfer confirmation signal indicating that the package 50 has been delivered is generated. The exchange confirmation signal is sent to the controller 160 via the first communication unit 60B. The delivery confirmation signal may include accompanying information such as delivery date and time, the name of the package 50, the delivery signature of the delivery source, and the receipt signature of the delivery destination.

  In addition to the above, the flying object 100 includes an indicator lamp 62 and a manual operation mechanism 64. The indicator lamps 62 are lamps that are used as an illumination lamp that illuminates the front of the flying object 100, a navigation lamp that informs the surroundings of the flight direction, or a warning lamp. The manual operation mechanism 64 includes switches and communication devices for receiving various manual operations. Examples of the manual operation mechanism 64 include a switch for manually adjusting the height of the first frame body 10 in order to fix the luggage 50.

[3. Controller configuration]
The controller 160 is a computer that includes a CPU (not shown), a storage device including a ROM and a RAM, an input interface, an output interface, and a bus that interconnects them. The storage device stores various control programs and various data necessary for executing these control programs.

  The controller 160 is provided with a second communication unit 160A, an operation control unit 160B, and an exchange confirmation mechanism (second exchange confirmation mechanism) 160C as functional elements for controlling the operation of the flying object 100. .

  160 A of 2nd communication parts are provided in order to perform transmission / reception of the various information via the radio | wireless line 170 with the flying body 100. FIG. The controller 160 transmits various control information to the flying object 100 via the second communication unit 160A, and receives various information such as detection information of the detection mechanism 60C from the flying object 100.

  The operation control unit 160B is provided to control the operation of the flying object 100, and includes setting of the departure point 3 and the destination point 5 of the flying object 100 and setting of the route from the departure point 3 to the destination point 5. It has a route setting function and a monitor function for monitoring the operation status of the flying object 100.

  Information indicating the departure point 3, the destination point 5, and the route set by the route setting function is sent to the flying object 100 via the second communication unit 160A as route setting information. The monitor function includes instructions for starting and ending delivery service for the flying object 100, tracking the flying object 100 (monitoring flight trajectory), monitoring the flight status of the flying object 100, monitoring abnormalities and malfunctions, and the like. The route setting function and the monitor function are provided as software programs that are executed using the hardware resources of the controller 160.

  The delivery confirmation mechanism 160C is a mechanism for confirming delivery of the package 50, and obtains a delivery confirmation signal from the flying object 100 via the second communication unit 160A to confirm that the delivery of the package 50 has been performed. Has the function of

  Further, the controller 160 is provided with a monitor device 162 that presents the operating status of the flying object 100 to the operator. The monitor device 162 is configured as, for example, a display device that displays the operation status of the flying object 100 by visual information. The display contents include, for example, an image captured by a camera mounted on the flying object 100, a current position of the flying object 100 on a map image, a flight trajectory, a flight altitude, a speed, a distance to a destination point, and a distance to the destination point. Expected arrival time is considered. The monitor device 162 may be an audio output device that outputs the operation status as audio information.

[Flow of delivery service]
Next, a procedure of a delivery service in the delivery system 1 having the above configuration will be briefly described. In the delivery system 1, for example, when a delivery request (order) is received from a client, a delivery service corresponding to the order is performed.

  In the controller 160, for example, when the operator inputs the information of the departure point 3 and the destination point 5, the article name of the package, etc., the departure of the order is referred to by referring to the map information stored in the storage device based on the input information. A point 3, a destination point 5, and a route are set. Then, the controller 160 sends the route setting information including the set departure point 3, the destination point 5, and the route to the flying object 100.

  In the flying object 100, the route setting information is acquired from the controller 160, and the luggage 50 is mounted on the first frame 10 at the departure point 3. Note that the flying object 100 may always stand by at a specific departure point 3, or when the route setting information is acquired from the controller 160, the flying object 100 moves to the departure point 3 indicated in the route setting information. Also good.

  In the flying object 100, when the luggage 50 is mounted on the first frame 10, an exchange confirmation signal is generated, and the generated exchange confirmation signal is sent to the controller 160. The controller 160 obtains an exchange confirmation signal from the flying object 100 and confirms that the luggage 50 is properly mounted on the flying object 100. The controller 160 sends a delivery start instruction to the flying object 100 after confirmation.

  Upon receiving a delivery start instruction from the controller 160, the flying object 100 sets the departure point 3, the destination point 5, and the route based on the route setting information, and automatically flies according to the route (autonomous flight control). When the flying object 100 flies to the destination point 5 and lands, the luggage 50 of the flying object 100 is received at the delivery destination. At this time, a transfer confirmation signal is generated, and the generated transfer confirmation signal is sent to the controller 160. The controller 160 acquires an exchange confirmation signal from the flying object 100, confirms that the luggage 50 has been properly received by the flying object 100, and ends the delivery service corresponding to the order.

[Example of autonomous flight control]
Next, an example of autonomous flight control of the flying object 100 will be described.
The control unit 60 </ b> A of the flying object 100 sets the departure point 3, the destination point 5, and the route based on the route setting information sent from the controller 160. The control unit 60A recognizes the flight status based on the flight information detected by the detection mechanism 60C in order to fly automatically (autonomously) according to the set route, and (2) recognition Based on the result, it is determined how the flight mechanism 31 should operate, (3) flight control information for controlling the operation of the flight mechanism 31 is generated based on the determination result, and (4) generated flight control. Based on the information, the operation of the flight mechanism 31 (see FIGS. 2 and 3 described later) of the main body 30 is controlled. The flight control information includes, for example, a control signal for individually controlling the rotation of a plurality of rotor blades 32 (described later, see FIGS. 2 and 3).

  The above flight status is recognized by recognizing the current position of the flying object 100 based on the GPS position information and the map information stored in the storage device, or by using a detection signal from a sensor such as a camera image or radar. This includes recognition of surrounding conditions (such as the presence or absence of obstacles on the route), or recognition of driving conditions such as the flight altitude, speed, acceleration, and flight direction (up / down / left / right) of the flying object 100. .

  Autonomous flight control not only automatically flies from the starting point 3 to the destination point 5 according to the set route, but also the risk avoidance control that autonomously avoids obstacles on the route, and the set route It may include route setting control for appropriately modifying or reselecting the optimum route. A well-known technique can be applied to the autonomous flight control of the flying object 100.

  In addition, during the autonomous flight of the flying object 100, the controller 160 may monitor (monitor) the operation of the flying object 100, and may send a route correction instruction to the flying object 100 as necessary.

  In the present delivery system 1, while the operation of the flying object 100 is controlled by the operation control unit 160 </ b> B of the controller 160, the flying object 100 flies autonomously from the departure point 3 to the destination point 5. Delivery to destination point 5 is possible.

  In the above description, the controller 160 sets the route, and the route setting information indicating the departure point 3, the destination point 5, and the route is sent to the flying object 100. However, the present invention is not limited to this. Route setting information indicating the departure point 3 and the destination point 5 is sent to the flying object 100, and the control unit 60 </ b> A of the flying object 100 receives map information based on the departure point 3 and the destination point 5 sent from the controller 160. , The route connecting the departure point 3 and the destination point 5 may be determined.

[Example of remote control]
As another example, the flight of the air vehicle 100 (operation of the flight mechanism 31) may be controlled remotely from the controller 160. In this case, in order for the controller 160 to fly the flying object 100 in accordance with the set route, (1) the flight status of the flying object 100 is recognized based on the flight information supplied from the flying object 100, and (2) Based on the recognition result, it is determined how the flight mechanism 31 should operate, (3) flight control information is generated based on the determination result, and (4) the generated flight control information is sent to the flying object 100. In the flying object 100, the operation of the flying mechanism 31 is controlled based on the flight control information sent from the controller 160.

  As another example of remote control, in the controller 160, the operator manually inputs operation information (flight control information) while monitoring (monitoring) the operation of the flying object 100 with reference to the monitor device 162, for example. The flight of the flying object 100 (operation of the flight mechanism 31) may be manually operated remotely.

[Bird avoidance mechanism, other mechanisms]
The flying object 100 may include a bird avoidance mechanism for avoiding a collision with a bird as a mechanism accompanying flight control. The bird avoidance mechanism includes, for example, a threatening light emitting mechanism and a threatening sound output mechanism.
The bird avoidance mechanism associated with the flying object 100 can be used for other purposes besides the use for avoiding collision with the bird against the flying object 100 itself. For example, when flying the flying object 100 in the farm ground sky, it is possible to exert an effect of avoiding birds (including harmful animals) against the farm land by emitting threatening light emission and threatening sound from the farm ground sky.
In addition, a watch mechanism may be attached to the flying object 100. In this case, for example, it is possible to perform a lookout for avoiding a collision between ships by flying over the sea.
It is possible to attach a charge amount detection mechanism to the flying object 100 and return to the charging base when the charge amount becomes a predetermined value or less.

[Application example]
As one application example of the delivery system 1, the delivery system 1 is applied to a final delivery section (so-called last one mile) from a distribution relay base (departure point 3) to a final consumer (destination point 5). Conceivable. In this case, for example, the delivery of the luggage in the long-distance section from the warehouse or the like to the relay base may be performed by a delivery means suitable for a long distance such as a truck, a cargo train, or a cargo plane. As the relay base serving as the departure point 3, for example, a distribution service sales office, a convenience store, a post office, a police box, and the like are conceivable. Since the flying object 100 is used to deliver the cargo in the final delivery section from the departure point 3 to the destination point 5, even if the destination point 5 is a remote island with insufficient distribution network such as a remote island or a mountainous area, the luggage 50 can be easily Can be delivered to.

[Effect of delivery system]
As will be described in detail later, the flying body 100 applied to the present delivery system 1 is attached to the first frame 10 having the mounting surface 15 for mounting the load 50 and the upper portion of the first frame 10. A flight attitude control including a second frame 20 for controlling the flight attitude of the frame body 10 and a main body section 30 having a flight mechanism 31, and the control section 60A controls the flight attitude of the first frame body 10; Flight control for controlling the operation of the flight mechanism 31 is performed. For this reason, even if the attitude of the flight mechanism 31 is tilted or changed due to the influence of the surrounding conditions such as wind and the like, for example, sudden acceleration of the flying object 100, the flight attitude of the first frame 10 is controlled, The luggage 50 mounted on the first frame 10 can be stably delivered. Therefore, the stability of the luggage 50 mounted on the flying object 100 can be improved. As described above, since the flying object 100 with improved stability of the loaded cargo 50 is used, the present delivery system 1 can provide a highly safe delivery service that suppresses the possibility of the cargo 50 falling.
This delivery system 1 is suitable not only for delivery of general merchandise, but also for delivery of articles that require further stability, such as delivery of pharmaceuticals.

[4. Detailed configuration of flying object]
Next, a detailed configuration example of the flying object 100 used in the delivery system 1 will be described.
2 is a side view illustrating the overall configuration of the flying object 100 shown in FIG. 1, and FIG. 3 is a plan view of the flying object 100 as viewed from above. In the following drawings, the direction of the double arrow X is the left-right direction, the direction of the double arrow Y is the vertical direction, and the direction of the double arrow Z is the depth direction (front-rear direction). Since FIG. 2 shows a state in which the flying object 100 has landed on the horizontal landing surface 105, the vertical direction coincides with the vertical direction, and the front-rear direction and the left-right direction coincide with the horizontal direction.

  The first frame 10 functions as a mounting mechanism (that is, a loading platform) for mounting the load 50 (indicated by a two-dot chain line) on the mounting surface 15 and fixing the mounted load 50 on the mounting surface 15. The first frame 10 is provided with a plurality of first struts 11 (corresponding to “column members” recited in the claims) rising from the upper surface of the mounting surface 15. At the upper end, a pressing surface 17 arranged to face the mounting surface 15 is provided. The first support column 11 is interposed between the mounting surface 15 and the pressing surface 17 and has a function of supporting the pressing surface 17 at a predetermined height. Each first support column 11 is formed of a nested tube body, and can be expanded and contracted in the axial direction of the first support column 11 (that is, the vertical direction). The pressing surface 17 is attached to the mounting surface 15 so as to be movable in the vertical direction in conjunction with the expansion and contraction of the first support column 11. The pressing surface 17 fulfills the function of pressing the load 50 mounted on the mounting surface 15 from above by moving in the vertical direction in conjunction with the expansion and contraction of the first support column 11. In addition, the specific structural example of the 1st support | pillar 11 is mentioned later.

