WO2022049639A1

WO2022049639A1 - Parcel-holding device and unmanned aerial vehicle

Info

Publication number: WO2022049639A1
Application number: PCT/JP2020/033126
Authority: WO
Inventors: 英統松本
Original assignee: 株式会社Acsl
Priority date: 2020-09-01
Filing date: 2020-09-01
Publication date: 2022-03-10
Also published as: JP6902305B1; JPWO2022049639A1

Abstract

Provided is a device that can be attached to an unmanned aerial vehicle that can hold a number of parcels and put down each parcel at the desired location.　This luggage-holding device is attached to the underside of the body of an unmanned aerial vehicle, and is able to hold a plurality of parcels and to separately unload the parcels, wherein the luggage-holding device comprises a guide member that guides a plurality of support members attached to a plurality of parcels so as to be arranged in a row along a predetermined path while being biased toward a downstream side, and an opening control member that holds a most downstream first support member among the plurality of support members at all times and opens the first support member while holding a second support member adjacent to the first support member on the upstream side when a parcel is being unloaded.

Description

Luggage holding device and unmanned aerial vehicle

The present invention relates to a luggage holding device and an unmanned aerial vehicle.

In recent years, the development of technology related to the delivery of luggage using unmanned aerial vehicles (drones) is progressing. In the delivery of luggage using a drone, the drone is flown to the delivery destination with the luggage integrated with the drone, and the luggage is released at the delivery destination. As a method of integrating the luggage into the drone, for example, as described in Patent Document 1, a device for suspending a wire having a hook attached to the lower end from the drone and fixing the luggage to the hook is known. ..

U.S. Patent Application Publication No. 2019/337621

By the way, in recent years, attempts have been made to transport luggage such as lightweight envelopes by drone. Even when transporting a lightweight load, it is possible to transport using a wire to which a hook is attached as described in Patent Document 1. However, when using a wire with a hook attached, only one piece of luggage can be carried in one flight. When transporting lightweight packages, it is desirable to be able to transport multiple packages with a single drone and unload each package at multiple locations in order to save fuel and transport time. However, until now, there has been no device capable of holding a plurality of loads and unloading each load at a desired place.

The present invention has been made in view of the above problems, the object of which is to provide a device attached to an unmanned aerial vehicle capable of holding a plurality of loads and unloading each load at a desired location. be.

The luggage holding device according to the present invention is a luggage holding device attached below the main body of an unmanned aerial vehicle, holding a plurality of luggage, and capable of individually unloading the luggage, and is a plurality of supports attached to each of the plurality of luggage. A guide member that guides the members in a row along a predetermined path while being urged toward the downstream side, and a first support member that is the most downstream of the plurality of support members at all times. It is characterized by including an opening control member that opens the first support member while holding the second support member adjacent to the upstream side of the first support member at the time of unloading.

In the present invention, preferably, the guide member is formed on an inclined surface whose upper surface is lowered toward the downstream side, whereby the plurality of support members are urged toward the downstream side.

In the present invention, preferably, a slit is formed in the guide member, and a plurality of loads are suspended from the support member via the suspension member, respectively, and the support member is placed on the guide member and suspended. A plurality of loads are held with the member passing through the slit.

In the present invention, the support member is preferably formed with a portion on the guide member side as a curved surface.

In the present invention, a detachment prevention member for preventing the suspension member from detachment is preferably provided on the upstream side of the slit.

In the present invention, the luggage is preferably a flat member, and a plurality of support members are configured to be placed on the guide member in a state where adjacent support members are in contact with each other.

In the present invention, preferably, the opening control member has a first arm and a second arm provided on the upstream side of the first arm, and the opening control member is always the first arm. The arm or the second arm holds the first support member, and when unloading, the second arm holds the second support member and releases the first arm from holding the first support member. , Is configured.

In the present invention, preferably, the first arm and the second arm are configured to be able to advance and retreat in a direction crossing a predetermined path, and when unloading, the second arm advances to the predetermined path. , The second arm holds the second support member, and the first arm regresses from a predetermined path to release the holding of the first support member.

In the present invention, preferably, after the unloading is completed, the first arm advances to a predetermined path and the second arm regresses from the predetermined path, so that the second support member is held by the first arm. It will be in the state of being regressed.

In the present invention, preferably, the opening control member has a rotatable rotating member, and the first arm and the second arm are each connected to the rotating member via a link member. When the rotating member rotates in the first rotation direction, the second arm advances to a predetermined path, the first arm regresses from the predetermined path, and the rotating member moves to the first rotation. By rotating in the second rotation direction opposite to the moving direction, the second arm regresses from the predetermined path and the first arm advances to the predetermined path.

