JP6889299B1 - Aircraft and luggage sorting system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an air vehicle capable of moving a load placed in a landing area without manual work and without requiring an additional device, and a baggage sorting system using the same. SOLUTION: An air vehicle 1 is an air vehicle 1 capable of holding a load 110 and flying, and includes a main body 10, an air flow generator 30 for generating an air flow for flying the main body 10. A control device 60 for controlling the air flow generator 30 so as to generate an air flow for moving the released luggage 110 in the target direction A is provided. [Selection diagram] Fig. 4

Description

The present invention relates to an air vehicle and a luggage sorting system.

Conventionally, various techniques for sorting a plurality of packages are known. Patent Document 1 describes this kind of technology. Patent Document 1 includes a holding portion having a vertically long discharge port, a drive unit that rotationally drives the holding portion to change the position of the discharge port, and the like, and sorts a plurality of packages transported by the transport device according to the delivery destination. The device is described.

JP-A-2017-57077

By the way, as a method of delivering a package, there is a method of placing the package in a landing area provided near the delivery destination using an air vehicle such as a drone and then delivering the package to each delivery destination. Luggage placed in the landing area needs to be moved from the landing area again to secure space for the aircraft to land. However, in order to move the luggage, a manual labor or a sorting device as in Patent Document 1 is required, and there is room for improvement.

The present invention has been made in view of such a situation, and uses an air vehicle capable of moving a load placed in a landing area without manual work and without requiring an additional device, and a flying object thereof. The purpose is to provide a luggage sorting system.

The air vehicle of one aspect of the present invention is an air vehicle capable of holding a load and flying, and the main body portion, an air flow generator for generating an air flow for flying the main body portion, and the holding are released. It is provided with a control unit that controls the air flow generator so as to generate an air flow that moves the loaded load in a target direction.

According to the present invention, it is possible to provide an air vehicle capable of moving a load placed in a landing area without manual work and without requiring an additional device, and a baggage sorting system using the same.

It is a top view which shows the baggage sorting system which concerns on 1st Embodiment of this invention. It is a block diagram which shows the electrical structure about the control device of the flying body of the baggage sorting system which concerns on 1st Embodiment of this invention. It is a flowchart of the baggage sorting process by the flying object of the baggage sorting system which concerns on 1st Embodiment of this invention. It is a side view which shows typically how the flying object of the baggage sorting system which concerns on 1st Embodiment of this invention moves a baggage to a delivery box which is a target. It is a top view which shows the baggage sorting system which concerns on 2nd Embodiment of this invention. It is a block diagram which shows the electrical structure about the control device of the flying body of the baggage sorting system which concerns on 2nd Embodiment of this invention. It is a flowchart of the baggage sorting process by the flying object of the baggage sorting system which concerns on 2nd Embodiment of this invention. It is a side view which shows typically how the flying object of the baggage sorting system which concerns on 2nd Embodiment of this invention moves a baggage to a delivery box which is a target. It is a side view which shows typically how the flying object of the baggage sorting system which concerns on 3rd Embodiment of this invention moves a baggage to a delivery box which is a target.

Hereinafter, non-limiting exemplary embodiments of the present invention will be described with reference to the drawings.

The luggage sorting system 100 according to the first embodiment of the present invention will be described. FIG. 1 is a plan view showing a cargo sorting system 100. In addition, in FIG. 1, the baggage 110 in the state where the sorting by the baggage sorting system 100 is completed is shown by a two-dot chain line.

As shown in FIG. 1, the luggage sorting system 100 includes an air vehicle 1 that moves a cargo 110 delivered to a predetermined delivery destination, a drone port 120 that is a landing area of the air vehicle 1, a plurality of delivery boxes 130, and a plurality of delivery boxes 130. Consists of including. The baggage sorting system 100 is a system that sorts the baggage 110 placed on the drone port 120 by the air flow generated by the flying object 1 into the delivery box 130t of the target delivery destination among the plurality of delivery boxes 130.

The luggage 110 is lighter than a predetermined weight. The luggage 110 of the present embodiment has a substantially rectangular parallelepiped shape, but the shape thereof is not particularly limited. For example, the shape of the luggage 110 may be a polyhedron such as a cube, a polygonal columnar shape, or a curved surface.

The drone port 120 is a flat plate-like member on which the aircraft 1 takes off and landing. The drone port 120 preferably has a low coefficient of friction between the top surface of the drone port 120 and the luggage 110 so that the luggage 110 can move smoothly over the drone port 120. In the present embodiment, the drone port 120 has a smooth upper surface and is formed horizontally. The drone port 120 has a substantially rectangular shape in a plan view, and a plurality of delivery boxes 130 including a delivery box 130t are arranged around the drone port 120.