  The second frame body 20 includes a plurality of second support columns 21 (corresponding to “support columns” recited in the claims) rising from the upper surface of the first frame body 10. And the main body 30 is connected via the mounting portion 25. Each second support column 21 is formed of a nested tube body similar to the first support column 11, and can be expanded and contracted in the axial direction (that is, the vertical direction) of the second support column 21. In other words, the second frame 20 is interposed between the first frame 10 and the main body 30, and serves as a posture adjustment mechanism for controlling the flight posture of the first frame 10 by the expansion and contraction of each second support column 21. Function. The second frame body 20 has a mounting portion 25 at the upper portion, and is configured as a frame-like structure configured so that the mounting portion 25 can adjust the vertical position thereof, and connects an object to the lower portion. It can be grasped as a frame. In addition, the specific structural example of the 2nd support | pillar 21 is mentioned later.

  Each of the plurality of leg portions 40 is attached to the lower end of the first frame 10 at the upper end thereof, and the grounding portion 41 that is grounded when the flying object 100 is landed is connected to the lower end of each leg portion 40. . Each leg part 40 is also comprised by the nested tube body similar to the 1st support | pillar 11, and can be expanded-contracted in the axial direction (namely, up-down direction) of the leg part 40. FIG. By extending or contracting the individual leg portions 40 according to the landform (gradient degree) of the landing point, the plurality of leg portions 40 function as outriggers for stabilizing the landing posture of the flying object 100. A specific configuration example of the leg 40 will be described later.

  The main body 30 includes a flight mechanism 31 for causing the flying object 100 to fly. The flight mechanism 31 shown in FIGS. 2 and 3 is a multi-copter type flight mechanism including a rotary wing 32 at the tip of each of four arms 34 extending radially from a base 33 located at the center. As shown in FIG. 3, the rotary blade 32 is provided on a rotary shaft 35 arranged along the vertical direction, two blades 36 projecting radially from the rotary shaft 35, and an outer periphery of these blades 36. The protection ring 37 is connected to an electric motor driven by a battery (not shown). The driving of the electric motor is not limited to using a battery, and a generator may be used. The generator may be any generator such as a generator using an engine as a power source, a solar generator, or a wind generator. The drive source of the rotary blade 32 is not limited to an electric motor, and any device that can drive the rotary blade 32, such as an internal combustion engine or a jet engine, may be used.

When the rotary wings 32 are respectively driven to rotate by an electric motor (not shown), the blades 36 are rotated around the rotary shaft 35 and the propulsive force of the flying object 100 is generated. This propulsive force is for taking off the flying body 100 from the ground, moving the space 100 in the vertical and horizontal directions, and landing on the ground. Each rotary wing 32 can be rotated in either a clockwise direction or a counterclockwise direction when viewed from above the flying object 100. The multi-copter type flight mechanism 31 itself is a well-known technique. Further, for example, the specific configuration of the rotary blade 32 such as the number of blades 36 provided on the rotary blade 32 and the shape of the blade 36 may be arbitrarily set, and is not limited to the illustrated example. For example, the size of the blade 36 (propeller) of each rotary blade 32 may be larger than that of the blade 36 shown in FIG. Each rotary blade 32 may have a multiple rotor structure in which a plurality of sets of blades 36 are arranged on the same axis, such as a structure in which two sets of blades 36 (propellers) are arranged on the same axis. For example, when each rotor blade 32 has two sets of blades 36 (propellers) arranged on the same axis and is configured as a counter rotating rotor that rotates each set of blades 36 in opposite directions, it is well known. Thus, there is an advantage that counter torque can be offset.
The multi-copter type flight mechanism 31 is not limited to a quad-copter type flight mechanism having four rotor blades 32 as shown in FIGS. 2 and 3, and is a tricopter type flight mechanism having three rotor blades 32. Alternatively, a flight mechanism having four or more rotary wings 32 such as a hexacopter type or an octocopter type may be used. As will be described later, the flight mechanism having the rotating wings is not limited to the multicopter type, but may be a tilt rotor type (osprey type) or a helicopter type.
The frame of the flying mechanism 31 (that is, the base 33 and the arm 34) is an assembly-type frame-like structure using a nested tube body similar to the first support column 11 and the second support column 21 and a joint block described later. May be formed. In this case, the frame size of the flight mechanism 31 can be freely changed.
In addition, as for the specific configuration of the flight mechanism 31, such as the size and shape of the base 33 and the arm 34, the number of the rotor blades 32, or the size and shape of the blades 36, a device for improving lift is appropriately used. Of course, it can be done.

  The control device 60 (specifically, the control unit 60A in FIG. 1) performs flight control of the flight mechanism 31 including rotation control of the four rotor blades 32, and the first strut 11 of the first frame 10 and the second Expansion / contraction control (flight attitude control) between each second column 21 of the frame 20 and each leg 40 is performed. Details of the expansion / contraction control of the first support column 11, the second support column 21, and the leg 40 will be described later. Of course, the transmitter and receiver capable of communicating with the wireless communication device (first communication unit 60B) also in the extension mechanism (described later) of the flight mechanism 31, the first support column 11, the second support column 21, and the leg portion 40 to be controlled. Needless to say, a vessel is provided.

  The flight of the flying object 100 may be controlled autonomously or automatically based on current position information and map information that can be acquired by, for example, a well-known GPS function. As another example, the flight of the vehicle 100 may be controlled based on a remote operation performed by a user using a remote controller (not shown).

  Next, more specific configuration examples of the first frame body 10, the second frame body 20, and the leg portion 40 will be described. FIG. 4 is an external perspective view of the flying object 100. For convenience of illustration and explanation, illustration of the main body 30 including the flight mechanism 31 and the luggage 50 is omitted. FIG. 5 is a plan sectional view of the first frame body 10 cut along the line AA in FIG. Also in FIG. 5, illustration of the luggage 50 is omitted.

  The first frame 10 shown in FIG. 4 has a structure in which four first support columns 11, four upper end connecting rods 12, and four lower end connecting rods 13 are connected by eight joint blocks 14. is there. Specifically, as shown in FIGS. 4 and 5, the four lower end connecting rods 13 are arranged in a rectangular shape in plan view. These four lower end connecting rods 13 are pipes for connecting the lower ends of the four first support columns 11 to each other, and are respectively connected to the four corners of the rectangular frame formed by the four lower end connecting rods 13. 14 is arranged, and the lower end of the first support column 11 is attached to each joint block 14. A mounting surface 15 is provided on the upper surface of a rectangular frame formed by these four lower end connecting rods 13. The mounting surface 15 shown in FIGS. 4 and 5 is made of a plate member that covers the entire surface of the rectangular frame formed by the lower end connecting rod 13, and is fixed to the four lower end connecting rods 13. The upper surface of the mounting surface 15 serves as a pedestal for mounting the luggage 50. A reinforcing rib (not shown) may be provided on the back surface of the mounting surface 15 so that a heavy object can be mounted.

  A joint block 14 is also attached to the upper ends of the four first struts 11, and the joint blocks 14 at the upper ends of the four first struts 11 are connected to each other by the four upper end connecting rods 12. . These four upper end connecting rods 12 are tubular bodies for connecting the upper ends of the four first support columns 11 to each other, and are arranged in a rectangular shape in plan view like the four lower end connecting rods 13. Is done. A pressing surface 17 is provided on the lower surface of the rectangular frame formed by the four upper end connecting rods 12. The pressing surface 17 shown in FIG. 4 is made of a plate member that covers the entire surface of the rectangular frame formed by the upper end connecting rod 12, and is fixed to the four upper end connecting rods 12. The lower surface of the pressing surface 17 faces the upper surface of the mounting surface 15, and the upper surface of the luggage 50 (see FIG. 2) mounted on the upper surface of the mounting surface 15 is pressed by the lower surface of the pressing surface 17, thereby pressing the pressing surface 17. And the mounting surface 15 can hold the load 50 (see FIG. 2).

  That is, the first frame 10 is configured as a cubic or rectangular parallelepiped frame structure as a whole by the four first support columns 11, the four upper end connecting rods 12, and the four lower end connecting rods 13. The mounting surface 15 is provided on the lower surface portion of the three-dimensional frame, and the pressing surface 17 is provided on the upper surface portion of the three-dimensional frame. The mounting surface 15 and the pressing surface 17 are not limited to a plate member that covers the entire surface of the rectangular frame, and may be formed of a plate member that partially covers the rectangular frame. Further, the mounting surface 15 and the pressing surface 17 are not limited to a plate member that covers the surface with a single sheet, but, for example, a mesh member, a lattice member made of a plurality of square members or plate members arranged to cross each other, or each other It may be a fence-like member made of a plurality of square members or plate members arranged in parallel. In short, the mounting surface 15 and the pressing surface 17 can be configured in any shape, size, and material as long as the baggage 50 can be mounted and the loaded baggage 50 can be pressed from above. Good. As a modification, the mounting surface 15 may be provided on the lower surface of the rectangular frame formed by the four lower end connecting rods 13, and the holding surface 17 is provided on the upper surface of the rectangular frame formed by the four upper end connecting rods 12. May be. Note that the shape of the lower surface portion of the first frame 10 is not limited to a rectangular shape, and may be any shape such as a triangle, a pentagon, a hexagon, and a circle.

  Further, the lower ends of the second columns 21 are respectively attached to the upper surfaces of the joint blocks 14 attached to the upper ends of the four first columns 11. That is, the second frame 20 is configured as a frame-like structure by four second support columns 21 erected at the four corners of the upper surface of the first frame 10 (a planar rectangular frame formed by the upper end connecting rod 12). Is done. The shape of the upper surface portion of the first frame 10 is not limited to a rectangular shape, and may be any shape such as a triangle, a pentagon, a hexagon, and a circle.

  Further, the upper ends of the leg portions 40 are respectively attached to the lower surfaces of the joint blocks 14 attached to the lower ends of the four first support columns 11. That is, the leg portions 40 are attached to the four corners of the lower surface of the first frame 10 (a planar rectangular frame formed by the lower end connecting rod 13). A grounding portion 41 is attached to the lower end of each leg portion 40.

[5. Detailed configuration of nested tube]
Next, the structure of the tube used as the 1st support | pillar 11, the 2nd support | pillar 21, and the leg part 40 is demonstrated. Since the 1st support | pillar 11, the 2nd support | pillar 21, and the leg part 40 are substantially the same structures, the 1st support | pillar 11 is mentioned as an example and demonstrated here. FIG. 6 is a side view of the first support column 11. The first support column 11 has a nested structure having an outer tube 110 and an inner tube 112 housed in the outer tube 110.

  An actuator 113 for moving the inner tube 112 is provided in the outer tube 110. The actuator 113 is, for example, an electric motor driven by a battery (not shown), and the inner tube is connected via a conversion mechanism (not shown) that converts the rotational movement of the electric motor into a linear movement in the axial direction of the first support column 11. 112. For example, the rotating shaft of the electric motor is arranged coaxially with the first support column 11, the rotating shaft has a male screw body extending in the axial direction, and is screwed into the male screw body on the inner peripheral surface of the inner tube 112. A female screw portion is provided, and the male screw body and the female screw portion constitute a conversion mechanism. In this case, when the male screw body is rotated by the rotation of the electric motor, the rotation of the male screw body is converted into movement of the inner tube 112 in the axial direction by the female screw portion. In addition to the above, the conversion mechanism may be a known conversion mechanism that converts rotational motion into linear motion, such as a rack and pinion mechanism. The actuator 113 is connected to a battery (not shown) and is connected to the control device 60 (see FIGS. 1 and 3) so as to be capable of wireless communication, and operates in response to a control signal from the control device 60. By actuating the actuator 113 in accordance with the control signal, the inner tube 112 is moved in the axial direction (the direction of arrow D) in the outer tube 110, and the first column 11 is moved in the axial direction (the direction of arrow D) as a whole. The expansion and contraction can be controlled. That is, a mechanism in which the actuator 113 moves the inner tube 112 in the axial direction via the conversion mechanism constitutes an “extension / contraction mechanism”. As the actuator 113, a fluid cylinder that is provided in the outer tube 110 and whose piston rod extends and contracts to drive the inner tube 112 can be used.

  Male screws 114 are provided at both ends of the first support column 11 as means for attaching the joint block 14. FIG. 7 is a side view of the joint block 14. The joint block 14 has a regular hexahedron shape, and has a female screw 141 for screwing the male screw 114 of the first support column 11 into all six surfaces. The joint block 14 is attached to the first column 11 by screwing the male screw 114 with the female screw 141. The shape of the joint block 14 is not limited to a regular hexahedron shape, and may be any shape such as a prism having an arbitrary bottom shape such as a pentagon or a hexagon, a cylinder, or a sphere. Moreover, the joint block 14 of various shapes can also be used in combination.

