WO2022113305A1 - 飛行体、着荷方法、システム、プログラム - Google Patents
飛行体、着荷方法、システム、プログラム Download PDFInfo
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- WO2022113305A1 WO2022113305A1 PCT/JP2020/044369 JP2020044369W WO2022113305A1 WO 2022113305 A1 WO2022113305 A1 WO 2022113305A1 JP 2020044369 W JP2020044369 W JP 2020044369W WO 2022113305 A1 WO2022113305 A1 WO 2022113305A1
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- load
- holding mechanism
- holding
- flying object
- air vehicle
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
- B64D9/003—Devices for retaining pallets or freight containers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D9/00—Equipment for handling freight; Equipment for facilitating passenger embarkation or the like
- B64D2009/006—Rollers or drives for pallets of freight containers, e.g. PDU
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
- B64U2101/64—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons for parcel delivery or retrieval
- B64U2101/66—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons for parcel delivery or retrieval for retrieving parcels
Definitions
- the present invention relates to an air vehicle, a landing method, a system, and a program.
- aircraft such as drones and unmanned aerial vehicles (UAVs).
- UAVs unmanned aerial vehicles
- Delivery items that require immediate immediacy include urgent items such as medical equipment and medical specimens, and meals purchased by end users.
- urgent items such as medical equipment and medical specimens, and meals purchased by end users.
- Currently, most of these are transported using four-wheeled vehicles or two-wheeled vehicles. Has been done.
- Transportation by land varies greatly depending on the presence or absence of paved roads and traffic conditions, and it may take a long time to transport in the mountains and remote islands because it is difficult for vehicles to access in a straight line.
- Patent Document 1 discloses an air vehicle capable of home delivery using an air route to a predetermined place by automatically flying and separating the loaded object by an air vehicle capable of loading luggage.
- Patent Document 1 an air vehicle and a delivery system capable of providing an automatic delivery service by an air vehicle by releasing the luggage after the air vehicle capable of carrying luggage flies to a destination using a GPS signal. Is disclosed.
- luggage can reach the destination without being affected by the presence or absence of roads, road conditions, etc.
- the load is lowered from the flying object after landing while maintaining the attitude of the load, and the impact generated on the load at the time of disconnection is released so as to be within a predetermined range of impact.
- One of the purposes is to provide an air vehicle that can reduce the impact on the load at the time of unloading and improve the quality of delivery.
- the aircraft is provided with a holding mechanism for holding the load, and the holding mechanism is at least vertically downward while holding the load horizontally after the landing gear of the flight touches the ground. It is possible to provide an air vehicle or the like that can be moved and grounded.
- FIG. 1 It is a conceptual diagram which looked at the flying object by this invention from the side. It is a side view at the time of cruising of the flying object of FIG. It is a top view of the flying object of FIG. It is a side view of the landing state of the flying object of FIG. It is a side view when the flying object of FIG. 4 lowered the load. It is a front view of the flying object of FIG. It is a front view of the flying object of FIG. It is the figure which looked at the side view of an example of the loading method of a flying object. It is a side view of an example of the loading object descent method of the flying object by this invention. It is a side view of an example of the loading object descent method of the flying object by this invention.
- FIG. 1 It is a side view at the time of cruising of the flying object of FIG. It is a top view of the flying object of FIG. It is a side view of the landing state of the flying object of FIG. It is a side view when the flying object of FIG. 4
- FIG. 10 is a side view of the flying object when the load is descending. It is a functional block diagram of the flying object of FIG. It is a side view of an example of the implementation of the holding mechanism of an air vehicle according to the present invention. It is a partial front view of the holding mechanism of FIG. It is a front view of the holding mechanism after the flying object by this invention landed.
- FIG. 15 is a front view of the flying object of FIG. 15 when the load is descending.
- It is a front view of the holding mechanism provided in the flying object by this invention.
- FIG. 17 is a front view of the holding mechanism of FIG. 17 when the load is lowered.
- FIG. 17 is a front view of the holding mechanism of FIG. 17 when the mounted object is released.
- FIG. 17 is a front view of the holding mechanism in FIG.