The unmanned aerial vehicle according to the present invention includes the unmanned aerial vehicle main body and the above-mentioned luggage holding device attached below the unmanned aerial vehicle main body.

According to the present invention, there is provided a device that can hold a plurality of luggages and unload each luggage at a desired place.

It is a front view which shows the unmanned aerial vehicle (multicopter) by one Embodiment of this invention. It is a side view which shows the unmanned aerial vehicle (multicopter) by one Embodiment of this invention. It is a top view which shows the unmanned aerial vehicle (multicopter) by one Embodiment of this invention. It is a side view which shows the baggage holding device in the unmanned aerial vehicle shown in FIG. The luggage holding device in the unmanned aerial vehicle shown in FIG. 1 is shown, and is the figure (No. 1) seen from VV in FIG. The luggage holding device in the unmanned aerial vehicle shown in FIG. 1 is shown, and is the figure (No. 2) seen from VV in FIG. The luggage holding device in the unmanned aerial vehicle shown in FIG. 1 is shown, and is the figure (No. 3) seen from VV in FIG. The luggage holding device in the unmanned aerial vehicle shown in FIG. 1 is shown, and is the figure (No. 4) seen from VV in FIG.

Hereinafter, an unmanned aerial vehicle according to an embodiment of the present invention will be described with reference to the drawings. However, the present invention is not limited to the specific embodiments described below, and various embodiments may be taken within the scope of the technical idea of the present invention. For example, the unmanned aerial vehicle of the present invention is not limited to the multicopter shown in FIG. 1, and may be any unmanned aerial vehicle such as a rotary wing aircraft or a fixed wing aircraft, and does not have to be an autonomous flight type unmanned aerial vehicle.

1 to 3 show an unmanned aerial vehicle (multicopter) according to an embodiment of the present invention, FIG. 1 is a front view, FIG. 2 is a side view, and FIG. 3 is a top view. As shown in FIGS. 1 to 3, the unmanned aerial vehicle 10 of the present embodiment includes an unmanned aerial vehicle main body 100 and a luggage holding device 200 attached to the lower part of the unmanned aerial vehicle main body 100.

The unmanned aerial vehicle main body 100 includes a main body portion 101, six arms 104A to 104C extending from the main body portion 101, and a pair of landing gears 105 extending downward from the main body portion 101. The main body 101, the arms 104A to 104C, and the landing gear 105 have a symmetrical configuration with respect to a plane extending in the front-rear direction (that is, a plane extending in the left-right direction in FIG. 3).

The main body 101 is formed in a dome shape, and a storage space is formed inside. A battery, a control circuit, a flight position sensor, a camera, an antenna, and the like are mounted on the main body 101. The control circuit includes, for example, a processing device such as a CPU and a storage device such as a memory, and the memory includes a flight control program for controlling the flight of the unmanned aircraft body and an unloading control program for controlling the drive of the luggage holding device 200. , And the delivery route data related to the delivery route and the delivery destination location of the package are stored.

Arms 104A to 104C extend horizontally from the main body 101 in the landing state. The arms 104A to 104C are a pair of central arms 104B extending laterally (left-right direction in FIG. 3) from the center in the front-rear direction of the main body 101, and laterally from the front portion (lower part in FIG. 3) of the main body 101 toward the front. It includes a pair of front arms 104A extending diagonally so as to spread in the direction and a pair of rear arms 104C extending laterally from the rear part (upper part of FIG. 3) of the main body.

The landing gear 105 includes a main landing gear 105A extending downward from both sides of the main landing gear 101 and a ground contact portion 105B connected to the lower end of the main landing gear 105A. The main landing gear 105A has a columnar shape, and extends diagonally downward from both sides of the center of the main body 101 in the front-rear direction so as to spread laterally. The ground contact portion 105B has a columnar shape and extends in the front-rear direction perpendicular to the main landing gear portion 105A.

Further, the unmanned aerial vehicle main body 100 includes six motors 102 and six rotors (rotor blades) 103 that rotate by driving each motor 102 to generate lift. The motors 102 are fixed to the tips of the arms 104A to 104C, respectively. The motor 102 is powered by a battery housed in the main body 101 and driven to rotate, and the rotation speed is controlled by a control circuit using a speed controller. Each rotor 103 is provided above the arms 104A to 104C.