Similarly to the first support column 11 shown in FIG. 6, each of the second support column 21 and the leg portion 40 includes an outer tube 110 made of a square pipe or a round pipe and an inner tube 112 housed in the outer tube 110. The inner tube 112 has a nested structure and is moved in the axial direction by a built-in actuator 113, so that the entire structure can be expanded and contracted in the axial direction.
Since the upper end of each second column 21 and the lower end of each leg 40 are not connected to the joint block 14, the shape is different from the male screw 114 of the first column 11. Specifically, an attachment portion 25 (see FIG. 2) to the main body portion 30 is provided at the upper end of the second support column 21. The attachment portion 25 (see FIG. 2) is constituted by, for example, a pivot joint (ball joint) for connecting to the main body portion 30 (specifically, the base portion 33 of the flight mechanism 31). In addition, a pivot joint (ball joint) for connecting to the grounding portion 41 (see FIGS. 2 and 4) is provided at the lower end of the leg portion 40. Thereby, it is possible to allow the second support column 21 to swing with respect to the main body 30 when the flight posture control of the first frame body 10 described later (extension control of the second support column 21) is performed. It is possible to allow the ground contact portion 41 to swing with respect to the leg portion 40 when the flying object 100 is landed.
Further, the attachment portion 25 may further include a detachable locking structure (attachment) that detachably locks the upper end of the second support column 21 and the main body portion 30. In other words, in a state where the second frame body 20 is coupled to the main body portion 30, the second support column 21 is pivotably coupled to the main body portion 30 by a pivot joint (ball joint). When the 20 is separated (removed) from the main body 30, the second frame 20 can be detached from the main body 30 freely, easily, and easily by an attachment.

  The four first struts 11, the four second struts 21, and the four leg portions 40 are set to the same size. Moreover, the 1st support | pillar 11, the 2nd support | pillar 21, and the leg part 40 may be set to the mutually same dimension, or may be set to a mutually different dimension. For example, in the first frame 10 shown in FIG. 2, the first support column 11 and the second support column 21 are set to the same size, and the leg portion 40 is set to a size shorter than the first support column 11 and the second support column 21. Assumes that.

  The four upper end connecting rods 12 and the four lower end connecting rods 13 are each a single pipe body made of a square pipe or a round pipe, and are screwed into the female threads 141 of the joint block 14 at both ends. A male thread 114 is provided. As another example, the four upper end connecting rods 12 and the four lower end connecting rods 13 are the same as the first support column 11, the second support column 21, and the leg 40, and are accommodated in the outer tube and the outer tube. It may have a nested structure having a tube, and may be configured to expand and contract in the axial direction as a whole. When the upper end connecting rod 12 and the lower end connecting rod 13 are formed of nested tubes, the upper and lower surfaces (mounting surface 15, The size and shape of the pressing surface 17) can be changed.

[6. Expansion / contraction control]
Next, the expansion / contraction control of the first support column 11, the second support column 21, and the leg unit 40 performed by the control device 60 (specifically, the control unit 60A) will be described. In any of the expansion / contraction controls described below, the control device 60 gives control signals to the actuators 113 incorporated in the individual first support columns 11, the second support columns 21, or the leg portions 40 to control the operation thereof. It is done by doing.

  First, the expansion / contraction control of the first support column 11 performed to hold the luggage 50 between the pressing surface 17 and the mounting surface 15 when the luggage 50 is mounted on the flying object 100 will be described. FIGS. 8A and 8B are side views for explaining the expansion / contraction control of the first support column 11, and FIG. 8A shows an example in which a load 50a having a certain height is mounted. (B) shows as an example a case where a luggage 50b having a height higher than that of the luggage 50a is mounted.

The procedure of expansion / contraction control of the first support column 11 is as follows, for example. The control device 60 (see FIGS. 1 and 3) first extends each first support 11 of the first frame 10 to the maximum length, and then contracts each first support 11 in the axial direction. In conjunction with the contraction of each first support column 11, the pressing surface 17 moves downward along the axial direction (vertical direction) of the first support column 11 and comes into contact with the upper portion of the luggage 50. When this contact is detected by a sensor (not shown), the control device 60 (see FIGS. 1 and 3) stops the contraction control of each first support column 11. As a result, as shown in FIGS. 8 (a) and 8 (b), the length of each first support column 11, that is, the heights H1 and H2 of the first frame 10, depends on the loaded packages 50a and 50b. Is set to a height (that is, a height at which the pressing surface 17 comes into contact with the upper portions of the luggage 50a and 50b). Since the position of the pressing surface 17 is lowered to a position where it comes into contact with the upper portions of 50a and 50b, the loads 50a and 50b are sandwiched between the pressing surface 17 and the mounting surface 15, and the loads 50a and 50b are held by this clamping force. Can be fixed on the mounting surface 15.
Thus, the vertical movement amount of the pressing surface 17 can be controlled only by performing expansion / contraction control of the first support column 11 constituting the first frame body 10. By moving the holding surface 17 in the vertical direction, the baggage 50 can be sandwiched between the holding surface 17 and the mounting surface 15, and the baggage 50 can be appropriately fixed to the first frame 10. The strength of the loads 50a and 50b (clamping force) can be adjusted by the expansion and contraction of the first struts 11 (in other words, the amount of movement of the pressing surface 17 in the vertical direction). The expansion / contraction control of the first support column 11 corresponds to “controlling expansion / contraction of the plurality of column members in order to sandwich the mounted object by the pressing surface and the mounting surface”.
As an example of the above-described delivery confirmation mechanism 60D (FIG. 1), a delivery confirmation signal indicating that a load has been loaded is generated when the load is clamped by the downward movement of the pressing surface 17, and the upward movement of the pressing surface 17 It can be configured to generate an exchange confirmation signal indicating that the package has been received at the delivery destination when the holding of the package is released.
Note that the height adjustment of the first frame body 10 (extension control of the first support column 11) may be performed by a manual operation via the manual operation mechanism 64 of FIG.

  Next, the expansion / contraction control (flight attitude control) of the second support column 21 performed to maintain the flight attitude of the first frame body 10 during the flight of the flying object 100 will be described. FIG. 9 is a side view for explaining the expansion / contraction control of the second support column 21. In the multi-copter type flying mechanism used as the flying mechanism 31 of the flying object 100, control for maintaining the attitude horizontally in an autonomous manner during the flight is conventionally performed, and the main body 30 of this embodiment (specifically, the flying mechanism) 31) also has a function of autonomously maintaining its flight posture horizontally. However, since the flying object 100 may be temporarily inclined depending on the wind, its own driving conditions, etc., it is desirable to control the attitude of the first frame 10 independently of the attitude control of the flying mechanism 31. . In this regard, the flying body 100 of the present embodiment can maintain the flying posture of the first frame 10 horizontally by individually extending and contracting the four second support columns 21. In this specification, the “flying posture” of the first frame 10 is the posture of the first frame 10 during the flight of the flying object 100.

The expansion / contraction control of the second support column 21 is performed by the following procedure, for example. The control device 60 (see FIGS. 1 and 3) first detects the inclination of the attitude of the flying object 100 (specifically, the flight mechanism 31 of the main body 30) by a sensor, and then detects the detected flight mechanism 31. The expansion and contraction of each second support 21 is controlled according to the inclination. Specifically, the height from the lower end of each second support post 21 to the upper end of each second support post 21 (in other words, the length of each second support post 21), that is, the first so as to absorb the inclination of the flight mechanism 31. The vertical position of the mounting portion 25 with respect to the upper surface of the one frame 10 is adjusted. In other words, the controller 60 controls the first frame 10 and the vertical direction of the mounting portion 25 to control the flight posture of the load 50 (object) mounted on the first frame 10 according to the posture of the flight mechanism 31. Flight attitude control is performed to control the position of the aircraft. FIG. 9 shows an example in which the flight mechanism 31 is tilted so that the left side is lower than the right side with respect to the paper surface. In this case, out of the four second struts 21, the length of the two second struts 21 located on the left side with respect to the paper surface is longer than the two second struts 21 located on the right side with respect to the paper surface. By shortening, the attitude | position of the 1st frame 10 can be maintained horizontal. In the present specification, the inclination of the attitude of the flying object 100 (specifically, the flying mechanism 31 of the main body 30) refers to the flying object 100 with respect to a horizontal plane having a left-right direction (X direction) and a front-rear direction (Z direction). (The rotation angle around the X axis extending in the X direction and the rotation angle around the Z axis extending in the Z direction).
As described above, the flight mechanism 31 is tilted by individually extending and contracting the four second struts 21 interposed between the main body 30 (the flight mechanism 31) and the first frame 10. However, the flight posture of the first frame 10 can be maintained horizontal. Therefore, the luggage 50 can be transported in a stable posture. The expansion / contraction control of the second column 21 corresponds to “controlling expansion / contraction of the plurality of columns in order to control the flight posture of the object”.

  Note that the flight attitude control (flight attitude control) of the first frame 10 by the expansion / contraction control of the second support column 21 is not limited to the control for maintaining the flight attitude of the first frame 10 horizontally, but the first frame 10 The flight posture may be controlled to tilt at an arbitrary angle. That is, the flight posture control performed by the control device 60 (the control unit 60A) is the vertical direction of the mounting portion 25 in order to control the flight posture of the first frame 10 according to the posture of the flight mechanism 31 of the main body 30. It can be grasped as control for adjusting the position.

  Next, the extension / contraction control of the leg part 40 performed in order to maintain the attitude | position of the 1st frame 10 at the time of landing of the flying body 100 is demonstrated. FIG. 10 is a side view for explaining the expansion / contraction control of the leg 40 performed when the flying object 100 is landed.

When landing the flying object 100, the control device 60 (see FIGS. 1 and 3) controls the four legs 40 to expand and contract individually according to the landform of the landing point. Specifically, the control device 60 (see FIGS. 1 and 3) detects, for example, the distance from the grounding portion 41 of each leg 40 to the landing using a distance sensor or the like, and each distance is determined according to the detected distance. The leg portion 40 is stretched and controlled. The amount of expansion / contraction of each leg 40 can be determined, for example, according to the height difference at the point where the grounding part 41 of each leg 40 is installed. FIG. 10 shows an example in which the flying object 100 lands on an inclined surface 106 whose left side is lower than the right side with respect to the paper surface. In this case, of the four legs 40, the length of the two legs 40 located on the left side with respect to the paper surface is shorter than the length of the two legs 40 located on the right side with respect to the paper surface. Thus, even when landing on the inclined surface 106, the posture of the first frame 10 can be maintained horizontally.
In this way, by controlling the expansion and contraction of the leg 40 when the flying object 100 is landed, the posture of the first frame 10 is maintained horizontal regardless of the terrain condition such as an inclined surface, and the flying object 100 is landed. Can be made. The expansion / contraction control of the leg 40 corresponds to “controlling expansion / contraction of the plurality of legs according to the landform of the landing”.

[Second Embodiment]
The flying body used in the delivery system 1 may include various attachment mechanisms as exemplified in the following embodiments.
FIGS. 11A and 11B are side views showing a flying object 200 according to the second embodiment. Elements already described with reference to FIGS. 1 to 10 are denoted by the same reference numerals as those in FIGS. 1 to 10 and description thereof is omitted. A flying object 200 shown in FIGS. 11A and 11B includes a plurality of winches 210 in the main body 30. Each winch 210 is provided to attach the second frame 20 to the main body 30 so as to be movable up and down. The winch 210 rotates the drum 211 that is rotatable, the rope 212 wound around the drum 211, and the drum 211. And a driving device 213. The driving device 213 is an electric motor driven by a battery (not shown), for example.
The flying body 200 shown in FIG. 11A includes four winches 210, one on each of the four sides (see FIG. 3) on the front, rear, left and right of the base 33 of the main body 30. The drum 211 of each winch 210 is rotatably supported at both ends in the axial direction by a pair of support frames 211 a protruding from the upper surface of the base 33. The rotation axis of the drum 211 of each winch 210 is arranged in parallel to the four sides of the base portion 33 (see FIG. 3), and the cord body 212 fed out from the drum 211 hangs down from the main body portion 30 in the vertical direction. The rope 212 is, for example, a rope.

  Four attachment rods 22 arranged in parallel to the four upper end connecting rods 12 are installed between the upper ends of the second columns 21. The attachment rod 22 is provided to attach the cable body 212, and one end of the cable body 212 of the winch 210 provided above the attachment rod 22 is connected to each attachment rod 22. The second frame 20 and the main body 30 (flight mechanism 31) are detached via a detachable locking structure (attachment) that detachably locks the upper end of the second support column 21 and the main body 30. Free, easy and easy to combine. In the second embodiment, the connection between the second frame body 20 and the main body 30 via the attachment is automatically controlled to be attached / detached by the control of the control device 60 (see FIGS. 1 and 3). .