- FIG. 17 is a front view of the holding mechanism in FIG. 17 after the load is released. It is a front view at the time of landing of the holding mechanism configuration example of the flying object by this invention.
- FIG. 22 is a front view of the holding mechanism of FIG. 22 when the mounted object is released.
- FIG. 22 is a front view of the holding mechanism after release of the mounted object. It is a front view at the time of landing of the holding mechanism configuration example of the flying object by this invention.
- FIG. 19 is a front view of the holding mechanism when the load is released.
- FIG. 19 is a front view of the holding mechanism after release of the mounted object. It is a figure which looked at the side view of an example of the insertion member of a holding part.
- FIG. 24 is a front view of the holding mechanism of FIG. 24 when the mounted object is released.
- the flying object, the loading method, the system, and the program according to the embodiment of the present invention have the following configurations.
- [Item 3] The flying object according to any one of items 1 or 2.
- the holding mechanism has a holding portion that holds the bottom of the load. An air vehicle characterized by that.
- the loading material has a clog member having a predetermined height at the bottom.
- the holding mechanism has a holding portion for holding a side surface portion of the mounted object.
- [Item 6] The flying object according to any one of items 1 or 2.
- the holding mechanism has a holding portion that holds the upper part of the load.
- the holding mechanism includes, after the landing gear of the flying object has touched down, a step of moving the load at least vertically downward while keeping the load horizontal.
- [Item 8] A system that causes a processor of an air vehicle equipped with a holding mechanism to hold an load to execute a loading method.
- the arriving method is The holding mechanism includes, after the landing gear of the flying object has touched down, a step of moving the load at least vertically downward while keeping the load horizontal.
- [Item 9] A program that causes a processor of an air vehicle equipped with a holding mechanism to hold an load to execute a loading method.
- the arriving method is The holding mechanism includes, after the landing gear of the flying object has touched down, a step of moving the load at least vertically downward while keeping the load horizontal.
- the flying object 100 has a plurality of rotary wing portions including at least a propeller 110 and a motor 111 for flying, and elements such as a frame 120 connecting the rotary wing portions and the like.
- a flight unit 140 including, and to carry energy for operating them (for example, a secondary battery, a fuel cell, a fossil fuel, etc.).
- a single rotor aircraft or a fixed-wing aircraft as the aircraft, but especially for home delivery to private homes, VTOL aircraft capable of vertical takeoff and landing, and so-called multicopter rotation with multiple rotor blades.
- VTOL aircraft capable of vertical takeoff and landing
- multicopter rotation with multiple rotor blades It is desirable to use a wing aircraft.
- By using an aircraft capable of vertical takeoff and landing it is possible to reduce the size of peripheral equipment such as ports for takeoff and landing.
- the illustrated flying object 100 is drawn in a simplified manner for facilitating the explanation of the structure of the present invention, and for example, the detailed configuration of the control unit and the like is not shown.
- the flying object 100 has the direction of arrow D (-Y direction) in the figure as the forward direction (details will be described later).
- Front-back direction + Y direction and -Y direction
- vertical direction or vertical direction
- left-right direction or horizontal direction
- traveling direction forward
- Retreat direction or horizontal direction
- traveling direction forward
- retreat direction or + Y direction
- ascending direction upward
- descending direction downward
- the propeller 110 rotates by receiving the output from the motor 111.
- the rotation of the propeller 110 generates a propulsive force for taking off the flying object 100 from the starting point, moving it, and landing it at the destination.
- the propeller 110 can rotate to the right, stop, and rotate to the left.
- the propeller 110 included in the flying object of the present invention has one or more blades. Any number of blades (rotors) (eg, 1, 2, 3, 4, or more blades) may be used. Further, the shape of the blade can be any shape such as a flat shape, a curved shape, a twisted shape, a tapered shape, or a combination thereof. The shape of the blade can be changed (for example, expansion / contraction, folding, bending, etc.). The blades may be symmetrical (having the same upper and lower surfaces) or asymmetric (having different shaped upper and lower surfaces). The blades can be formed into an air wheel, wing, or geometry suitable for generating dynamic aerodynamic forces (eg, lift, thrust) as the blades move through the air. The geometry of the blades can be appropriately selected to optimize the dynamic air characteristics of the blades, such as increasing lift and thrust and reducing drag.