In the unmanned aerial vehicle main body 100, six motors 102 are rotated by a control signal from a control circuit, and by controlling the rotation speed of each of the six rotors 103, ascending, descending, flying forward / backward / left / right, turning, etc. Flight is controlled.

The unmanned aerial vehicle main body 100 further has a mounting base 106 attached to the lower part of the main body portion 101. The mounting base 106 has a rectangular board 106A and four pillars 106B extending from the four corners of the board 106A to the main body 101. The substrate 106A of the mounting base 106 is attached to the main body 101 so as to be horizontal when the unmanned aerial vehicle main body 100 is in the landing state or the hovering state.

4 and 5 to 8 show the luggage holding device in the unmanned aerial vehicle shown in FIG. 1, FIG. 4 is a side view, and FIGS. 5 to 8 are views seen from VV in FIG. It is a figure corresponding to each step of unloading. In FIGS. 5 to 8, the luggage is not shown.
In this embodiment, a case where a plurality of packages 300A to 300D are delivered to different delivery destinations will be described. The luggage 300A to 300D is, for example, a thin flat rectangular shape. Examples of such luggage 300A to 300D include envelopes containing documents and paper boxes containing thin objects.

Support members 304 (304A to 304D) are attached to the upper parts of the luggage 300A to 300D via the suspension member 302. The suspension member 302 includes a fixed frame 302A having a rectangular cross section extending in the horizontal direction, and a joint portion 302B connecting the fixed frame 302A and the support member 304. The joint portion 302B is provided with a mechanism capable of changing the angle of the luggage 300A to 300D with respect to the support member 304 such as a ball joint, for example. The upper edge of the luggage 300A to 300D is attached to the fixed frame 302A of the hanging member 302.

The support member 304 is made of, for example, a resin sphere. Luggage is fixed to the support member 304 via the suspension member 302. As for the shape of the support member 304, it is desirable that the lower surface is formed as a curved surface so that the friction with the guide plate 202 is reduced, as will be described later. Further, the minimum dimension of the support member 304 is larger than the width of the slit 202A so as not to fall from the slit 202A of the guide plate 202. In the present embodiment, the support member 304 is a sphere, but the support member 304 is not limited to this, and the lower surface in contact with the guide plate 202 may be formed as a curved surface so as to reduce friction with the guide plate 202.

As shown in FIGS. 4 and 5, the luggage holding device 200 includes a guide member 201 and an opening control device 210.
The guide member 201 includes a base 207 and a guide plate 202 provided below the base 207 in parallel with the base 207 at a predetermined interval. The base 207 and the guide plate 202 are made of, for example, stainless steel.

The base 207 has a first side member 207A provided along the lateral edge of the substrate 106A of the mounting base 106 (left side in FIG. 4) and the other side in the horizontal direction of the mounting base 106 (FIG. 4). It includes a second side member 207C provided along the edge of the right side) and a bottom plate 207B provided between the first side member 207A and the second side member 207C. The first side member 207A and the second side member 207C have a substantially U-shaped vertical cross section in the lateral direction and extend in the front-rear direction. The vertical height of the first side member 207A is larger than the vertical height of the second side member 207C. Therefore, the bottom plate 207B provided between the first side member 207A and the second side member 207C is inclined downward from the second side member 207C side to the first side member 207A. There is. The lower surfaces of the first side member 207A and the second side member 207C are inclined in the horizontal direction so as to be parallel to the bottom plate 207B.

The guide plate 202 is a rectangular plate material, and is arranged so that the longitudinal direction extends in the lateral direction (that is, the left-right direction in FIG. 4). Four pillar members 203 of the same length are erected perpendicularly to the bottom plate 207B on the bottom plate 207B of the base plate 207, and the guide plate 202 has the base plate 202 by connecting the pillar members 203 to the four corners. It is supported in a state parallel to the bottom plate 207B of the 207.

The guide plate 202 is linearly formed with a slit 202A, an inlet opening 202B formed at one end of the slit 202A, and an outlet opening 202C formed at the other end of the slit 202A. The slit 202A extends downward (that is, along the inclination direction) from above the guide plate 202. The width of the slit 202A is smaller than the diameter of the support member 304 (304A to 304D) attached to the luggage 300A to 300D.