The delivery box 130 has a hollow box shape and is formed in a size capable of accommodating the luggage 110. As shown in FIG. 1, the delivery box 130 is arranged along the three sides of the drone port 120 in a plan view. The delivery box 130 has an opening formed so as to allow the luggage 110 to pass through. The position of the delivery box 130 and its opening is not particularly limited as long as it can accommodate the luggage 110 sliding on the drone port. For example, in the present embodiment, the delivery box 130 is arranged so that the inner bottom surface thereof is substantially the same as the upper surface surface of the drone port 120 in the vertical direction, and an opening is formed on the side surface located on the center side of the drone port 120. Has been done. In addition to this configuration, for example, the upper portion of the delivery box 130 may be located below the upper surface of the drone port 120, and an opening may be formed only in the upper portion.

Next, the flying object 1 will be described. The flying object according to the present embodiment is a drone that can hold luggage and fly unmanned. Note that "unmanned flight possible" means that the aircraft can fly without a person on board, and includes not only the case where autonomous flight is possible but also the case where the aircraft is remotely controlled by a person.

As shown in FIG. 1, the flying object 1 includes a main body portion 10, an arm portion 20 extending from the main body portion 10, an air flow generator 30, and a holding mechanism 40 for sandwiching the luggage 110. The aircraft 1 shown in FIG. 1 is in a state where it has landed on the drone port 120 and the holding of the luggage 110 is released.

The main body 10 is located at the center of the flying object 1 in a plan view. The main body 10 includes a detection unit 50 that detects a load 110, which will be described later, a control device 60 that controls an air flow generator 30, a camera 71, and the like.

The arm portion 20 is a support portion in which one end thereof is connected to the main body 10 and the air flow generator 30 is arranged at the other end (hereinafter referred to as the tip portion). In the present embodiment, each of the three (plural) arm portions 20 extends radially (diameterally) from the main body portion 10 in a plan view. Further, the arm portion 20 extends in a substantially horizontal direction. The distance between the three arm portions 20 is equal in the circumferential direction in a plan view.

The air flow generator 30 is a device that generates an air flow for flying the main body 10. In the present embodiment, the air flow generator 30 has rotary blades 31a to 31c, which are three (plural) rotary blades 31 that generate an air flow by rotation. A rotary blade drive unit 32 is attached to each of the rotary blades 31a to 31c. The rotary blade drive unit 32 is arranged on the tip end side of the arm unit 20, and rotates the rotary blades 31a to 31c by a built-in forward / reverse rotatable motor. The rotation of the rotary blades 31a to 31c generates an air flow that flows downward.

The holding mechanism 40 is a mechanism that is arranged in the main body 10 and holds a state in which the luggage 110 is in contact with the main body 10. The holding mechanism 40 includes support members 41, 42 and a drive member 43 that drives the support members 41, 42.

The support members 41 and 42 have a plate shape extending in parallel with a distance from each other. In the present embodiment, the support members 41 and 42 extend parallel to the arm portion 20 that supports the rotary blade 31a. The holding mechanism 40 brings the luggage 110 into contact with the side surface of one side (upper side in FIG. 1) of the load 110 and the support member 42 with the side surface of the other side (lower side in FIG. 1). Hold it. The support members 41 and 42 also function as legs for the flying object 1 to touch the drone port 120.

The drive member 43 extends from the main body 10 and supports the support members 41 and 42 below the main body 10. The drive member 43 moves the support members 41 and 42 in a direction orthogonal to the arm portion 20 that supports the air flow generator 30 to adjust the distance between the support members 41 and 42. The holding mechanism 40 is sandwiched by the operation of holding the load 110 in contact with the main body 10 by narrowing the distance between the support members 41 and 42 by the drive member 43 and by widening the distance between the support members 41 and 42. It is configured to perform an operation of releasing the holding of the luggage 110.

In the present embodiment, as shown in FIG. 1, the luggage 110 slides on the drone port 120 from below the main body 10 in the target direction A and moves into the target delivery box 130t.

Next, the control device 60 will be described. FIG. 2 is a block diagram showing an electrical configuration of the control device 60 of the flying object 1. In FIG. 2, alphabets corresponding to the rotary blades 31a to 31c are attached to the rotary blade drive units 32 to distinguish the rotary blade drive units 32a to 32c.

The control device 60 is a computer that has, for example, a CPU, a memory, and the like and executes a control program, and executes various control processes such as flight of the flying object 1. As shown in FIG. 2, the control device 60 includes a detection unit 50, a power supply device such as a battery 72, a camera 71, a communication device 73 for transmitting and receiving signals to and from an operation controller and an external device such as GPS, and a gyro sensor 74. Various electronic devices such as the acceleration sensor 75 and the altitude sensor 76, the rotary blade drive units 32a to 32c, and the drive member 43 are electrically connected.