- rotors e. 1, 2, 3, 4, or more blades
- shape of the blade can be any shape such as a flat shape,
- the propeller included in the flying object of the present invention may have a fixed pitch, a variable pitch, or a mixture of a fixed pitch and a variable pitch, but the propeller is not limited to this.
- the motor 111 causes the rotation of the propeller 110, and for example, the drive unit can include an electric motor, an engine, or the like.
- the blades are driveable by the motor and rotate around the axis of rotation of the motor (eg, the long axis of the motor).
- All the blades can rotate in the same direction, and can also rotate independently. Some of the blades rotate in one direction and the other blades rotate in the other direction.
- the blades can all rotate at the same rotation speed, or can rotate at different rotation speeds.
- the rotation speed can be automatically or manually determined based on the dimensions (for example, size, weight) and control state (speed, moving direction, etc.) of the moving body.
- the flight body 100 determines the rotation speed and flight angle of each motor according to the wind speed and the wind direction by a flight controller, a radio, or the like. As a result, the flying object can move ascending / descending, accelerating / decelerating, and changing direction.
- the flight body 100 can perform autonomous flight according to routes and rules set in advance or during flight, and flight by maneuvering using a radio.
- the above-mentioned flying object 100 has a functional block shown in FIG.
- the functional block in FIG. 12 has a minimum reference configuration.
- the flight controller is a so-called processing unit.
- the processing unit can have one or more processors such as a programmable processor (eg, a central processing unit (CPU)).
- the processing unit has a memory (not shown), and the memory can be accessed.
- the memory stores the logic, code, and / or program instructions that the processing unit can execute to perform one or more steps.
- the memory may include, for example, a separable medium such as an SD card or random access memory (RAM) or an external storage device.
- the data acquired from the cameras and sensors may be directly transmitted and stored in the memory. For example, still image / moving image data taken by a camera or the like is recorded in an internal memory or an external memory.
- the processing unit includes a control module configured to control the state of the rotorcraft.
- the control module adjusts the spatial arrangement, velocity, and / or acceleration of a rotary wing machine with 6 degrees of freedom (translation x, y and z, and rotational motion ⁇ x , ⁇ y and ⁇ z ). It controls the propulsion mechanism (motor, etc.) of the rotary wing machine.
- the control module can control one or more of the mounted objects 10 and the states of the sensors.
- the processing unit is capable of communicating with a transmitter / receiver configured to transmit and / or receive data from one or more external devices (eg, terminals, display devices, or other remote controls).
- the transmitter / receiver can use any suitable communication means such as wired communication or wireless communication.
- the transmitter / receiver uses one or more of a local area network (LAN), wide area network (WAN), infrared, wireless, WiFi, point-to-point (P2P) network, telecommunications network, cloud communication, and the like. be able to.
- the transmitter / receiver can transmit and / or receive one or more of data acquired by sensors, processing results generated by a processing unit, predetermined control data, user commands from a terminal or a remote controller, and the like. ..
- Sensors according to this embodiment may include an inertial sensor (acceleration sensor, gyro sensor), GPS sensor, proximity sensor (eg, rider), or vision / image sensor (eg, camera).
- inertial sensor acceleration sensor, gyro sensor
- GPS sensor GPS sensor
- proximity sensor eg, rider
- vision / image sensor eg, camera
- the flight unit 140 included in the flight object 100 tilts forward toward the traveling direction as it travels.
- the forward-tilted rotor produces upward lift and thrust in the direction of travel, which causes the aircraft 100 to move forward.
- the flying object 100 is provided with a holding mechanism 20 capable of holding a luggage or a storage unit for storing the luggage (hereinafter collectively referred to as a load 10) to be transported to the destination.
- the holding mechanism 20 is fixedly connected to the flight unit 140, or, as shown in FIGS. 1 and 2, is independently displaced via a connection unit 22 such as a rotation axis or a gimbal having one or more degrees of freedom.
- a connection unit 22 such as a rotation axis or a gimbal having one or more degrees of freedom.
- connection portion 22 may be provided between the flight unit 140 and the holding mechanism 20, and a connection portion 22 may be provided between the holding mechanism 20 and the loading mechanism 10. A similar effect is obtained. That is, it is desirable to provide the connecting portion 22 at any position between the flight portion 140 and the mounted object 10.