Next, the raising / lowering control of the 2nd frame 20 and the 1st frame 10 using the winch 210 is demonstrated. The control device 60 (see FIGS. 1 and 3) controls the operation of the drive device 213 of each winch 210 in accordance with a remote operation by a user using a remote controller, for example, and feeds the cord body 212 from the drum 211. The connection between the second frame 20 and the main body 30 is released. FIG. 11B shows a state where the second frame body 20 and the first frame body 10 are separated from the main body portion 30 in flight over the sky and lowered in the vertical direction. As shown in FIG. 11B, only the second frame 20 and the first frame 10 on which the luggage 50 is mounted are lowered while the main body 30 including the flight mechanism 31 is waiting in the sky. When raising the lowered second frame 20 and the first frame 10, the control device 60 (see FIGS. 1 and 3) controls the operation of the drive device 213 of each winch 210 and connects the cord 211 to the drum 211. 212 is wound up, and the second frame 20 and the first frame 10 are raised in the vertical direction. Then, when the upper end of the second frame 20 rises to a position where it comes into contact with the lower surface of the main body 30, the control device 60 (see FIGS. 1 and 3) connects the second frame 20 and the main body 30. .
Thus, the structure which drops only the 2nd frame 20 and the 1st frame 10 which mounted the load 50 using the winch 210, for example, agricultural equipment, such as an agrochemical spreader, is used for the 1st frame 10 as the load 50, for example. This is suitable when the air vehicle 200 is applied to agricultural purposes, such as when it is mounted. Of course, it can also be suitable for other uses such as architectural use and forestry use. This is because the effect of wind pressure on the crops from the flight mechanism 31 can be suppressed by allowing the main body 30 including the flight mechanism 31 to wait in the sky. The above-described operation control of the driving device 213 of each winch 210 corresponds to “controlling the operation of the driving device so that the cord body is fed out from the drum and wound around the drum”. .

  12 (a) and 12 (b) are side views showing modifications of FIGS. 11 (a) and 11 (b). In the flying body 200 shown in FIGS. 12A and 12B, one end of the rope body 212 of the winch 210 provided above each of the four upper end connecting rods 12 of the first frame body 10 is connected. This is different from FIGS. 11A and 11B. In this case, as shown in FIG. 12B, the first frame 10 is separated from the second frame 20 and descends. The second frame body 20 remains connected to the main body 30. This configuration is also suitable for agricultural applications in that the first frame body 10 carrying the luggage 50 can be lowered while the main body 30 including the flight mechanism 31 is waiting in the sky. Of course, it can also be suitable for other uses such as architectural use and forestry use.

[Third embodiment]
FIG. 13 is a side view illustrating the flying object 300 of the third embodiment, and FIG. 14 is a plan view of the flying object 300 of FIG. 13 as viewed from above. The main body 30 of the aircraft 300 shown in FIGS. 13 and 14 includes a tilt rotor type (osprey type) flight mechanism 310 as a flight mechanism. Here, the left side of the plane of FIG. 13 and FIG.

  As shown in FIGS. 13 and 14, the base 311 of the flight mechanism 310 has a pair of left and right arms that extend in the horizontal direction (perpendicular to the paper in FIG. 13) from the left and right side surfaces in the traveling direction F. One set 312 is provided before and after the traveling direction F. A rotary blade 320 is attached to the tip of each arm 312 so that the attachment angle can be changed. Each rotary blade 320 includes a rotary shaft 321 and a plurality of blades 322 projecting radially from the rotary shaft 321 and is connected to an electric motor driven by a battery (not shown). When each rotary wing 320 is rotationally driven by an electric motor (not shown), the blade 322 rotates around the rotation shaft 321 to generate a propulsive force of the flying object 300. The driving of the electric motor is not limited to using a battery, and a generator may be used. The generator may be any generator such as a generator using an engine as a power source, a solar generator, or a wind generator. The drive source of the rotary blade 320 is not limited to an electric motor, and any device that can drive the rotary blade 320, such as an internal combustion engine or a jet engine, may be used.

  The individual rotor blades 320 are set to a first attachment angle that stands the rotation shaft 321 in the vertical direction during vertical flight, and are set to a second attachment angle that directs the rotation shaft 321 in the traveling direction during forward flight. In FIG. 13, the rotary blade 320 set to the second attachment angle is indicated by a broken line. The length of each arm 312 is set to such a length that the tip of the blade 322 does not contact and interfere with the side surface of the base 311 of the flight mechanism 310 even in the state where the rotary blade 320 is set at the second mounting angle. To do.

  For example, when flying the aircraft 300 in the vertical direction such as during takeoff and landing, the individual rotor blades 320 are set to the first attachment angle. When the flying object 300 is advanced in the traveling direction F, the individual rotor blades 320 are set to the second attachment angle. The flying body 300 including the tilt rotor type flying mechanism 310 also includes the first frame 10 and the second frame 20 including the extendable struts 11 and 21, so that the pressing surface 17 and the mounting surface 15 are provided. The load 50 can be fixed to the first frame 10 by sandwiching the load 50 therebetween, and the plurality of second struts 21 of the second frame 20 are controlled to be expanded and contracted, whereby the load 50 is mounted. The flight posture of the frame 10 can be maintained horizontally.

As a modified example, the flying object 300 has the arm 312 attached to the base 311 so that the attachment angle can be changed between the first attachment angle and the second attachment angle, and by changing the attachment angle of the arm 312. A tilt wing type that switches the angle of the rotating shaft 321 of the rotary blade 320 fixed to the tip of the arm 312 may be used. In this case, the mounting angle of the rotary blade 320 with respect to the arm 312 may be fixed.
In this specification, the tilt rotor type flight mechanism is a generic term for a conversion type rotary wing flight mechanism that can switch the angle of the rotary shaft 321 of the rotary wing 320, including a tilt wing type flight mechanism. .

  According to the flying body 100 (200, 300) of each embodiment described above, the first frame 10 has a mounting surface 15 on which the luggage 50 is mounted, and a plurality of telescopic nested telescopes that respectively stand up from the mounting surface. The first support column 11 and the pressing surface 17 which is disposed to face the mounting surface 15 and is attached to be movable in the vertical direction in conjunction with the expansion and contraction of the plurality of first support columns 11. A second frame 20 composed of a plurality of telescopic second support columns 21 each rising from the mounting surface is attached to the upper part of the body 10, and the flight mechanism 31 (310) is attached to the upper part of the second frame 20. The main body part 30 having it is attached. In such a structure, the control device 60 performs expansion / contraction control of the plurality of first support columns 11, whereby the load 50 can be held between the pressing surface 17 and the mounting surface 15 and the load 50 can be fixed to the first frame body 10. For this reason, the effort which attaches the fixing tool for fixing the luggage | load 50 is unnecessary. Further, by holding the load 50 between the pressing surface 17 and the mounting surface 15, it is possible to effectively suppress the collapse of the load 50 mounted on the first frame body 10. Moreover, the control apparatus 60 can control the flight posture of the first frame 10 by controlling the expansion and contraction of the plurality of second support columns 21. For this reason, the luggage 50 mounted on the first frame 10 can be held and transported in an appropriate posture. That is, with a simple configuration using the first frame body 10 and the second frame body 20 made of nested tube bodies, the luggage 50 is appropriately fixed, and the posture of the first frame body 10 during flight is controlled. it can.

  Moreover, since the 1st frame 10 and the 2nd frame 20 are the solid frame bodies which consist of a tubular body, there is little air resistance at the time of flight and flight efficiency does not fall. Moreover, the structure which controls the flight attitude | position of the 1st frame 10 by the expansion-contraction control of the some 2nd support | pillar 21 is a 1st frame compared with the prior art which mounts a load on a flight body via a hinge, for example. It is excellent in that the 10 flight postures can be controlled to a desired posture.

  In addition, the flying object 100 (200, 300) has a plurality of legs that protrude from the lower surface of the first frame 10 and each have an outer tube and an inner tube housed in the outer tube, and can be expanded and contracted in the axial direction. The control unit 60 controls the expansion and contraction of the plurality of leg portions 40 according to the landform of the landing place, and is not limited to the landform conditions of the landing point, for example, any landform landing point such as an inclined surface However, it is possible to take off and land in a stable posture.

  The first frame 10 has a structure in which four first support columns 11, four upper end connecting rods 12, and four lower end connecting rods 13 are connected via eight joint blocks 14, and the second frame Since the body 20 has a structure in which each of the plurality of second support columns 21 is connected to a joint block 14 attached to the upper end of each of the plurality of first support columns 11, the size of the first frame body 10 and the second frame body 20. It is easy to change, expand, change the shape, add a frame, etc.

  In addition, since the flying body 100 (200, 300) of the present embodiment is an assembly type using the parts group of the tubular bodies 11, 12, 13, 21, 40 and the plurality of joint blocks 14, the rearrangement for each part. , Can be replaced. The shape and size of the first frame 10, the second frame 20, and the leg 40 can be freely changed by freely combining the number and arrangement of the component parts. In addition, maintenance such as repair and replacement for each part is easy.

Moreover, since it is an assembly type using the parts group of the tubular bodies 11, 12, 13, 21, 40 and the plurality of joint blocks 14, for example, the joint block 14, the upper end connecting rod 12, and the lower end connecting rod 13 are used. Thus, a plurality of aircraft 100 (200, 300) can be connected to each other. In this case, a plurality of flying bodies 100 (200, 300) can be connected in a horizontal shape in a circular shape, connected in a row in a horizontal direction, or aligned in a vertical direction. When a plurality of flying bodies 100 (200, 300) are connected in a line in the horizontal direction, for example, in a large-scale farmland having a large area, work such as disinfection spraying, watering, pesticide spraying, mowing is efficiently performed. Can do.
In this way, in the use form in the formation flight type in which a plurality of flying bodies 100 (200, 300) are connected side by side, a group of parts of the tubular bodies 11, 12, 13, 21, 40 and the plurality of joint blocks 14 are used. Therefore, there is an advantage that the degree of freedom is high in the number and arrangement of the flying bodies 100 (200, 300).

  As described above, the flying body 100 (200, 300) of the present embodiment includes the first frame body 10, the second frame body 20, and the leg portion 40 by using the tube bodies 11, 12, 13, 21, and 40 abundantly. There is also a feature in the point.

  When the multi-copter type flight mechanism 31 is applied as the flight mechanism, the posture stability is excellent and it is suitable for carrying the luggage 50.

  Further, when the tilt rotor type flight mechanism 310 is applied as the flight mechanism, both forward flight and vertical flight are stable, which is suitable for carrying the load 50.

  Further, the main body 30 includes a winch 210 having a rotatable drum 211, a cable body 212 wound around the drum 211, and a driving device 213 that rotationally drives the drum 211, and the second frame body 20 or the first frame body. 10 is attached to the main body 30 through the winch 210 so as to be able to move up and down, and the control device 60 drives the cord body 212 out of the drum 211 and winds the cord body 212 around the drum 211. By controlling the operation of the device 213, the first frame body 10 carrying the luggage 50 can be lowered while the main body 30 including the flight mechanism 31 is kept waiting in the sky. Such a configuration can suppress the influence of wind pressure directly below the flying object 100 (200, 300), and therefore, the delivery of the luggage 50 to a destination point 5 where it is difficult to secure a landing space such as a store or a general house. It is suitable for. In addition, since it is not necessary to land the flying object 400 when delivering the luggage 50, a more efficient delivery service can be provided. Moreover, since the influence by the wind pressure directly below can be suppressed, the flying object 100 (200, 300) is suitable for agricultural use, and is also suitable for other uses such as architectural use and forestry use.

  The load (package 50) may be any item. For example, in addition to the so-called luggage 50, the loaded items are automobiles, buses, motorcycles, ships, boats, hovercrafts, rafts, submarines, snow vehicles, construction vehicles such as bulldozers and excavators, agricultural vehicles such as tractors and combine harvesters. , Industrial vehicles such as forklifts and automatic guided vehicles, various vehicles such as wheelchairs, agricultural equipment used for various agricultural operations such as agricultural chemical spreaders and mowers. Further, the mounted object is not limited to an article but may be a person or a living creature.

For example, when a vehicle (ordinary passenger car or the like) is mounted on the flying object 100 as a mounted object, the first frame 10 is placed between the front wheel 56 and the rear wheel 57 on the bottom surface of the vehicle 55 as shown in FIG. The vehicle 55 may be mounted on the first frame 10 by positioning the mounting surface 15 and pressing the roof portion of the vehicle 55 with the pressing surface 17 of the first frame 10. In the flying object 100 shown in FIG. 15, the front wheel 56 and the rear wheel 57 of the vehicle 55 are positioned below the lower surface of the first frame 10, and the front wheel 56 and the rear wheel 57 of the vehicle 55 are grounded to the landing site. Configured as part.
The leg portion 40 (indicated by a broken line in FIG. 15) may be contracted so that the lower end (the grounding portion 41 in FIG. 2) is not grounded. In this case, for example, the leg portion 40 may be configured to be folded and stored on the lower surface side of the first frame body 10.