The detection unit 50 is a means for detecting that the holding of the luggage 110 has been released. The detection unit 50 of the present embodiment is a limit switch that detects the release of the luggage 110 of the holding mechanism 40. The detection unit 50 is arranged in the main body 10, but the arrangement is not particularly limited. For example, the detection unit 50 may be arranged in the holding mechanism 40.

As shown in FIG. 2, the control device 60 includes an air flow control unit 61 that controls the air flow generator 30, and a holding control unit 62 that controls the holding mechanism 40.

The air flow control unit 61 controls the air flow generator 30 based on various information from the detection unit 50, the camera 71, the communication device 73, the gyro sensor 74, the acceleration sensor 75, the altitude sensor 76, and the like. The air flow control unit 61 executes flight control for controlling the flight of the flying object 1, landing control for controlling the landing of the flying object 1, and takeoff control for controlling the takeoff of the flying object 1. The air flow control unit 61 controls the air flow generator 30 so as to generate an air flow that moves the luggage 110 in the target direction A, which is the direction in which the delivery box 130t is located, by landing control and takeoff control.

The air flow control unit 61 executes various controls by adjusting the rotation speed of the rotary blade 31. The rotation speed of the rotary blade 31 is adjusted by the air flow control unit 61 controlling the drive of the rotary blade drive units 32a to 32c.

The holding control unit 62 controls the drive of the drive member 43 based on various information from the detection unit 50, the communication device 73, the altitude sensor 76, etc., so that the holding mechanism 40 brings the luggage 110 into contact with the main body 10. It is possible to switch between the operation of holding the state and the operation of the holding mechanism 40 releasing the holding of the luggage 110.

Next, the sorting process of the luggage 110 using the flying object 1 will be described with reference to FIGS. 1 and 3. FIG. 3 is a flowchart of the sorting process of the luggage 110 by the flying object 1.

First, the control device 60 drives the drive member 43 by the holding control unit 62 to sandwich the luggage 110 between the support members 41 and 42, and then the air flow control unit 61 flies over the drone port 120. Control is performed (S1). Specifically, the air flow control unit 61 controls the rotation of the motors of the rotor blade drive units 32a to 32c to fly to the sky above the drone port 120. At this time, the control device 60 acquires information on the delivery destination of the cargo 110, the weight of the cargo 110, and the like via the communication device 73 and the like.

When the air flow control unit 61 arrives above the drone port 120, it shifts from flight control to landing control (S2). In the landing control, the air flow control unit 61 controls the drive of the rotor blade drive units 32a to 32c to adjust the direction of the flying object 1. Specifically, when the flying object 1 lands, the rotation located on the opposite side of the main body 10 from the main body 10 to the delivery box 130t side with respect to the number of rotary wings 31 located on the delivery box 130t side. The orientation of the main body 10 is adjusted so that the number of wings 31 increases. Further, the air flow control unit 61 adjusts the direction of the main body 10 so that the delivery box 130t is located in a direction orthogonal to the direction in which the holding mechanism 40 sandwiches the luggage 110 in a plan view. In the present embodiment, as shown in FIG. 1, when a virtual line L orthogonal to the target direction A in a plan view and passing through the center C of the main body 10 is provided, the delivery box is more than the virtual line L. The aircraft 1 is landed so that the rotor 31a is located on the 130t side and the rotors 31b and 31c are located on the opposite side of the delivery box 130t from the virtual line L. The target delivery box 130t is specified based on the information of the delivery destination of the package 110.

When the aircraft 1 lands on the drone port 120, the holding control unit 62 drives the driving member 43 to widen the distance between the supporting members 41 and 42 and release the holding of the luggage 110 (S3). Then, the detection unit 50 detects that the holding of the luggage 110 has been released.

When the holding of the luggage 110 by the holding mechanism 40 is released, the air flow control unit 61 controls the drive of the rotary blade drive units 32a to 32c to perform takeoff control (S4). In the takeoff control in the present embodiment, the air flow control unit 61 controls the drive of the rotor blade drive units 32a to 32c so that the rotation speeds of the rotor blades 31a to 31c are substantially the same. Further, the air flow control unit 61 controls the drive of the rotor blade drive units 32a to 32c so that the aircraft 1 ascends while maintaining the attitude at the time of takeoff. As a result, the luggage 110 slides on the drone port 120 from below the main body 10 in the target direction A and moves into the delivery box 130t. The strength of the air flow generated during takeoff control is determined based on the information on the weight of the cargo 110.