The inlet opening 202B has a circular shape, and its diameter is slightly larger than the diameter of the support member 304. Further, a detachment prevention plate 204 is provided in the vicinity of the inlet opening 202B. The detachment prevention plate 204 is formed in a diamond shape. A pair of pillar members 205B are provided vertically to the guide plate 202 on both sides of the inlet opening 202B of the guide plate 202 in the front-rear direction (vertical direction in FIG. 5) between the guide plate 202 and the bottom plate 207B. The pillar member 205B is fixed to the bottom plate 207B by a nut 206. The detachment prevention plate 204 has a pair of openings formed on both sides of a long diagonal line of a rhombus, and the pillar member 205B inserts each of these openings. As a result, the detachment prevention plate 204 is arranged so as to overlap the inlet opening 202B when viewed from the direction perpendicular to the guide plate 202, and is guided so as to be movable along the pillar member 205B. Further, a pair of spring members 205A are interposed between the detachment prevention plate 204 and the bottom plate 207B of the base 207 in a contracted state so as to surround each of the pillar members 205B. As a result, the detachment prevention plate 204 is urged toward the guide plate 202 and is always located in the vicinity of the guide plate 202.
The outlet opening 202C has a rectangular shape and is continuous with the slit 202A. The width and length of the outlet opening 202C is larger than the diameter of the support member 304.

The guide plate 202 is attached in parallel with the bottom plate 207B so that the slit 202A extends in the front-rear direction, the entrance opening 202B is located above the slope, and the exit opening 202C is located below the slope. As a result, the slit 202A of the guide plate 202 extends in the inclined direction.

With such a configuration, the support members 304A to 304D attached to the luggage 300A to 300D are inserted into the inlet opening 202B while pushing up the detachment prevention plate 204, and the suspension member 302 is moved so as to be located in the slit 202A. As a result, the support members 304A to 304D are placed on the guide plate 202. In this state, the support members 304A to 304D are located above the guide plate 202, the hanging member 302 passes through the slit 202A, and the luggage 300A to 300D are held in a suspended state. At this time, since the guide plate 202 is inclined, the load and the support members 304A to 304D are urged downward along the slit 202A by the weight of the load 300A to 300D. As a result, when the luggage 300A to 300D are not held by the opening control device 210, the hanging member 302 is guided along the slit 202A while the support member 304 is placed on the guide plate 202, and the entrance. It moves from the opening 202B to the exit opening 202C. The moving route of the luggage 300A to 300D is hereinafter referred to as a moving route.

The release control device 210 rotates the motor 211, the rotating member 212 attached to the motor 211, the first arm 213 and the second arm 214, and the first arm 213 and the second arm 214. It includes a first link member 215 and a second link member 216 connected to the 212, and a regulation member 217.

The motor 211 is supplied with electric power from a battery and its rotation is controlled. The rotating member 212 is a long member, and the shaft of the motor 211 is connected to the center thereof. One ends of the first link member 215 and the second link member 216 are rotatably connected to both ends of the rotating member 212, respectively. The rotating member 212 rotates clockwise and counterclockwise over a predetermined angle by supplying electric power to the motor 211.

The first arm 213 and the second arm 214 have

base portions

213A and 214A and claw

portions

213B and 214B, respectively. The

base portions

213A and 214A are each made of a long member having a rectangular cross section. The

base portions

213A and 214A are arranged so as to extend in the front-rear direction (vertical direction in FIG. 5) along the bottom plate 207B, respectively, and are supported by the regulating member 217. The first arm 213 and the second arm 214 are separated from each other in the direction of the slit 202A by a distance corresponding to the diameter of the support members 304A to 304D attached to the luggage 300A to 300D.

The regulation member 217 is a member attached to the lower surface of the bottom plate 207B, and is formed with a pair of through holes having a rectangular cross section penetrating in the front-rear direction (vertical direction in FIG. 5). The first arm 213 and the second arm 214 are supported in a slidable state in the front-rear direction by inserting the

base portions

213A and 214A into the pair of through holes of the regulating member 217, respectively.

The

claw portions

213B and 214B are made of long plate-shaped members. The

claw portions

213B and 214B are attached along one surface (right side surface in FIG. 5) of the tip portions of the

base portions

213A and 214A, respectively. The base ends of the

claw portions

213B and 214B are attached to the

base portions

213A and 214A, and the

claw portions

213B and 214B advance to the guide plate 202 side of the

base portions

213A and 214A. The other ends of the first link member 215 and the second link member 216 are rotatably connected to the base end portions of the

base portions

213A and 214A. As a result, the rotation of the rotating member 212 is converted into the longitudinal advance / retreat of the first arm 213 and the second arm 214 by the first link member 215 and the second link member 216.