  Also in the flying body 100 shown in FIG. 15, if the leg portion 40 is extended and the lower end of the leg portion 40 is positioned below the wheels of the vehicle 55 (the front wheel 56 and the rear wheel 57), the lower end of the leg portion 40. Of course, (the grounding portion 41 in FIG. 2) can be used as the grounding portion. For example, when the landing site is a road, leveling, or the like, the wheels 56 and 57 of the vehicle 55 are used as a ground contact portion. Further, for example, the wheels 56 of the vehicle 55 such as an uneven terrain or a muddy land are used. , 57 can be used as a grounding portion, the leg portion 40 can be extended and the lower end of the leg portion 40 (the grounding portion 41 in FIG. 2) can be used as the grounding portion. As described above, by using the wheels 56 and 57 and the leg portion 40 of the vehicle 55 together as the ground contact portion, the wheels 56 and 57 or the leg portion 40 of the vehicle 55 can be selectively used according to the state of the landing place. The expansion / contraction control of the leg portion 40 may be automatically performed based on a detection signal of a sensor (not shown), or may be controlled by a remote operation by a user using a remote controller (not shown). When the wheels 56 and 57 of the vehicle 55 are configured as a landing portion to the landing place in this way, the vehicle 55 itself can travel on the ground while the vehicle 55 is mounted on the flying object 100. That is, the flying object 100 of this embodiment can be used as a kind of an amphibious vehicle (a flying automobile). Furthermore, in order to more securely fix the vehicle 55, the vehicle 55 may be fixed to the mounting surface 15 by a stopper (not shown) in addition to pressing from above with the pressing surface 17. When the vehicle 55 is mounted, the holding surface 17 is moved upward, the stopper 55 is opened, the vehicle 55 is moved into the first frame 10, the vehicle 55 is stopped on the mounting surface 15, and the holding is performed. It is only necessary to move the surface 17 downward and close the stopper. When removing the vehicle 55 from the flying object 100, it is only necessary to move the holding surface 17 upward, remove the stopper, and start the vehicle 55. In addition, when the wheels 56 and 57 of the vehicle 55 are configured as a landing portion to the landing site, the leg portion 40 may be omitted.

Although not shown, it goes without saying that the vehicle 55 can also be mounted on a tilt rotor type flying body 300 as shown in FIG. The mounting format of the vehicle 55 is not limited to the format as shown in FIG. 15, and the entire vehicle 55 may be mounted on the mounting surface 15 of the first frame 10, for example.
Further, when the vehicle 55 is mounted on the flying object 100 as a mounted object, the electric power generation capacity of the mounted vehicle 55 is set to an electric motor (actuator 113) that drives the first column 11 and the second column 21 to extend and contract, or the flight mechanism 31. You may utilize as a power supply of drive devices, such as an electric motor which drives the rotary blade 32 of this. Further, the power of the mounted vehicle 55 may be used as a power source for driving the rotary wing 32 of the flight mechanism 31.

  Further, the vehicle mounted on the flying object 100 is not limited to a normal passenger car, but may be an emergency vehicle such as a fire engine or an ambulance. For example, when an ambulance is mounted on the flying object 100, it can be used as a doctor helicopter. Further, by mounting a fire truck on the flying object 100, it can be used as a fire-fighting disaster prevention flying object that performs fire extinguishing in the air. Moreover, not only a traveling body that runs on the ground like a vehicle, but also a flying body such as a rocket may be mounted.

[Fourth embodiment]
In addition, in the fourth embodiment shown in FIGS. 16A and 16B, the flying object 400 is placed on the lower surface of the second frame body 20, that is, on the upper surface of the holding surface 17 provided on the upper portion of the first frame body 10. A winch 210 is provided. In this case, a hole through which the cable body 212 of the winch 210 is passed may be provided on the upper surface of the holding surface 17, and the cable body 212 may be attached to the luggage 50.

The first frame 10 is provided with an opening / closing mechanism 19 that opens and closes the bottom surface of the first frame 10 by moving the mounting surface 15. The opening / closing mechanism 19 includes a driving device for moving the mounting surface 15. The driving device is, for example, an electric motor driven by a battery (not shown). The driving of the electric motor is not limited to using a battery, and a generator may be used. The generator may be any generator such as a generator using an engine as a power source, a solar generator, or a wind generator. The opening / closing mechanism 19 opens and closes the bottom surface by, for example, swinging the mounting surface 15 in the vertical direction about one side of the bottom surface of the first frame 10 as an axis.
The control device 60 feeds the cord body 212 from the winch 210 and controls the operation of the drive device to wind it up, and also controls the movement of the mounting surface 15 to open and close the bottom surface (controls the opening and closing of the opening and closing mechanism 19). ) FIG. 16B shows a state in which the mounting surface 15 is swung downward to open the bottom surface of the first frame body 10 and the luggage 50 is lowered from the first frame body 10 using the winch 210. The flying object 400 of the fourth embodiment can also suppress the influence of the wind pressure directly below the flying object 400, so that the luggage 50 can be delivered to the destination point 5 where it is difficult to secure a landing space such as a store or a general house. Is preferred. Moreover, since it is not necessary to land the flying object 400 itself when delivering the luggage 50, a more efficient delivery service can be provided.

  As shown in FIG. 16B, in the usage mode in which the bottom surface of the first frame body 10 is opened and the luggage 50 is lowered from the first frame body 10 using the winch 210, the luggage 50 is replaced with a dog. A dog can walk using the body 400. In this case, the end of the cord body 212 is coupled to a dog collar or harness, and functions as a leash for walking the dog. In this case, for example, the flying object 400 is caused to fly to a wide place (river bed, etc.) with the dog placed on the first frame 10, and after arrival, the dog is lowered to the ground and the flying object 400 walks the dog. Can also be used.

Further, when an agricultural machine (not shown) such as a tractor or a cultivator is mounted as the luggage 50, the bottom surface of the first frame 10 is opened, and the agricultural machine is grounded from the first frame 10 using the winch 210. The agricultural machine can be pulled by the flying object 400 after being lowered. By pulling the agricultural machine with the flying object 400, it is possible to support the traveling of the agricultural machine and to prevent the agricultural machine from overturning.
In this case, the flying body 400 is caused to fly to a work place (such as a farm field) with the agricultural machine mounted on the first frame 10, and after arrival, the agricultural machine is lowered to the ground and the agricultural machine is pulled by the flying body 400. However, after a predetermined work is performed, the farming machine can be lifted to the first frame 10 and moved to another work place with the flying object 400 or returned to the warehouse. Here, the operation of the towed agricultural machine may be remotely controlled. At this time, the control device 60 of the flying object 400 may transmit a control signal for the remote control to the agricultural machine wirelessly or by wire. Alternatively, the control device 60 may relay a control signal for remote control transmitted from a remote controller (not shown) separate from the flying object 400 and transmit the control signal to the agricultural machine wirelessly or by wire.

  In addition, as an example of an agricultural machine towed by the flying object 400, a weeding instrument using a chain can be cited. This weeding device is composed of a saddle member and a plurality of chains of a certain length (for example, several tens of centimeters). One end of each chain is attached to the saddle member, and these chains are arranged in the axial direction of the saddle member. Thus, a plurality of chains are hung from the eaves member, and the weeding device is pulled so that the eaves member is perpendicular to the towing direction and the vertical direction. Scratch the ground to remove grass in the field. If this weeding instrument is pulled by the flying object 400, weeding using such a weeding instrument can be easily performed.

  The opening / closing mechanism 19 is not limited to the illustrated example, and may be any type such as a hatch type opening / closing mechanism or a sliding type opening / closing mechanism.

  In addition, as a modification of the flying object 100 (200, 300, 400), a wheel 42 may be provided at the lower end of the leg 40 instead of the ground contact 41. FIG. 17 shows a modification in which the vehicle body 200 according to the second embodiment is taken as an example, and a wheel 42 is provided at the lower end of the leg portion 40. FIG. 17A shows a state where the flying object 200 having the wheels 42 has landed on the ground 105. In this case, the flying object 200 can be used as a carriage. In order to brake the movement of the flying body 200 on the ground, a stopper (not shown) may be provided on the lower surface of the first frame 10. Further, by providing a driving device for driving the wheel for each wheel 42, the flying object 200 may be able to travel on the ground. The driving device is, for example, an electric motor driven by a battery (not shown). Although illustration is omitted, it goes without saying that the wheel 42 may be provided at the lower end of the leg portion 40 in any configuration such as the flying vehicle 100 of FIG. 2 and the flying vehicle 300 of FIG. 13.

  Further, as shown in FIG. 17B, the main body 30 flying in the air with the second frame 20 and the first frame 10 separated from the main body 30 via the winch 210 is provided with the winch 210. The first frame body 10 lowered to the ground may be pulled through the cord body 212. In addition, the first frame body 10 and the second frame body 20 on the ground are temporarily disconnected from the main body 30 (from the cable body 212), and then the cable body 212 is connected to the second frame body 20 again and wound up by the winch 210. Thus, the first frame body 10 and the second frame body 20 can be collected in the main body 30. Moreover, the usage form in which the main body 30 flying in the air pulls the first frame 10 on the ground is suitable for moving a plurality of domestic animals such as sheep and cows and animals.

  As a modification, the flying object 500 shown in FIG. 18 includes a plurality of main body portions 30 (a plurality of flight mechanisms). 18 includes four main body portions 30A, 30B, 30C, and 30D, and main body portions 30B, 30C, and 30D above the main body portion 30A attached to the upper portion of the second frame body 20. Are connected to each other in the vertical direction. Each of the main body portions 30B, 30C, and 30D is provided with a winch 210. The cord body 212 of the winch 210 of the uppermost body portion 30D is connected to the main body portion 30C, and the cord body 212 of the winch 210 of the main body portion 30C. Are connected to the main body 30B, and the rope 212 of the winch 210 of the main body 30B is connected to the lowermost main body 30A. In this case, while the flight is stopped, the main body 30B is overlaid on the main body 30A, the main body 30C is overlaid on the main body 30B, and the main body 30D is overlaid on the main body 30C. 30D may be stored in a compact manner. At the time of flight, the vertical distance between the main body portions 30A, 30B, 30C, and 30D can be adjusted according to the length of the cord body 212 extended from the winch 210.

  FIG. 19 is a modification of the flying object 500 having a plurality of main body portions 30 (a plurality of flight mechanisms), and a plurality of main body portions 30B are disposed above the main body portion 30A attached to the upper portion of the second frame body 20. , 30C are arranged side by side in the horizontal direction. Each of the plurality of main body portions 30B and 30C has a winch 210, and is connected to the main body portion 30A by a cable body 212. In this case, the horizontal size of the plurality of main body portions 30B and 30C is preferably smaller than that of the main body portion 30A. This is to increase the horizontal distance between the main body portions 30B and 30C in the flight state.

  As shown in FIGS. 18 and 19, in the flying object 500 having a plurality of main body portions 30 (a plurality of flight mechanisms), means for mutually connecting the plurality of main body portions 30A, 30B, 30C, 30D is provided in the winch 210. Not exclusively. For example, the plurality of main body portions 30A, 30B, 30C, and 30D may be connected to each other by a nested tube used as the first support column 11 or the second support column 21. In this case, at the time of flight, it is possible to extend the pipes that interconnect the plurality of main body portions 30A, 30B, 30C, 30D, and to separate the plurality of main body portions 30A, 30B, 30C, 30D from each other, Further, when the flight is stopped, the tubular body can be contracted and the plurality of main body portions 30A, 30B, 30C, 30D can be stacked and stored. By providing a plurality of main body portions 30 (a plurality of flight mechanisms) on the upper part of the second frame body 20, the flying force of the flying body 500 can be increased. The number of main body portions 30 connected in multiple stages can be freely expanded and changed.

  Further, the frames of the plurality of main body portions 30A, 30B, 30C, and 30D (that is, the base portion and the arm of each flight mechanism) are respectively connected to a nested tube body and a joint block 14 similar to the first support column 11 and the second support column 21, respectively. You may form with the assembly-type frame-shaped structure using these. Thereby, the magnitude | size of each main-body part 30A, 30B, 30C, 30D can be changed freely. For example, the sizes of the main body portions 30A to 30D can be freely changed according to the size of the blades 36 (propellers) of the rotor blades 32 mounted on the individual main body portions 30A to 30D. The sizes of the individual main body portions 30A, 30B, 30C, and 30D can be changed. For example, the sizes of the main body portions 30A to 30D can be sequentially increased from the bottom to the top, or the sizes of the main body portions 30A to 30D can be sequentially decreased from the bottom to the top. A combination of sizes of the main body portions 30A to 30D can be freely set and changed. When the frames of the main body portions 30A to 30D are assembled, the number of rotor blades 32 provided on one main body portion 30 can be freely expanded and changed, and the shape of the frame can also be freely changed. Since the expansion and modification of the frame is performed using the joint block 14 and the pipe body, it is simple and easy.