Next, the movement of the luggage 110 on the drone port 120 by the aircraft 1 will be described with reference to FIG. FIG. 4 is a side view schematically showing how the air vehicle 1 moves the luggage 110 on the drone port 120 to the delivery box 130t. FIG. 4A shows a state immediately after the cargo 110 is released from holding and the airflow control unit 61 shifts to takeoff control, and FIG. 4B shows a target direction A due to the airflow generated from the aircraft 1. FIG. 4C is a diagram showing a state in which the luggage 110 is moving, and FIG. 4C is a diagram showing a state in which the movement of the luggage 110 to the delivery box 130t by the aircraft 1 is completed. The arrow F in FIGS. 4 (b) and 4 (c) indicates the air flow that moves the luggage 110 in the target direction A among the air flows generated from the flying object 1.

As shown in FIG. 4A, the luggage 110 is placed directly below the main body 10 on the drone port 120.

As shown in FIG. 4B, when the rotary blade 31 rotates, the air flow flows downward and collides with the side surface of the load 110 placed on the drone port 120. As the aircraft 1 rises due to this air flow, the stationary luggage 110 begins to slide on the drone port 120.

Here, in the present embodiment, as shown in FIG. 1, since the support members 41 and 42 are located along both side surfaces of the cargo 110, the direction in which the cargo 110 can move immediately after the takeoff of the aircraft 1A is determined. It is regulated in the extending direction of the support members 41 and 42. That is, the initial movement of the luggage 110 is limited to the movement in the target direction A or the movement in the direction opposite to the target direction A. Further, the rotary blades 31a are located on the delivery box 130t side of the virtual line L, the rotary blades 31b and 31c are located on the opposite side of the virtual line L on the delivery box t side, and the rotation speeds of the rotary blades 31a to 31c. Are almost in agreement with each other. That is, the rotation speed of the rotary wing 31 located on the opposite side of the main body 10 from the main body 10 to the delivery box 130t side with respect to the total rotation speed of the rotary wing 31 located on the delivery box 130t side of the main body 10. The total will increase. As a result, in the extending direction of the support members 41 and 42, the side surface of the parcel 110 on the delivery box 130t side receives more airflow than the side surface of the parcel 110 on the delivery box 130t side. Therefore, the luggage 110 slides on the drone port 120 due to the air flow generated from the rotor blades 31b and 31c and moves in the target direction A.

Further, when the luggage 110 continues to receive the air flow generated from the air flow generator 30, it moves to the delivery box 130t as shown in FIG. 4C, and the sorting of the luggage 110 is completed.

In the present embodiment, the rotation speeds of the rotary blades 31a to 31c are adjusted according to the weight of the luggage 110. Specifically, when the weight of the luggage 110 decreases, the rotation speeds of the rotary blades 31a to 31c decrease, and when the weight increases, the rotation speeds of the rotary blades 31a to 31c also increase. As a result, the strength of the air flow generated from the air flow generator 30 can be adjusted according to the weight of the luggage 110, so that the luggage 110 on the drone port 120 can be moved more reliably.

Next, the luggage sorting system 100A according to the second embodiment of the present invention will be described with reference to FIGS. 5 and 6. FIG. 5 is a plan view showing the cargo sorting system 100A. FIG. 6 is a block diagram showing an electrical configuration of the control device 60A of the flying object 1A. Further, the same configuration as that of the luggage sorting system 100 according to the first embodiment may be designated by the same reference numerals and the description thereof may be omitted.

As shown in FIG. 5, the parcel sorting system 100A includes an air vehicle 1A, a parcel 110, a drone port 120, and a plurality of delivery boxes 130. The luggage sorting system 100A differs from the luggage sorting system 100 of the first embodiment in the configuration of the flying object 1A.

As shown in FIGS. 5 and 6, the flying object 1A controls the main body 10, the arm 20A extending from the main body 10, the air flow generator 30A, the holding mechanism 40, and the detection unit 50. A device 60A is provided. The aircraft body 1A shown in FIG. 5 is in a state where the luggage 110 is released from the main body 10 after landing on the drone port 120.

The number and arrangement of the arm portion 20A and the air flow generator 30A of the flying object 1A are mainly different from those of the flying object 1 of the first embodiment.

The arm portion 20A is a support portion in which one end thereof is connected to the main body 10 and the air flow generator 30A is arranged at the other end (hereinafter referred to as the tip portion). In the present embodiment, each of the four arm portions 20A of the flying object 1A extends radially (diameterally) from the main body portion 10 in a plan view. Further, the arm portion 20A extends in a substantially horizontal direction. The distance between the four arm portions 20A is equal in the circumferential direction in a plan view. Further, as shown in FIG. 5, each of the four arm portions 20A extends from the main body portion 10 so as to form an angle of 45 degrees with respect to the extending direction of the support members 41 and 42 of the holding mechanism 40 in a plan view. Put out.