In the opening control device 210, the motor 211 rotates the rotating member 212 clockwise by a predetermined angle in FIG. 5, so that the claw portion 213B of the first arm 213 has the slit 202A of the guide plate 202 and the outlet opening 202C. At the exit position corresponding to the boundary with, advance until it intersects with the slit 202A (that is, advance into the movement path), and the claw portion 214B of the second arm 214 reaches the slit 202A at the upstream position on the upstream side of the exit position. It becomes the first state of regressing from the crossed state (that is, regressing from the movement path).

Further, in the opening control device 210, the motor 211 rotates the rotating member 212 counterclockwise in FIG. 5 by a predetermined angle, so that the claw portion 213B of the first arm 213 intersects the slit 202A at the exit position. A first state in which the claw portion 214B of the second arm 214 has advanced (that is, has advanced to the movement path) until it intersects the slit 202A at the upstream position. Will be. The upstream position where the claw portion 214B of the second arm 214 advances and retreats is separated from the outlet position by an interval corresponding to the diameter of the support members 304A to 304D.

Hereinafter, a flow of delivering a plurality of packages by the unmanned aerial vehicle 10 of the present embodiment will be described.
In the present embodiment, the unmanned aerial vehicle 10 has a plurality of loads attached to the luggage holding device 200 at the pickup location, unloads the luggage at the plurality of unloading points, and returns to the pickup location.

First, the flow of attaching a plurality of luggage to the luggage holding device 200 at the collection place will be described. At the time of attaching the luggage, the opening control device 210 advances so that the claw portion 213B of the first arm 213 intersects the slit 202A (advances into the movement path) as shown in FIG. 5, and the second arm 214 advances. The claw portion 214B of the head is in a state of regressing from the state of intersecting the slit 202A (regressing from the movement path). In this state, the support members 304A to 304D attached to the luggage 300A to 300D are inserted into the inlet opening 202B while pushing up the detachment prevention plate 204, and the suspension member 302 is moved so as to be located in the slit 202A. The support members 304A to 304D are placed on the guide plate 202. Since the upper surface of the guide plate 202 is inclined so that the outlet opening 202C side (downstream side) is low, the support members 304A to 304D are directed toward the downstream side due to the weights of the support members 304A to 304D and the luggage 300A to 300D. Be urged. The support members 304A to 304D are inserted from the inlet opening 202B in the order of unloading so that the luggage 300A to 300D are lined up from the downstream side to the upstream side of the slit 202A in the order of unloading. As a result, as shown in FIG. 5, the support member 304A attached to the most downstream luggage 300A is held by the claw portion 213B of the first arm 213, and is fixed to the plurality of luggage 300A to 300D. The first to fourth support members 304A to 304D are arranged in a row along the slit 202A from the downstream side. Further, since the support members 304A to 304D are spherical and the guide plate 202 is inclined along the extending direction of the slit 202A, the support members 304A to 304D are attached toward the downstream side (exit opening 202C side). It is being pushed. As a result, the support members 304A to 304D adjacent to each other in the direction along the slit 202A are in contact with each other, and the movement of the first to fourth support members 304A to 304D to the downstream side is restricted.

The unmanned aerial vehicle 10 flies to the first unloading place with the plurality of cargoes held by the cargo holding device 200 in this way. The flight by the unmanned aerial vehicle 10 is controlled by the flight control program recorded in the memory of the control circuit, and the control circuit 6 is such that the unmanned aerial vehicle main body 100 flies along a predetermined flight path according to the delivery route data. It is executed by controlling the rotation speed of one rotor 103. Then, when the control circuit of the unmanned aerial vehicle body 100 detects that the unmanned aerial vehicle 10 has arrived at the first unloading place by the flight position sensor such as GPS and the image by the camera, the control circuit executes the unloading control program. Thereby, the unloading of the first luggage 300A is executed. The unloading work may be performed with the unmanned aerial vehicle main body 100 landing or hovering.

When the control circuit executes the unloading control program, as shown in FIG. 6, the motor 211 is driven and the rotating member 212 rotates counterclockwise. When the rotating member 212 rotates counterclockwise, the first arm 213 regresses and the second arm 214 advances into the movement path. Then, as shown in FIG. 6, the claw portion 214B of the second arm 214 holds the most downstream support member 304A while the claw portion 213B of the first arm 213 holds the most downstream support member 304A. And the second support member 304B, which is the second from the downstream side. As a result, the claw portion 214B of the second arm 214 holds the second support member 304B, and restricts the movement of the second to fourth support members 304B to 304D to the downstream side.