  Moreover, when the frame of the 1st frame 10, the 2nd frame 20, and also the main-body part 30 is an assembly-type frame-shaped structure using several nested pipes, a pipe is connected mutually. Therefore, a pivot joint (ball joint) may be used instead of the joint block 14 described above or in combination with the joint block 14. Thereby, the angle of the connection part (joint) of a tubular body can be adjusted freely, and the shape of a frame-shaped structure can be deformed. For example, when the frame (base 33 and arm 34) of the main body 30 is formed by connecting a plurality of tubes to each other by a pivot joint (ball joint), the mounting angle of the arm 34 with respect to the base 33 can be freely changed. it can. The pivot joint (ball joint) may be accompanied by a fixing mechanism for fixing the angle of the connecting portion (joint) of the tube. Thereby, after adjusting the angle of the connection part (joint) of a tubular body, the angle of the connection part of a tubular body can be fixed with the angle after adjustment.

  Moreover, as shown to Fig.20 (a), you may provide the left-right paired support member 70 for pressing and supporting the load 50 mounted in the 1st frame 10 from the left-right side surface. Each of the support members 70 includes a support plate 71 disposed along a surface extending in the up-down direction and the front-rear direction, and a third support 72, which is disposed extending in the up-down direction and supports the support plate 71. And attached to the first frame 10 so as to be movable in the left-right direction.

Above the first frame 10, an upper support rod 73 is provided that is disposed along the left-right direction and connected to the upper end of the third support column 72. Below the first frame 10, there is provided a lower support rod 74 arranged along the left-right direction and connected to the lower end of the third support column 72. In order to attach the upper support rod 73, a joint block 14 b is inserted between the joint block 14 a disposed at the upper end of the first frame 10 and the upper end of the first support column 11, and a pair facing in the left-right direction. The upper support rod 73 is disposed between the joint blocks 14b. Further, in order to attach the lower support rod 74, a joint block 14d is inserted between the joint block 14c disposed at the lower end of the first frame body 10 and the lower end of the first support column 11, and in the left-right direction. A lower support rod 74 is disposed between a pair of opposing joint blocks 14d.
Although not shown in FIG. 20A, the first frame 10 includes an upper support rod 73 and a pair of joint blocks 14b, a lower support rod 74 and a pair of joint blocks 14d, respectively in the front-rear direction. Two sets are arranged side by side.

  FIG. 20B is a view of the support member 70 as viewed from the arrow B. A support member 70 shown in FIGS. 20A and 20B has two support plates 71 arranged in the vertical direction, and a pair of third support columns 72 are provided at both ends of the support plate 71 in the front-rear direction. It is attached. A hole 77 through which the upper support rod 73 is inserted is provided in the upper end portion 75 of each third support column 72, and a hole 78 through which the lower support rod 74 is inserted is provided in the lower end portion 76. .

As shown in FIG. 20A, one end of the upper support rod 73 is connected to an electric motor 80 driven by a battery (not shown). A screw thread is formed on the outer peripheral surface of the upper support rod 73, and the upper support rod 73 functions as a male screw body as a whole. The rotating shaft of the electric motor 80 is arranged coaxially with the upper support rod 73. On the inner peripheral surface of the hole 77 provided in the upper end portion 75 of each third support column 72, a screw thread that is screwed into the screw thread on the outer peripheral surface of the upper support rod 73 is formed, and the hole 77 functions as a female screw body. . Therefore, the rotational motion of the electric motor 80 is converted into a linear motion (movement in the left-right direction) of the support member 70 along the axial direction of the upper support rod 73. Here, in the pair of left and right support members 70, the threads on the inner peripheral surface of the hole 77 are formed in opposite directions, so that the pair of left and right support members 70 are in opposite directions with respect to the rotational movement of the electric motor 80. Moved to. That is, when the electric motor 80 is rotated in a certain direction, the right support member 70 moves leftward and the left support member 70 moves rightward (that is, the pair of left and right support members 70 approach each other). ) When the electric motor 80 is rotated in the other direction, the right support member 70 moves in the right direction and the left support member 70 moves in the left direction (that is, the pair of left and right support members 70 are separated from each other). .
It should be noted that no thread is formed on the outer peripheral surface of the lower support rod 74 and the inner peripheral surface of the hole 78 provided in the lower end portion 76 of each third support column 72, and the lower end of each third support column 72. The portion 76 moves along the lower support rod 74 following the linear motion of the upper end portion 75 of each third support 72 according to the rotational motion of the electric motor 80.

  Moreover, the lower end 76 of each 3rd support | pillar 72 is inserted in the inside of the 3rd support | pillar 72, respectively, and can be extended-contracted to an up-down direction. Accordingly, when the first support column 11 of the first frame 10 expands and contracts in the vertical direction, the lower end portion 76 of each third support column 72 expands and contracts following the expansion and contraction.

The control device 60 controls the driving of the electric motor 80 in order to move the pair of left and right support members 70 in the left-right direction and press the load 50 from the side surface. Thereby, in the first frame 10, the loaded luggage 50 can be pressed from the side surface by the pair of left and right support members 70. Thereby, the loaded cargo 50 can be further stabilized, and the collapse of the cargo 50 can be more effectively suppressed. The driving of the electric motor 80 is not limited to using a battery, and a generator may be used. The generator may be any generator such as a generator using an engine as a power source, a solar generator, or a wind generator.
The movement of the pair of left and right support members 70 is not limited to automatic control using the control device 60 and the electric motor 80, and may be performed manually.

Further, a screw thread is formed on the outer peripheral surface of the lower support rod 74 and the inner peripheral surface of the hole 78 provided in the lower end portion 76 of the third support column 72, and the lower support rod 74 is driven to rotate by the electric motor 80. May be. Further, both the upper support rod 73 and the lower support rod 74 may be rotationally driven by the electric motor 80.
The shape of the pair of left and right support members 70 is not limited to the illustrated example. For example, the support plate 71 may be a single plate. For example, the upper support rod 73, the electric motor 80, and the lower support rod 74 may each be covered with an outer cylinder. Further, the mechanism for moving the support member 70 in the left-right direction is not limited to the above example.

As one form of use of the flying object 100 (200, 300, 400, 500), the flying object 100 is movably attached to a rope spanned in the horizontal direction so that the flying object 100 can be moved horizontally along the rope. It may be moved, that is, the rope may be used as a movement guide, and the moving direction of the flying object 100 may be restricted to the extending direction of the movement guide. The flying object 100 is attached to a rope via a pulley, for example.
In this case, instead of the flight mechanisms 31 and 310 of the main body 30, a hovercraft type propeller mechanism that outputs a propulsive force in the front-rear direction of the traveling direction of the flying object 100 may be provided.
As another example, the flying object 100 may be attached so as to be movable along a rope spanned in the vertical direction, and the flying object 100 may be moved in the vertical direction using this rope as a movement guide.
The direction of laying the rope is not limited to horizontal and vertical, but may be diagonal. Regardless of the direction in which the rope is bridged, the flying object 100 can be linearly moved using the rope as a movement guide. The number of ropes is not limited to one and may be two or more.
Moreover, you may use not only a rope but a rail as a movement guide of the flying body 100 (200,300,400,500).

  Further, in the multi-copter type flight mechanism 31, the rotary wing 32 may be provided as a flap type rotary wing that can swing up and down with respect to the arm 34 via an axis. In this case, the direction of the wind injected from the multi-copter type flight mechanism 31 can be controlled by changing the mounting angle of the rotary wing 32. This is because, for example, the flying body 31 (200, 300, 400, 500) is applied from the flying mechanism 31 in the operation of handling liquids or powders such as spraying of agrochemicals, herbicides, disinfectants, fertilizers, pollination operations, and painting operations. It is useful as a measure to avoid the influence of the wind that is jetted. For example, when spraying agricultural chemicals, it is possible to prevent the agricultural chemicals from being bleached outside the work target area.

Further, when the flying object 100 (200, 300, 400, 500) is not flying, the wind force generated by the flying mechanism 31 (310) is used for air circulation, that is, the flying mechanism 31 is used as a circulator. May be. Further, when the flying object 100 (200, 300, 400, 500) is not flying, the wind force generated by the flying mechanism 31 (310) is used for the purpose of blowing, that is, the flying mechanism 31 is used as a blower. May be. Such flexible use is convenient, for example, when a disaster occurs.
Furthermore, the wind force generated by the flight mechanism 31 (310) may be used for wind power generation while the flying object 100 (200, 300, 400, 500) is stopped or flying. The flying object 100 (200, 300, 400, 500) may be equipped with a wind power generator for that purpose.

When the flying object 100 (200, 300, 400, 500) is used for spraying liquids or powders of agricultural chemicals, herbicides, disinfectants, fertilizers, etc., a tank containing agricultural chemicals, herbicides, etc. A spraying device can be mounted on the first frame 10 to spray agrochemicals, herbicides, etc. while flying the flying object 100 (200, 300, 400, 500) over fields, paddy fields, orchards.
Here, the nozzle for spraying (spouting) the liquid or powder extends from the first frame body 10, and its spray port is positioned away from the first frame body 10 and sprayed (spout) from the spray port. It is preferable to prevent the liquid or powder from being affected by the wind from the flight mechanism 31.

That is, if an arbitrary work machine is mounted on the first frame body 10, the flying machine 100 (200, 300, 400, 500) can be used to perform work using the work machine.
For example, when the flying object 100 (200, 300, 400, 500) is used for pollination work, a container (tank) containing pollen and a device for causing pollination are mounted on the first frame 10. Since the flying object 100 (200, 300, 400, 500) is excellent in maintaining the flying posture of the first frame 10, the pollination work is performed pinpoint like a bee aiming at a specific target flower. It is suitable for.
In addition, a sound equipment for excluding birds and beasts may be attached to the first frame 10, and the flying object 100 (200, 300, 400, 500) may be used for excluding birds and animals. The audio equipment for excluding birds and beasts attached to the first frame 10 can be used for crime prevention purposes in addition to the birds and beast exclusion purposes. In this case, for example, when the flying object 100 (200, 300, 400, 500) flies over the target area while monitoring the area with a camera or a sensor (not shown) and discovers a crime prevention target person, the audio equipment The crime prevention effect can be demonstrated by emitting a warning voice for crime prevention.
In addition, for example, a nondestructive inspection device such as a hammering inspection device can be mounted on the first frame 10 to inspect the surface of the inspection object for defects or cracks.
Moreover, a painting apparatus may be attached to the first frame 10 and the flying object 100 (200, 300, 400, 500) may be used for painting work.
In particular, when the flying object 100 (200, 300, 400, 500) is used for the pinpoint operation as described above, the camera is mounted on the flying object 100 (200, 300, 400, 500) or the work machine, and the camera The work can be performed with high accuracy by a well-known automatic recognition technique using the captured video. If the first frame 10 is equipped with a non-destructive inspection device such as a hammering inspection device or a coating device, a camera can be further installed to use the image of the camera for inspection or painting work. You can use the camera image for repairing defects found.
Further, a projector (image projection device) may be mounted on the first frame 10. In this case, for example, the flying object 100 (200, 300, 400, 500) may be used as a projector such as project mapping.
A camera (photographer) may be mounted on the first frame 10. In this case, for example, the flying object 100 (200, 300, 400, 500) may be used for aerial photography. Since the flight posture of the first frame 10 can be maintained horizontally, the aircraft 100 (200, 300, 400, 500) is suitable for aerial photography. Data of captured images (moving images or still images) may be transmitted to an image processing apparatus such as a ground computer by wireless communication, for example.

Further, a mower may be mounted on the first frame 10 and the flying object 100 (200, 300, 400, 500) may be used as a mower with a flight mechanism. For example, a plurality of rotor-type mowings may be provided on the lower surface of the first frame body 10. The mower is not limited to the rotor type, and may be any type of mower. The use of the flying object 100 (200, 300, 400, 500) as a mower is more effective in, for example, undergrowth work in forestry or mowing work on an inclined land.
Moreover, you may mount agricultural machines, such as a seedling transplanter and a cultivator, in the 1st frame 10, and may use the flying body 100 (200,300,400,500) as an agricultural machine with a flight mechanism.
In this case, a mower and an agricultural machine with a high degree of freedom of movement can be provided. Since the flying object 100 (200, 300, 400, 500) is excellent in maintaining the horizontal posture of the first frame 10, the mowing work and the farming work can be performed with a stable attitude.

  Various construction machines and industrial machines may be mounted on the first frame 10.