The air flow generator 30A is a device that generates an air flow for flying the main body 10. In the present embodiment, the air flow generator 30A has rotary blades 31d to 31 g, which are four rotary blades 31 that generate an air flow by rotation. A rotary blade drive unit 32 is attached to each of the rotary blades 31d to 31 g. The rotary blade drive unit 32 is arranged on the tip end side of the arm unit 20A, and rotates the rotary blades 31d to 31 g by a built-in forward / reverse rotatable motor. The rotation of the rotor blades 31d to 31g generates an air flow that flows downward.

Next, the control device 60A will be described. In FIG. 6, alphabets corresponding to the rotary blades 31d to 31g are attached to the rotary blade drive unit 32 to distinguish the rotary blade drive units 32d to 32g.

As shown in FIG. 6, the control device 60A includes a detection unit 50, a power supply device such as a battery 72, a camera 71, a communication device 73 that transmits and receives signals to and from an operation controller and an external device such as GPS, and a gyro sensor 74. Various electronic devices such as an acceleration sensor 75 and an altitude sensor 76, a rotary blade drive unit 32d to 32 g, and a drive member 43 are electrically connected.

Next, the sorting process of the luggage 110 using the flying object 1A will be described with reference to FIGS. 5 and 7. FIG. 7 is a flowchart of the sorting process of the luggage 110 by the flying object 1A.

First, the control device 60A drives the drive member 43 by the holding control unit 62 to sandwich the luggage 110 between the support members 41 and 42, and then the air flow control unit 61A flies over the drone port 120. Control is performed (S1). Specifically, the air flow control unit 61A controls the rotation of the motors of the rotor blade drive units 32d to 32 g and flies to the sky above the drone port 120. At this time, the control device 60A acquires information on the delivery destination of the cargo 110, the weight of the cargo 110, and the like via the communication device 73 and the like.

When the air flow control unit 61A arrives above the drone port 120, it shifts from flight control to landing control (S2). In the landing control, the air flow control unit 61 controls the drive of the rotor blade drive units 32d to 32 g to adjust the direction of the flying object 1. Specifically, when the aircraft 1 lands, the air flow control unit 61A directs the main body 10 so that the delivery box 130t is positioned in a direction perpendicular to the direction in which the holding mechanism 40 holds the cargo 110 in a plan view. To adjust. The delivery box 130t, which is the target, is specified based on the information of the delivery destination of the package 110.

Here, the air flow control unit 61 according to the first embodiment adjusts the direction of the flying object 1 based on the arrangement of the holding mechanism 40 and the arrangement of the rotary blades 31, but the air flow control unit 61A arranges the holding mechanism 40. The orientation of the aircraft 1A is adjusted based only on the basis. For example, in FIG. 5, the flying object 1A landed so that the rotary wings 31d and 31e were located closer to the delivery box 130t than the main body 10, but the rotary wings 31f and 31g were located closer to the delivery box 130t than the main body 10. You may land so that it is located.

When the aircraft 1A lands on the drone port 120, the holding control unit 62 drives the driving member 43 to widen the distance between the supporting members 41 and 42 and release the holding of the luggage 110 (S3). Then, the detection unit 50 detects that the holding of the luggage 110 has been released.

When the holding of the luggage 110 by the holding mechanism 40 is released, the air flow control unit 61A controls the drive of the rotor blade drive units 32d to 32 g to perform takeoff control (S4). In the takeoff control in the present embodiment, it is located on the opposite side of the main body 10 from the main body 10 to the delivery box 130t side with respect to the rotation speeds of the rotary blades 31d and 31e located on the delivery box 130t side from the main body 10 at the time of takeoff. The air flow generator 30 is controlled so that the rotation speeds of the rotor blades 31f and 31g are increased. That is, as shown in FIG. 5, when a virtual line L orthogonal to the target direction A in a plan view and passing through the center C of the main body 10 is provided, the opposite side of the delivery box 130t side from the virtual line L. The rotation speeds of the rotary blades 31f and 31g located in the above are larger than the rotation speeds of the rotary blades 31d and 31e located on the delivery box 130t side of the virtual line L. As a result, the luggage 110 slides on the drone port 120 from below the main body 10 in the target direction A and moves into the delivery box 130t. Further, when the rotor blades 31f and 31g are located on the delivery box 130t side of the virtual line L and the rotor blades 31d and 31e are located on the opposite side of the delivery box 130t side of the virtual line L, the air flow control unit 61A The rotation speed of the rotary blades 31d and 31e is controlled to be larger than the rotation speed of the rotary blades 31f and 31g. The strength of the air flow generated during takeoff control is determined based on the information on the weight of the cargo 110.