Further, when the motor 211 rotates the rotating member 212 counterclockwise, as shown in FIG. 7, the claw portion 214B of the second arm 214 holds the second to fourth support members 304B to 304D. Then, the claw portion 213B of the first arm 213 regresses from the movement path. As a result, the holding of the first support member 304A at the most downstream is released, and the support member 304A at the most downstream advances to the outlet opening 202C due to its own weight and falls from the outlet opening 202C. By dropping the first support member 304A from the outlet opening 202C, only the most downstream first load 300A can be unloaded.

When the unloading of the most downstream luggage 300A is completed, the motor 211 is driven by the control circuit, and the rotating member 212 rotates clockwise. As a result, as shown in FIG. 8, the claw portion 214B of the second arm 214 retreats from the movement path, and the claw portion 213B of the first arm 213 advances toward the movement path. As the rotating member 212 rotates clockwise, the second to fourth support members 304B to 304D advance downstream along the movement path (slit 202A), and the second support member 304B becomes the first. It abuts on the claw portion 213B of the arm 213. As a result, the second to fourth support members 304B to 304D are in a state of being held by the first arm 213.

When the unloading work of the first luggage 300A is completed in this way, the unmanned aerial vehicle 10 flies to the second unloading place. The flight by the unmanned aerial vehicle 10 is controlled by the flight control program recorded in the memory of the control circuit in the same manner as the flight from the pickup place to the first unloading place, and the flight is a predetermined flight route according to the delivery route data. A control circuit is executed by controlling the rotation speeds of the six rotors 103 so that the unmanned aerial vehicle body 100 flies along the line. Then, when the control circuit of the unmanned aerial vehicle body 100 detects that the unmanned aerial vehicle 10 has arrived at the second unloading place by the flight position sensor such as GPS and the image by the camera, the control circuit executes the unloading control program. As a result, the second luggage 300B is unloaded.

The unloading work of the second luggage 300B is performed in the same manner as the unloading work of the first luggage 300A. That is, the control circuit executes the unloading control program and drives the motor 211 to rotate the rotating member 212 counterclockwise. When the rotating member 212 rotates counterclockwise in this way, first, the first arm 213 regresses and the second arm 214 advances into the movement path. Then, in a state where the claw portion 213B of the first arm 213 holds the second support member 304B, the claw portion 214B of the second arm 214 is the second most downstream support member 304B and the second from the downstream side. It gets in between the third support member 304C and the third support member 304C. As a result, the claw portion 214B of the second arm 214 holds the third support member 304C, and the movement of the third to fourth support members 304C to 304D to the downstream side is restricted.

Further, when the motor 211 rotates the rotating member 212 counterclockwise, the first arm 213 has the claw portions 214B of the second arm 214 holding the third to fourth support members 304C to 304D. Claw portion 213B regresses from the movement path. As a result, the holding of the second most downstream support member 304B is released, and the most downstream second support member 304B advances to the outlet opening 202C due to its own weight. As a result, the second support member 304B falls from the outlet opening 202C, and only the most downstream second load 300B can be unloaded.

When the unloading of the second most downstream luggage 300B is completed, the motor 211 is driven by the control circuit, and the rotating member 212 rotates clockwise. As the rotating member 212 rotates clockwise, the claw portion 214B of the second arm 214 regresses from the movement path, and the claw portion 213B of the first arm 213 advances toward the movement path. As a result, the third to fourth support members 304C to 304D proceed downstream along the movement path (slit 202A), and the third support member 304C comes into contact with the claw portion 213B of the first arm 213. As a result, the third to fourth support members 304C to 304D are in a state of being held by the first arm 213.

When the unloading work of the second luggage 300B is completed in this way, the unmanned aerial vehicle 10 flies from the second unloading place to the third unloading place, and the third at the third unloading place. Unloading the luggage 300C, flying from the third unloading place to the fourth unloading place, and unloading the fourth luggage 300D at the fourth unloading place. Then, when the unloading of all the luggage is completed, the unmanned aerial vehicle 10 flies to the collection point.

According to this embodiment, the following effects are achieved.
In the luggage holding device 200 of the present embodiment, the plurality of support members 304A to 304D attached to the plurality of luggage are arranged in a row along a predetermined path in a state of being urged toward the downstream side. The guide plate 202 for guiding and the first support member 304A at the most downstream of the plurality of support members 304A to 304D are always held, and at the time of unloading, the first support member 304A adjacent to the upstream side of the first support member 304A is held. The opening control device 210 that opens the first support member 304A while holding the support member 304B of 2 is provided.
According to such a configuration, by opening only the first support member 304A by the release control device 210, only the first support member 304A can be opened from the guide plate 202, and only the first support member 304A can be opened. Only the first luggage 300A to which the is attached can be unloaded.