A robot arm may be mounted on the first frame 10. Since the flying object 100 (200, 300, 400, 500) has horizontal flight performance, hovering flight performance, and horizontal maintenance performance of the flying posture of the first frame 10, a pin using a robot arm is used. The point work can be performed efficiently, and is suitable for a house repair work, for example. In addition to house repair, it is also suitable for repairs of various structures such as various building repairs, bridge pier repairs, levee repairs, revetment works, slope repairs, protection work, reinforcement work, etc. It is.
In addition, when a robot arm is mounted on the first frame 10, the flying object 100 (200, 300, 400, 500) can be operated by performing operations such as pruning, pruning, cutting and thinning using the robot arm. Can be used for forestry. In addition, when the robot arm is mounted on the first frame 10, the flying object 100 (200, 300, 400, 500) can be used for harvesting fruits and vegetables such as strawberry, apple, and tomato harvesting operations.

  Alternatively, an operator may be mounted on the first frame body 10 or the main body portion 30 to perform work manually. Since the flying object 100 (200, 300, 400, 500) has good horizontal stability, it is easy for an operator to work.

  In addition, the load mounted in the 1st frame 10 is not limited to the above-mentioned luggage | load, a vehicle, and various working machines, It can be all things. Since the first frame 10 is an assembled frame-like structure in which the first support column 11, the upper end connecting rod 12, the lower end connecting rod 13, and the joint block 14 are assembled, the size and shape can be freely deformed and expanded. Because of this degree of freedom, various luggage, vehicles, and various work machines can be installed.

A net (net) may be further attached to the lower surface of the first frame 10 and the luggage 50 may be put into the net. Furthermore, the flying object 100 (200, 300, 400, 500) in which a net (net) is further attached to the lower surface of the first frame 10 can be used in fisheries by using the net as a fish net.
Further, when a ship or a raft is mounted on the first frame 10, the flying object 100 (200, 300, 400, 500) can be used for fishing. In this case, for example, the flying object 100 (200, 300, 400, 500) is mounted with a ship or a fish farm, flies to a fishing ground or a fish farm, and the ship or a fish farm is lowered to the sea. After the completion of work such as fishing and aquaculture, the ship or the farming frame can be lifted from the sea and moved to another work place or returned to the warehouse.

Further, the plurality of second struts 21 of the second frame 20 may each have an air spring device, and the air spring device may fulfill the horizontal maintaining function of the flight posture of the first frame 10. Moreover, the some 1st support | pillar 11 of the 1st frame 10 may have an air spring apparatus, respectively.
Moreover, the some 1st support | pillar 11 and the some 2nd support | pillar 21 may each have a suspension.
Moreover, the some 1st support | pillar 11 and the some 2nd support | pillar 21 may each have a shock absorber.

  Further, an impact mitigation device may be provided as a safety device on the upper surface, lower surface, and / or side surface of the flying object 100 (200, 300, 400, 500). Examples of the impact relaxation device include an air cover, an air cushion, and an air bag. Moreover, you may have a parachute as a safety device. As an example of mounting the safety device, the entire circumference of the flying object 100 (200, 300, 400, 500) is wrapped with an impact relaxation material such as an air cover, an air cushion, or an airbag, and the flying object 100 (200, 300, 400) is used. , 500) may be mounted so as to open a parachute.

  Moreover, the mounting surface 15 of the first frame 10 may be attached to the first frame 10 via a suspension combined with an air damper or a metal spring. For example, the mounting surface 15 may be suspended via a suspension that extends downward from above the first frame body 10.

  Moreover, the shape of the 1st frame 10 and the 2nd frame 20 is not restricted to a cube or a rectangular parallelepiped whose upper and lower surfaces are rectangular, For example, what kind of shapes, such as a cylindrical frame, may be sufficient.

  Moreover, the control of the control target by the control device 60 may be control via wire as well as control via wireless.

The actuator 113, the driving device 213, the driving device for the rotor blade 32, and the driving device such as the rotor blade 320 are not limited to those shown in the embodiment, and any device can be used.
In addition to the above-described electric motor driven by a battery, for example, a hydraulic motor or an engine (internal combustion engine) can be used as a driving device. The engine may be a gasoline engine, a hydrogen engine, a hybrid engine, a compressed air engine, or the like.
Of course, when using an electric motor, an electric power supply system is used. When using a hydraulic motor, a hydraulic supply system is used. When using an engine, a fuel supply system (fuel tank, gas cylinder, etc.) is 200, 300, 400, 500). Examples of the power supply system include a battery, a generator using an engine as a power source, a solar power generator, a wind power generator, a fuel cell, and a combination thereof.

  The aircraft 100 (200, 300, 400, 500) can be used for fire fighting / rescue work at fire sites, for crime prevention activities, disaster prevention activities, earthquakes, tsunamis, in addition to the various uses described above. When disasters such as storm surges, floods, etc. occur, they are used for relief activities, recovery / reconstruction support activities, or for extinguishing / rescue work in high-rise building fires. It can be used for a variety of other purposes.

  In addition, the flying object 100 (200, 300, 400, 500) may be a manned aircraft on which a person rides and operates.

  The present invention includes all combinations of various configurations disclosed in the above-described embodiments and modifications.

[Fifth embodiment]
FIG. 21 is a side view illustrating a flying object 600 according to the fifth embodiment. As shown in FIG. 21, the flying object 600 is configured to directly connect an object to be transported to the lower part of the second frame 20, and the first frame 10 is not provided.

  FIG. 21 shows an example in which an automobile (vehicle) 55 is connected to the lower part of the second frame 20 as an object. On the lower surface of the joint block 14 provided at the lower end of each second support column 21 constituting the second frame body 20, as means for connecting the automobile 55 to the lower portion of the second frame body 20, a connection projection (connection portion) ) 91 is provided. The connection protrusion 91 is formed as a columnar protrusion protruding downward from the lower surface of the joint block 14.

  Four connecting members (connected parts) 92 are provided on the roof of the automobile 55 in correspondence with the connecting protrusions 91 provided at the lower ends of the four second columns 21. Each connecting member 92 is a means for connecting the automobile 55 to the flying object 600 (specifically, the second frame 20), and is fixed to the upper surface of the roof of the automobile 55. In FIG. 21, only two connecting members 92 disposed on the front side in the front-rear direction are shown, and the other two are not shown.

The upper surface of the connecting member 92 in FIG. 21 protrudes above the upper surface of the roof of the automobile 55, and a fitting hole 93 for fitting the connecting protrusion 91 is provided on the upper surface of each connecting member 92. Yes.
The connection protrusion 91 and the connection member 92 are provided with a lock mechanism (not shown) for fixing the connection protrusion 91 to the connection member 92 in a state where the connection protrusion 91 is fitted in the fitting hole 93. Yes. As an example of the lock mechanism, a boss portion is provided on the outer periphery of the connection protrusion 91, and a groove that engages with the boss portion is provided on the inner periphery of the fitting hole 93. The structure which can be detachably fixed to the connecting member 92 can be mentioned. The lock mechanism is not limited to this and may have any structure.

When the automobile 55 is connected to the lower part of the second frame body 20, for example, the flying object 600 is positioned above the automobile 55, and the connection protrusion 91 provided at each lower end of the second support column 21 is connected to the roof of the automobile 55. The connecting projections 91 are fitted into the fitting holes 93 by lowering the flying object 600 after being positioned above the connecting members 92 (specifically, the fitting holes 93). Then, the connection protrusion 91 is fixed to the connection member 92 by a lock mechanism. In this way, the connecting protrusion 91 and the connecting member 92 are fixed (connected) to each other by fitting the connecting protrusion 91 in the fitting hole 93, so that the automobile 55 is connected to the lower portion of the second frame body 20. Is done. Furthermore, the connection between the automobile 55 and the second frame body 20 may be reinforced using a rope, a chain, a net, or the like. Further, the automobile 55 connected to the lower portion of the second frame 20 may be protected by being covered with a protective net, a protective cover or the like.
In the flying object 600 having the above-described configuration, the flight posture of the automobile 55 can be controlled by the control device 60 performing expansion / contraction control of the second support column 21. For example, when the inclination of the attitude of the flying object 600 (specifically, the main body 30) is detected by a sensor, the control device 60 performs expansion / contraction control of each second support column 21 according to the detected inclination. Thereby, the attitude | position of the motor vehicle 55 connected with the lower part of the 2nd frame 20 can be maintained horizontally.

Thus, since the flying body 600 has a configuration in which the automobile 55 is connected to the lower part of the second frame body 20, the automobile 55 can be appropriately fixed to the flying body 600. The flight posture of the automobile 55 can be controlled simply by extending and retracting the support column 21 in the axial direction. For this reason, the flying object 600 can carry the automobile 55 connected to the lower part of the second frame body 20 in a stable posture. The connecting member (connected portion) 92 provided in the automobile 55 is formed as a cylindrical protrusion protruding upward, and the protrusion is formed on the lower surface of the joint block 14 provided at the lower end of each second support column 21. Needless to say, a fitting hole 93 (connecting portion) for fitting may be provided.
The connecting member 92 provided on the roof of the automobile 55 may be used as an attachment portion for attaching the roof carrier to the automobile 55 in a state where the automobile 55 is separated from the flying object 600, for example.

As a modified example of the flying body 600, as shown in FIG. 22, the first frame body 10 may be provided at the lower part of the second frame body 20, and an automobile (vehicle) 55 may be connected to the lower part of the first frame body 10. . That is, the automobile 55 is provided below the second frame 20 via the first frame 10 (that is, indirectly). In this case, it can be understood that the objects connected to the lower part of the second frame body 20 are the first frame body 10 and the automobile (vehicle) 55.
The lower part of the second frame 20 is provided with a joint block 14e provided at the lower end of each second column 21 as a first connecting part for connecting the first frame 10, and the first frame 10 includes a male screw 114 (see FIG. 7) provided at the upper end of each first support column 11 as a first connected portion to be connected to the first connecting portion. In addition, a connection protrusion 91 that protrudes from the lower surface of the joint block 14 f provided at the lower end of each first support column 11 is provided at the lower portion of the first frame 10 as a second connection portion for connecting the vehicle 55. In addition, the automobile 55 is provided with a connecting member 92 having a fitting hole 93 as a second connected portion to be connected to the second connecting portion.
In the above configuration, the connection protrusions 91 at the lower ends of the first pillars 11 are respectively fitted in the fitting holes 93 of the connection members 92 provided on the roof of the automobile 55, so that the connection protrusions 91, the connection members 92, Are fixed (connected) to each other, whereby the automobile 55 is connected to the lower portion of the first frame body 10.
In this case, a load 50 (indicated by a broken line in FIG. 22) can be mounted on the mounting surface 15 of the first frame body 10, and the pressing surface 17 and the mounting surface 15 are controlled by controlling the expansion and contraction of the first column 11. Thus, the load 50 can be held.

  In the embodiment shown in FIG. 22, the flying body of any of the embodiments shown in FIGS. 1 to 20 can be mounted on the upper portion of the vehicle 55. In this case, a second connecting portion is provided on the lower end surface of the leg portion 40 of the embodiment shown in FIGS. 1 to 20, or the leg portion 40 is removed from the flying body of the embodiment shown in FIGS. It removes and providing a 2nd connection part in the lower end surface of the joint block 14f of the 1st support | pillar 11 is performed.

The vehicle 55 is not limited to the automobile (ordinary passenger car) illustrated in FIGS. 21 and 22, but is a bus, a truck, a railway vehicle, a motorcycle, a bicycle, a snow vehicle, a construction vehicle such as a bulldozer or an excavator, a tractor or a combine harvester. Any type of vehicle such as an agricultural vehicle such as a machine, an agricultural machine, an agricultural machine, a mower, an industrial vehicle such as a forklift or an automatic guided vehicle, or a wheelchair may be used.
When an agricultural vehicle such as an agricultural vehicle, an agricultural machine, an agricultural machine, or a mower is detachably connected to the flying object 600, the aircraft 600 flies to a work place (such as a farm field) with the agricultural machine connected to the flying object 600. Then, after arrival, the agricultural machine is detached and the predetermined work is performed. Then, after the work is completed, a farming machine can be connected (docked) to the flying object 600, and the flying object 600 can be used to move to the next work place or return to the warehouse.
The object connected to the lower part of the second frame 20 (or indirectly via the first frame 10) in the flying object 600 is not limited to a vehicle, and any object can be used as long as it is an object to be transported.

[Sixth embodiment]
FIG. 23 is a side view of the flying object 700 of the sixth embodiment, and FIG. 24 is a plan view of the flying object 700 of FIG. 23 as viewed from above.
The flying body 700 is provided with a horizontal flight mechanism 710 for horizontal flight in addition to the multi-copter type flight mechanism 31 shown in FIGS. It is different from the form. Here, the multi-copter type flight mechanism 31 can be grasped as a vertical flight mechanism for vertical flight.