Next, the movement of the luggage 110 on the drone port 120 by the aircraft 1A will be described with reference to FIGS. 5 and 8. FIG. 8 is a side view schematically showing how the air vehicle 1A moves the luggage 110 on the drone port 120 to the delivery box 130t. FIG. 8A is a diagram showing a state immediately after the cargo 110 is released from holding and the airflow control unit 61A shifts to takeoff control, and FIG. 8B is a diagram showing a state immediately after the airflow control unit 61A shifts to takeoff control. FIG. 8C is a diagram showing a state in which the luggage 110 is moving, and FIG. 8C is a diagram showing a state in which the movement of the luggage 110 to the delivery box 130t by the aircraft 1 is completed. The arrow F in FIGS. 8 (b) and 8 (c) indicates the air flow that moves the luggage 110 in the target direction A among the air flows generated from the flying object 1.

As shown in FIG. 8A, the luggage 110 is placed directly below the main body 10 on the drone port 120.

As shown in FIG. 8B, when the rotary blade 31 rotates, the air flow flows downward and collides with the side surface of the load 110 placed on the drone port 120. As the aircraft 1 rises due to this air flow, the stationary luggage 110 begins to slide on the drone port 120.

Here, in the present embodiment, as shown in FIG. 5, since the support members 41 and 42 are located along both side surfaces of the cargo 110, the direction in which the cargo 110 can move immediately after the takeoff of the aircraft 1A is determined. It is regulated in the extending direction of the support members 41 and 42. That is, the initial movement of the luggage 110 is limited to the movement in the target direction A or the movement in the direction opposite to the target direction A. Further, the rotation speeds of the rotary blades 31f and 31g located on the opposite side of the virtual line L to the delivery box 130t side are larger than the rotation speeds of the rotary blades 31d and 31e located on the delivery box 130t side from the virtual line L. That is, the rotation speed of the rotary wing 31 located on the opposite side of the main body 10 from the main body 10 to the delivery box 130t side with respect to the total rotation speed of the rotary wing 31 located on the delivery box 130t side of the main body 10. The total will increase. As a result, in the extending direction of the support members 41 and 42, a stronger air flow is generated on the opposite side of the delivery box 130t side than on the delivery box 130t side when the luggage 110 is centered. Therefore, the side surface of the luggage 110 on the opposite side of the delivery box 130t side receives a stronger air flow than the side surface of the delivery box 130t side. Therefore, the luggage 110 moves in the target direction A while sliding on the drone port 120 due to the air flow generated from the rotor blades 31f and 31g.

Further, when the luggage 110 continues to receive the air flow generated from the air flow generator 30, it moves to the delivery box 130t as shown in FIG. 4C, and the sorting of the luggage 110 is completed.

Next, the luggage sorting system 100B according to the third embodiment of the present invention will be described with reference to FIG. FIG. 9 is a side view schematically showing how the air vehicle 1A moves the luggage 110 on the drone port 120 to the delivery box 130t. FIG. 9 (a) is a diagram showing a state immediately after the holding of the luggage 110 is released and the air flow control unit 61 shifts to takeoff control, and FIG. 9 (b) is a diagram showing a state immediately after the air flow control unit 61 shifts to takeoff control. 9 (c) is a diagram showing a state in which the luggage 110 is moving, and FIG. 9 (c) is a diagram showing a state in which the movement of the luggage 110 to the delivery box 130t by the aircraft 1A is completed. Further, the same configuration as that of the luggage sorting system 100A according to the second embodiment may be designated by the same reference numerals and the description thereof may be omitted.

As shown in FIGS. 9A to 9C, the luggage sorting system 100B includes a drone port 120, a plurality of delivery boxes 130, and an air vehicle 1A that moves the luggage 110. .. The luggage sorting system 100B is mainly different from the luggage sorting system 100A of the second embodiment in that it includes wheels 111 attached to the luggage 110.

As shown in FIGS. 9 (a) to 9 (c), four wheels 111 are attached to the luggage 110. Specifically, the wheels 111 are attached to the four corners of the bottom of the luggage 110 one by one. The wheels 111 are mounted so that their axes of rotation are parallel to each other. As a result, the movable direction of the luggage 110 is restricted to the direction orthogonal to the direction in which the rotation axis of the wheel 111 extends in a plan view.