Further, in the present embodiment, the guide plate 202 is formed on an inclined surface whose upper surface is lowered toward the downstream side, whereby the plurality of support members 304A to 304D are urged toward the downstream side.
The unmanned aerial vehicle 10 is desired to be lightweight from the viewpoint of saving fuel and the like. On the other hand, according to the present embodiment of the above configuration, since the support members 304A to 304D are urged toward the downstream side by forming the upper surface of the guide plate 202 as an inclined surface, the support members 304A to 304D are urged toward the downstream side. It is not necessary to separately provide the configuration of the luggage holding device 200, and the weight of the luggage holding device 200 can be reduced.

Further, in the present embodiment, a slit 202A is formed in the guide plate 202, and the plurality of luggage 300A to 300D are suspended from the support members 304A to 304D via the suspension member 302, respectively, and the support members 304A to 304A to The 304D is placed on the guide plate 202, and a plurality of luggage 300A to 300D are held in a state where the hanging member 302 passes through the slit 202A. According to the present embodiment having such a configuration, the luggage 300A to 300D can be held by the luggage holding device 200 with a simple configuration in which the support members 304A to 304D are attached to the luggage 300A to 300D, and the weight can be reduced. Will be.

Further, in the present embodiment, since the support members 304A to 304D are spherical, the friction with the guide plate 202 is small, and the support members 304A to 304D slide smoothly on the guide plate 202 to reliably carry the luggage 300A to 300D. Can be unloaded.

Further, in the present embodiment, a detachment prevention plate 204 for preventing the suspension member 302 from detachment is provided on the upstream side of the slit 202A. This makes it possible to reliably prevent the luggage 300A to 300D from falling during the flight of the unmanned aerial vehicle 10.

Further, in the present embodiment, the luggage 300A to 300D are flat members, and the plurality of support members 304A to 304D are placed on the guide plate 202 in a state where the adjacent support members 304A to 304D are in contact with each other. It is configured as follows. As a result, a plurality of luggages 300A to 300D can be held compactly, and the influence of the luggages 300A to 300D on the flight of the unmanned aerial vehicle 10 can be suppressed.

Further, in the present embodiment, the opening control device 210 has a first arm 213 and a second arm 214 provided on the upstream side of the first arm 213, and the opening control device 210 is always present. (During flight), the first arm 213 holds the first support member 304A, and at the time of unloading, the second arm 214 holds the second support member 304B, and the first arm 213 holds the first support member 304A. It is configured to release the holding of the support member 304A of 1. As a result, only the most downstream first support member 304A can be opened, and a plurality of loads 300A to 300D can be individually unloaded.

Further, in the present embodiment, the first arm 213 and the second arm 214 are configured to be able to move forward and backward in a direction crossing the movement path, and the second arm 214 advances to a predetermined path at the time of unloading. As a result, the second arm 214 holds the second support member 304B, and the first arm 213 regresses from the predetermined path to release the holding of the first support member 304A. In this way, a plurality of loads 300A to 300D can be individually unloaded only by advancing and retreating the first arm 213 and the second arm 214, and the configuration of the opening control device 210 can be simplified and reduced in weight. can.

Further, in the present embodiment, after the unloading is completed, the first arm 213 advances into the movement path and the second arm 214 regresses from the predetermined path, so that the second support member 304B becomes the first arm. It is in a state of being held by 213. As a result, the second luggage 300B attached to the second support member 304B can be immediately unloaded at the second unloading place.

Further, in the present embodiment, the opening control device 210 has a rotatable rotating member 212, and the first arm 213 and the second arm 214 each have a first link member to the rotating member 212. It is connected via 215 and the second link member 216, and when the rotating member 212 rotates in the first rotation direction, the second arm 214 advances into a predetermined path and the first Arm 213 regresses from a predetermined path, and the rotating member 212 rotates in a second rotation direction opposite to the first rotation direction, so that the second arm 214 regresses from the predetermined path. At the same time, the first arm 213 advances to a predetermined path. According to such a configuration, it is not necessary to separately provide a drive source for driving the first arm 213 and the second arm 214, and the weight and compactness of the device can be realized.

In the above embodiment, the support members 304A to 304D are always held by the first arm 213 (during flight), but the present invention is not limited to this, and the support members 304A to 304D are held by the second arm 214. You may hold it.