  The horizontal flight mechanism 710 is a flight mechanism suitable for flying the flying object 700 in the horizontal direction. A horizontal flight mechanism 710 shown in FIGS. 23 and 24 includes a body portion 705 fixed to the base portion 33, a main wing 712 extending in the left-right direction from the body portion 705, and a pair of left and right attached to the main wing 712. A propeller part 714, a tail 711 provided at the rear end of the body part 705, and a vertical tail 713 provided at the rear end of the body part 705 are provided.

  Each propeller unit 714 includes a shaft 716 disposed along the traveling direction F of the flying object 700, and a plurality of blades (blades) 718 projecting radially from the shaft 716, and is driven by a battery (not shown). Connected to an electric motor.

  When each propeller portion 714 is driven to rotate by an electric motor (not shown), the blade 718 rotates around the shaft 716 to generate a propulsive force in the horizontal direction of the flying object 700. The driving of the electric motor is not limited to using a battery, and a generator may be used. The generator may be any generator such as a generator using an engine as a power source, a solar generator, or a wind generator. The drive source of the propeller unit 714 is not limited to an electric motor, and any device that can drive the propeller unit 714 such as an internal combustion engine or a jet engine may be used.

The control unit 60A (see FIG. 1) individually controls the flight of the multi-copter type flight mechanism (vertical flight mechanism) 31 and the horizontal flight mechanism 710. For example, when moving in the vertical direction such as during take-off and landing, the flight mechanism (vertical) The flight mechanism 31 is operated, and the horizontal flight mechanism 710 is exclusively operated when moving in the horizontal direction.
As described above, the flying object 700 including the flight mechanism 31 (vertical flight mechanism) and the horizontal flight mechanism 710 has a long distance of the horizontal flight mechanism 710 in addition to the excellent vertical flight performance of the multi-copter type flight mechanism 31. It also has moving performance and high-speed moving performance in the horizontal direction.

The flying body 700 has the same components as the flying body 100 of the first embodiment except that it has a horizontal flying mechanism 710 in addition to the flying mechanism 31, and can be used as a flying body of the delivery system 1. . When the flying object 700 is used as the flying object of the delivery system 1, in addition to the delivery stability of the luggage 50, there are advantages such as the expansion of the delivery service area and the shortening of the delivery time.
[Seventh embodiment]
FIG. 25 is a side view of the flying object 800 according to the seventh embodiment, and FIG. 26 is a plan view of the flying object 800 of FIG. 25 as viewed from above. The flying object 800 includes a multi-copter type flight mechanism 31 as a vertical flight mechanism for vertical flight in the main body 30 and a horizontal flight mechanism 810 for horizontal flight at the lower part of the first frame 10. This is different from the sixth embodiment. In this case, it can be understood that the objects connected to the lower part of the second frame 20 are the first frame 10 and the horizontal flight mechanism 810.

  The horizontal flight mechanism 810 is connected to the lower part of the first frame body 10 via a base 802, a body part 805 fixed to the base part 802, a main wing 812 extending in the left-right direction from the body part 805, and a main wing 812 And a pair of left and right propeller parts 814, a tail 811 provided at the rear end of the body part 805, and a vertical tail 813 provided at the rear end of the body part 805.

  Each propeller portion 814 includes a shaft 816 disposed along the traveling direction F of the flying object 800, and a plurality of blades 818 projecting radially from the shaft 816, and is driven by a battery (not shown). Connected to.

  When each propeller unit 814 is rotationally driven by an electric motor (not shown), the blade 818 rotates around the shaft 816 to generate a propulsive force in the horizontal direction of the flying object 800. The driving of the electric motor is not limited to using a battery, and a generator may be used. The generator may be any generator such as a generator using an engine as a power source, a solar generator, or a wind generator. The drive source of the propeller unit 814 is not limited to an electric motor, and any device that can drive the propeller unit 814, such as an internal combustion engine or a jet engine, may be used.

  The control unit 60A (see FIG. 1) individually controls the flight mechanism (vertical flight mechanism) 31 and the horizontal flight mechanism 810, and operates the flight mechanism (vertical flight mechanism) 31 exclusively when performing vertical flight. When moving in the direction, the horizontal flight mechanism 710 is exclusively operated. Therefore, in addition to the excellent vertical flight performance of the multi-copter type flight mechanism 31, the flying object 800 also has the long-distance movement performance of the horizontal flight mechanism 810 and the high-speed movement performance in the horizontal direction.

The flying object 800 has the same components as the flying object 100 of the first embodiment except that it has a horizontal flying mechanism 810 in addition to the flying mechanism 31 and can be used as the flying object of the delivery system 1. . Therefore, when the flying object 800 is used as the flying object of the delivery system 1, there are advantages such as an increase in the delivery service area and a shortened delivery time in addition to the delivery stability of the luggage 50.
As a modification of the seventh embodiment, the flying object 800 is configured such that the horizontal flight mechanism 810 is connected to the lower part of the second frame 20 and the first frame 10 is connected to the lower part of the horizontal flight mechanism 810. Also good.

  The flying object 700 of the sixth embodiment and the flying object 800 of the seventh embodiment are separate from the multi-copter type flying mechanism 31 (vertical flying mechanism) shown in FIGS. Can be grasped as a flying object equipped with horizontal flight mechanisms 710 and 810 suitable for flying in the horizontal direction.

[Others]
The flight mechanisms provided in the flying bodies 100 to 800 are not limited to the flight mechanisms 31, 310, 710, and 810 described in the above embodiments, and may be configured by any flight mechanism. As the flight mechanism, for example, a paraglider, a balloon, an airship, an airplane, a helicopter, a gyrocopter, or the like may be applied.

Moreover, the wall surface which can be opened and closed on each of the four side surfaces of the first frame body 10 is provided, and the first frame body 10 is closed to the container frame type structure by closing the four side surfaces of the first frame body 10 with the wall surfaces. It can also be configured as.
Further, the entire first frame 10 and the second frame 20 or the entire first frame 10 or the second frame 20 is covered with a windshield capsule for reducing wind resistance. Also good.

  The flying bodies 100 to 800 are not limited to unmanned flying bodies, but may be manned flying bodies on which crew members such as crew members and passengers board. When the flying bodies 100 to 800 are configured as manned flying bodies, it is preferable that the flying bodies 100 to 800 are detachably mounted with a container type cabin for a crew member to board.

Any of the flying bodies 100 to 800 may be mounted as a wireless relay station by mounting a wireless communication relay device. In this case, the flying bodies 100 to 800 are connected to a power supply device installed on the ground by wire, and may be supplied with power from the ground power supply device while hovering and flying at a predetermined position in the sky. In addition, when a solar power generator including a solar panel is mounted on the flying bodies 100 to 800 as a power source, and the operation of flying at an altitude higher than the clouds is performed, the solar power generator can always generate sunlight and generate power. Therefore, you can continue to fly stably for a long time.
When a solar power generator including a solar panel is mounted as a power source on the flying bodies 100 to 800, power supply by wire can be omitted or can be made to cooperate with power supply by wire.

  Further, the flying objects 100 to 800 may be mounted as artificial satellites and used as an artificial satellite launch base. In this case, after the flying bodies 100 to 800 are mounted with artificial satellites and rise to a certain altitude, the artificial satellites are launched from the flying bodies 100 to 800.

The size of the flying bodies 100 to 800 is not particularly limited. The flying bodies 100 to 800 may be small flying bodies suitable for loading relatively small loads, or large flying bodies capable of loading and carrying large objects such as large containers and large trucks. Also good.
Moreover, the flying bodies 100 to 800 may be configured as children's toys.

1 delivery system 3 departure point 5 destination point 60A control unit 60B first communication unit 60C detection mechanism 60D transfer confirmation mechanism 62 indicator light 64 manual operation mechanism 160 controller 160A second communication unit 160B operation control unit 160C transfer confirmation mechanism 162 monitoring device 100 -800 Aircraft 10 First frame (other frame)
11 First strut (column member)
12 Upper end connecting rod 13 Lower end connecting rod 14 Joint block 15 Mounting surface 17 Holding surface 19 Opening / closing mechanism 20 Second frame (frame)
21 Second support (support)
22 Mounting rod 25 Mounting portion 30 Main body portion 31, 310, 710, 810 Flight mechanism 32 Rotor blade 33 Base portion 34 Arm 35 Rotating shaft 36 Blade 37 Protective ring 40 Leg portion 41 Ground portion 42 Wheel 50 Luggage 55 Automobile (vehicle)
60 Control device (control unit)
70 Support member 71 Support plate 72 Third support column 73 Upper support rod 74 Lower support rod 75 Upper end portion 76 Lower end portion 77, 78 Hole 80 Electric motor 91 Connection protrusion (connection portion)
92 Connecting member (connected part)
93 fitting hole 105 landing surface 106 inclined surface 110 outer tube 112 inner tube 113 actuator 114 male screw 141 female screw 210 winch 211 drum 211a support frame 212 cord 213 drive unit 311 base 312 arm 320 rotary blade 321 rotary shaft 322 blade F Advancing direction D Axial direction

Claims (10)

A flying body capable of carrying a load; and a controller for controlling the operation of the flying body so that the load is loaded on the flying body and the load is delivered from a predetermined departure point to a predetermined destination point; A delivery system comprising:
The aircraft is
It has a mounting portion at the top, and the mounting portion is configured as a frame-like structure configured to be able to adjust the vertical direction of the mounting portion, and a frame that connects the object carrying the luggage at the bottom,
A main body located at the top of the frame and having a flight mechanism;
A control unit for performing a flight attitude control for controlling a vertical position of the attachment unit and a flight control for controlling the operation of the flight mechanism in order to control the flight attitude of the object according to the attitude of the flight mechanism;
A first communication unit for wireless communication with the controller,
The controller is
A delivery system comprising a second communication unit for wirelessly communicating with the flying object. The flight mechanism of the main body is configured as a vertical flight mechanism for vertical flight,
The delivery system according to claim 1, wherein the flying body is provided separately from the vertical flying mechanism and includes a horizontal flying mechanism for horizontal flight. A flying body capable of carrying a load; and a controller for controlling the operation of the flying body so that the load is loaded on the flying body and the load is delivered from a predetermined departure point to a predetermined destination point; A delivery system comprising:
The aircraft is
A frame having an outer tube and an inner tube housed in the outer tube, comprising a plurality of struts capable of expanding and contracting in the axial direction, and connecting an object carrying the load at the bottom;
A main body located at the top of the frame and having a flight mechanism;
A control unit for performing flight attitude control for controlling expansion and contraction of the plurality of support columns and flight control for controlling operation of the flight mechanism in order to control the flight attitude of the object;
A first communication unit for wirelessly communicating with the controller,
The object is another frame having a mounting surface for mounting the load;
The controller is
A delivery system comprising a second communication unit for wirelessly communicating with the flying object. The controller includes an operation control unit having a route setting function for setting a route from the departure point to the destination point and a monitoring function of the operation status of the flying object, and the setting via the second communication unit. Configured to transmit route setting information including information on the route that has been set to the aircraft,
The flying body generates flight control information based on the route setting information received by the control unit via the first communication unit, and operates the flight mechanism based on the generated flight control information. It is comprised so that it may control, The delivery system of any one of Claims 1-3 characterized by the above-mentioned. The flying object includes a first delivery confirmation mechanism for sending a delivery confirmation signal for delivery confirmation of the package to the controller via the first communication unit,
The said controller is provided with the 2nd delivery confirmation mechanism which performs delivery confirmation of the said package based on the delivery confirmation signal received from the said flight body via said 2nd communication part. The delivery system according to any one of the above. An aircraft used in the delivery system according to claim 1 or 2,
It has a mounting part on the upper part, and the mounting part is configured as a frame-like structure configured to be able to adjust its vertical direction, and a frame body that connects an object to the lower part,
A main body located at the top of the frame and having a flight mechanism;
A control unit for performing a flight attitude control for controlling a vertical position of the attachment unit and a flight control for controlling the operation of the flight mechanism in order to control the flight attitude of the object according to the attitude of the flight mechanism;
And a communication unit for wirelessly communicating with the controller of the delivery system. The flight mechanism of the main body is configured as a vertical flight mechanism for vertical flight,
The flying object according to claim 6, wherein the flying object is provided separately from the vertical flying mechanism and has a horizontal flying mechanism for horizontal flight. The flying object according to claim 6 or 7, further comprising an exchange confirmation mechanism that transmits an exchange confirmation signal for confirming delivery of the package to the controller via the communication unit. A controller used in the delivery system according to claim 1 or 2,
A communication unit for wirelessly communicating with the controller of the delivery system;
An operation control unit having a route setting function for setting a route from the departure point to the destination point, and a monitoring function of the operation status of the flying object,
A controller that transmits route setting information including information on the set route to the flying object via the communication unit. A delivery confirmation signal for confirming delivery of the package is received from the aircraft via the communication unit, and a delivery confirmation mechanism is provided for confirming delivery of the package based on the delivery confirmation signal. The controller according to claim 9.

Images