As shown in FIG. 9A, the air flow control unit 61A lands on the drone port 120 so that the delivery box 130t is located in a direction orthogonal to the direction in which the rotation axis of the wheel 111 extends. Then, the air flow control unit 61 is located on the opposite side of the main body 10 from the main body 10 to the delivery box 130t side with respect to the rotation speed of the rotary blade 31 located on the delivery box 130t side. The air flow generator 30 is controlled so that the number of rotations of the air flow generator 30 is increased. As a result, in a direction orthogonal to the direction in which the rotation axis of the wheel 111 extends in a plan view, a stronger air flow is generated on the opposite side of the delivery box 130t than on the delivery box 130t side, so that the delivery box 130t side of the luggage 110 The side surface on the opposite side of the delivery box 130t side receives a stronger air flow than the side surface of the delivery box. Therefore, the luggage 110 moves in the target direction A on the drone port 120 while rotating the wheels 111 by the air flow generated from the rotor blades 31f and 31g.

Further, when the luggage 110 continues to receive the air flow from the air flow generator 30, it moves to the delivery box 130t as shown in FIG. 4C, and the sorting of the luggage 110 is completed.

In the present embodiment, since the wheel 111 is attached to the luggage 110, the luggage 110 can move on the drone port 120 while rotating the wheel 111. Therefore, the luggage 110 can be efficiently moved with a smaller air flow. Further, since the moving direction of the luggage 110 is limited to two directions orthogonal to the rotation axis of the wheels 111 in a plan view by the four wheels 111, the luggage 110 can be moved more accurately in the target direction A.

Here, comparing the above embodiments, in the air vehicle 1 provided with an odd number of air flow generators 30, by adjusting the position of the rotor blades 31 at the time of landing at the drone port 120, all the rotor blades 31 at the time of takeoff. The luggage 110 can be moved while taking off at the same number of rotations. On the other hand, in the flying object 1A provided with an even number of air flow generators 30, the rotary blade 31 located on the opposite side of the delivery box 130t side from the rotation speed of the rotary blade 31 located on the delivery box 130t side at the time of takeoff. Although it is necessary to adjust the number of revolutions to be large, it is possible to land on the drone port 120 without considering the arrangement of the rotor blades 31.

As is clear from the above description, each embodiment of the present invention exerts an advantageous effect by each of the following configurations.

The air vehicle (1, 1A) according to the embodiment of the present invention is an air vehicle (1, 1A) capable of holding a luggage (110) and flying, and has a main body portion (10) and a main body portion (10). An air flow generator (30, 30A) that generates an air flow for flying the aircraft, and an air flow generator that moves the released luggage (110) in the target direction (A). A control device (60, 60A) for controlling (30, 30A) is provided. As a result, the luggage (110) placed on the drone port (120) can be moved in the target direction (A) by the air flow. Luggage (110) can be moved using (1,1A). Therefore, the luggage (110) can be moved without manual work and without the need for additional equipment.

In the flying object (1,1A) according to the embodiment of the present invention, the air flow generator (30, 30A) has a plurality of rotor blades (31) that generate an air flow by rotation, and the control device (60, 60A) is the delivery box (130t) side of the main body (10) with respect to the total number of rotations of the rotor blades (31) located on the delivery box (130t) side from the main body (10) to the main body (10). The air flow generator (30, 30A) is controlled so that the total number of rotations of the rotor blades (31) located on the opposite side of the above is increased. As a result, the side surface of the parcel (110) on the opposite side of the parcel delivery box (130t) side receives a stronger air flow than the side surface of the parcel delivery box (130t) side, so that the parcel (110) can be more reliably loaded. It is possible to move to a delivery box (130t).

In the flying object (1,1A) according to the embodiment of the present invention, the control device (60,60A) is a rotary blade located on the delivery box (130t) side from the main body (10) to the main body (10) at the time of takeoff. The air flow generator (30, 30A) is set so that the rotation speed of the rotor blade (31) located on the opposite side of the main body (10) to the delivery box (130t) side is larger than the rotation speed of (31). Control. As a result, the rotation speed of each rotor (31) is adjusted according to the target direction (A) at the time of takeoff, so that it is not necessary to control the direction of the flying object (1,1A) at the time of landing. Therefore, the luggage (110) can be moved in the target direction (A) while making the control at the time of landing simpler.

In the flying object (1,1A) according to the embodiment of the present invention, the control device (60,60A) is a rotary wing located on the delivery box (130t) side from the main body (10) to the main body (10) at the time of landing. The orientation of the main body (10) is adjusted so that the number of rotor blades (31) located on the opposite side of the main body (10) to the delivery box (130t) side is larger than the number of (31). As a result, it is not necessary to adjust the rotation speed of the rotor blades (31) according to the target direction (A) at the time of takeoff, and the luggage (110) can be moved while matching the rotation speeds of all the rotor blades (31). Can be done. Therefore, the luggage (110) can be moved in the target direction (A) with simpler control at the time of takeoff, and the aircraft can take off in a more stable state.