Further, in the present embodiment, the guide plate 202 is provided with the slit 202A, the suspension member 302 is passed through the slit 202A, and the support members 304A to 304D are placed on the guide plate 202, but the present invention is not limited to this. A rail or the like may be provided to support the support member on the rail.

Further, the inlet opening 202B is provided on the upstream side of the slit 202A, and the outlet opening 202C is provided on the downstream side of the slit 202A. However, the present invention is not limited to this, and the slit 202A may be extended to both edges.

Further, the configuration of the opening control device 210 is not limited to the configuration as in the present embodiment, and always holds the most downstream first support member 304A, and at the time of unloading, the upstream side of the first support member 304A. The configuration may be such that the first support member 304A can be opened while holding the second support member 304B adjacent to the second support member 304B.

10: Unmanned aerial vehicle 100: Unmanned aerial vehicle body 101: Main body 102: Motor 103: Rotor 104A: Front arm 104B: Central arm 104C: Rear arm 105: Landing gear 105A: Main landing gear 105B: Grounding part 106: Mounting base 106A: Board 106B: Pillar 200: Luggage holding device 201: Guide member 202: Guide plate 202A: Slit 202B: Entrance opening 202C: Exit opening 203: Pillar member 204: Detachment prevention plate 205A: Spring member 205B: Pillar member 207: Base 207A: First side member 207B: Bottom plate 207C: Second side member 210: Open control device 211: Motor 212: Rotating member 213: First arm 213A: Base 213B: Claw part 214: Second arm 214A : Base 214B: Claw 215: First link member 216: Second link member 217: Regulatory member 300A: First luggage 300B: Second luggage 300C: Third luggage 300D: Fourth luggage 302: Suspended member 302A: Fixed frame 302B: Joint portion 304A: First support member 304B: Fourth support member 304C: Third support member 304D: Fourth support member

Claims

It is a luggage holding device that is attached to the bottom of the unmanned aerial vehicle body and can hold multiple luggage and unload the luggage individually.
A guide member that guides a plurality of support members attached to the plurality of loads so as to be arranged in a row along a predetermined path while being urged toward the downstream side.
At all times, the most downstream first support member among the plurality of support members is held, and at the time of unloading, the second support member adjacent to the upstream side of the first support member is held. An opening control member that opens the support member of 1 and
A luggage holding device characterized by being equipped with.
The guide member is formed as an inclined surface whose upper surface is lowered toward the downstream side, whereby the plurality of support members are urged toward the downstream side.
The luggage holding device according to claim 1.
A slit is formed in the guide member, and a slit is formed in the guide member.
The plurality of luggages are each suspended from the support member via the suspension member.
The support member is placed on the guide member, and the plurality of loads are held in a state where the suspension member passes through the slit.
The luggage holding device according to claim 1 or 2.
The support member has a portion on the guide member side formed as a curved surface.
The luggage holding device according to claim 3.
A detachment prevention member for preventing the suspension member from detaching is provided on the upstream side of the slit.
The luggage holding device according to claim 3 or 4.
The luggage is a flat member
The plurality of support members are configured to be placed on the guide member in a state where adjacent support members are in contact with each other.
The luggage holding device according to any one of claims 1 to 5.
The opening control member is
With the first arm,
It has a second arm provided on the upstream side of the first arm, and has.
The opening control member is
At all times, the first support member is held by the first arm or the second arm.
At the time of unloading, the second arm is configured to hold the second support member and release the holding of the first support member by the first arm.
The luggage holding device according to any one of claims 1 to 6.
The first arm and the second arm are configured to be able to move forward and backward in a direction crossing the predetermined path.
At the time of unloading, the second arm advances to the predetermined path, so that the second arm holds the second support member and the first arm regresses from the predetermined path. Thereby, the holding of the first support member is released.
The luggage holding device according to claim 7.
After the unloading is completed, the first arm advances to the predetermined path and the second arm regresses from the predetermined path, so that the second support member is held by the first arm. Will be in a state of
The luggage holding device according to claim 8.
The opening control member is
Has a rotatable rotating member
The first arm and the second arm are each connected to the rotating member via a link member.
When the rotating member rotates in the first rotation direction, the second arm advances to the predetermined path and the first arm regresses from the predetermined path.
When the rotating member rotates in the second rotation direction opposite to the first rotation direction, the second arm regresses from the predetermined path and the first arm moves in the second rotation direction. Advance to the prescribed route,
The luggage holding device according to claim 9.
The unmanned aerial vehicle itself and
The luggage holding device according to any one of claims 1 to 10, which is attached to the lower part of the unmanned aerial vehicle main body.
Unmanned aerial vehicle.