The flying object (1, 1A) according to the embodiment of the present invention is arranged in the main body (10), further includes a holding mechanism (40) for holding the luggage (110), and the control device (60, 60A) is a control device (60, 60A). The orientation of the main body (10) is adjusted so that the delivery box (130t) is located in a direction orthogonal to the holding mechanism (40) in a plan view. As a result, the direction in which the luggage (110) starts to slide due to the air flow can be limited to the target direction (A), so that the luggage (110) can be moved more reliably in the target direction (A).

The luggage sorting system (100B) according to the embodiment of the present invention includes an air vehicle (1A) capable of holding and flying a luggage (110) and wheels (111) attached to the luggage (110), and flies. The body (1A) faces the main body (10), the air flow generator (30A) that generates the air flow for flying the main body (10), and the released luggage (110) in the target direction ( A control device (60A) for controlling the air flow generator (30A) so as to generate an air flow to be moved to A) is provided. As a result, the luggage 110 that has received the air flow of the air vehicle (1A) can move on the drone port 120 while rotating the wheels 111. Therefore, the luggage 110 can be efficiently moved with a smaller air flow.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and modifications, improvements, and the like within the range in which the object of the present invention can be achieved are included in the present invention. is there.

In the above embodiment, after the aerial vehicle 1,1A has landed on the drone port 120, the luggage 110 is moved by the air flow generated at the time of takeoff, but the aerial vehicle 1,1A is hovering without landing on the drone port 120. In this state, the luggage 110 may be placed on the drone port 120 and moved in the target direction by the air flow.

In the above embodiment, the target to which the luggage 110 is moved is the delivery box 130t, but the area set as the target is not particularly limited as long as it can be moved by the air flow. For example, the target may be set to the outer circumference of the drone port 120. In this case, since the luggage 110 may be moved to the outside of the drone port 120, the luggage 110 can be moved to the outside of the drone port 120 by controlling the strength of the air flow blown to the luggage 110 to be biased in either direction. Can be moved to.

In the above embodiment, the detection unit 50 is a limit switch that detects the release of the luggage 110 of the holding mechanism 40, but the configuration is not particularly limited as long as it can detect that the holding of the luggage 110 by the holding mechanism 40 has been released. For example, the detection unit 50 may be included in the holding control unit 62, and may be configured to detect that the holding control unit 62 has switched to the operation of releasing the holding of the cargo 110 as the release of the cargo 110.

In the above embodiment, the holding mechanism 40 holds the luggage 110 by being sandwiched by the support members 41 and 42 on the side surface of the luggage 110, but if the luggage 110 can be held during the flight of the flying object 1, the configuration is particularly high. Not limited. For example, it may be configured to have a suction member which is arranged in the lower part of the main body 10 and can suck and hold the luggage 110.

In the first embodiment, the number of rotary blades 31 is three, and in the second embodiment and the third embodiment, the number of rotary blades 31 is four, but the number of rotary blades 31 is not particularly limited. For example, the number of rotary blades 31 may be 2 or less, or 5 or more.

1,1A ... Air vehicle, 10 ... Main body, 30 ... Air flow generator, 60, 60A ... Control unit (control device), 110 ... Luggage

Claims (6)

An air vehicle that can hold luggage and fly
With the main body
An air flow generator that generates an air flow for flying the main body,
An air vehicle including a control unit that controls the air flow generator so as to generate an air flow that moves the unheld load in a target direction. The air flow generator has a plurality of rotor blades that generate an air flow by rotation.
In the control unit, the total number of rotations of the rotors located on the opposite side of the target side of the main body is the total number of rotations of the rotors located on the target side of the main body. The flying object according to claim 1, wherein the air flow generator is controlled so as to increase the number. At the time of takeoff, the control unit has a larger rotation speed of the rotary blade located on the opposite side of the target side of the main body portion than the rotation speed of the rotary blade located on the target side of the main body portion from the main body portion. The flying object according to claim 2, wherein the air flow generator is controlled as described above. At the time of landing, the control unit has a larger number of rotor blades located on the opposite side of the target side of the main body portion than the number of rotor blades located on the target side of the main body portion from the main body portion. The flying object according to claim 2 or 3, wherein the orientation of the main body is adjusted. It is arranged in the main body and further provided with a holding mechanism for holding luggage.
The flying object according to any one of claims 1 to 4, wherein the control unit adjusts the direction of the main body unit so that the target is positioned in a direction orthogonal to the direction held by the holding mechanism in a plan view. An air vehicle that can hold luggage and fly,
With wheels attached to the luggage
The flying object
With the main body
An air flow generator that generates an air flow for flying the main body,
A baggage sorting system including a control unit that controls the air flow generator so as to generate an air flow that moves the baggage released from holding in a target direction.

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