- the position and direction of the rotation shaft 50 used for the displacement of the holding mechanism 20 or the mounted object 10 are determined by the attitude taken by the flying object 100 during flight. If the flight object only moves forward or backward, the flight section tilts in the front-rear direction. Therefore, by providing at least one axis that can rotate in the pitch direction, the tilt of the flight section during flight is canceled and the attitude of the load is increased. It becomes possible to keep. Further, when it corresponds to the inclination in the other axial direction (roll, yaw), two or more rotation axes are provided.
- the displacement of the holding mechanism 20 or the mounted object 10 may be performed by passive control in which the posture is maintained by the weight of the object to be maintained, or by active control in which the posture is controlled by using a motor or the like. good.
- passive control in which the posture is maintained by the weight of the object to be maintained
- active control in which the posture is controlled by using a motor or the like. good.
- the holding mechanism 20 is configured to include a material having strength enough to withstand flight and takeoff and landing while holding the load 10.
- resin, FRP, and the like are rigid and lightweight, and are therefore suitable as constituent materials for holding mechanisms.
- a metal having a light specific gravity such as aluminum or magnesium. Note that these materials may be the same material as the frame 120 included in the flight unit 140, or may be different materials.
- the motor mount (not shown) and the frame 120 included in the flight unit 140 may be configured by connecting each component, or may be molded so as to be integrated by using a monocoque structure or integral molding. It may be possible (for example, the motor mount and the frame 120 are integrally molded). By integrating the parts, it is possible to smooth the joints of each part, which can be expected to reduce drag and improve fuel efficiency.
- the landing gear 130 included in the aircraft 100 is below the load 10 at least in the side view of the landing state on a plane so that the load 10 is not impacted by directly touching the landing surface 200 when the vehicle is landing. It is preferable that the configuration is long in the direction (-Z direction).
- the landing gear 130 may further include a shock absorbing device 131 such as a damper.
- the flying object 100 includes a holding mechanism 20 capable of holding the load 10 so as not to drop at an unintended timing such as during flight or takeoff and landing, and the holding mechanism 20 can release the load 10 from the flight body at a predetermined timing.
- the holding portion 21 is provided.
- the flying object 100 equipped with the loading object 10 flies to the sky above the destination point and then lands.
- the holding mechanism 20 lowers the load 10 while holding it, and then releases the load 10. At this time, the impact applied to the load or the inclination of the load is released so as to be within a predetermined range.
- the surface that the released load comes into contact with (hereinafter collectively referred to as the landing surface 200) is flat, such as the landing facility and the landing pad of the port, and the released load does not lose its attitude or tilt. It is desirable to have.
- the holding mechanism 20 may be held by supporting the bottom surface of the load 10 by the holding portion 21.
- the aircraft 100 carrying the load 10 advances toward the destination.
- the attitude of the mounted object 10 does not change even if the flying object 100 is in the forward attitude, as shown in FIG.
- the holding mechanism 20 releases the load 10 as shown in FIGS. 4 and 5 after the aircraft 100 has landed at the destination.
- the holding portion 21 included in the holding mechanism 20 moves vertically downward, so that the clog member 11 provided on the load 10 comes into contact with the landing surface 200. After the clog member 11 touches the ground, the holding portion 21 is further lowered, so that the load 10 is not held and is released.
- the holding portion 21 is raised and lowered by a motor, a servo, etc., sent out by a gear or a belt, winding and lowering of a string-shaped member or a band-shaped member, and by its own weight in a state where the speed is limited by a damper or the like.
- Descent and the like can be mentioned, but it is sufficient as long as it can achieve the task of descending and releasing so that the impact given to the load is within the predetermined impact range when the air vehicle lands. Not as long.
- the movement of the load is not limited to the vertical direction only, and horizontal and diagonal movements in the left-right direction and the front-back direction may be performed as necessary.
- the posture of the load 10 is likely to be greatly tilted. Therefore, as illustrated in FIG. 9, for example.
- the posture of the load may be slid while maintaining the posture of the load horizontally so that the inclination does not become larger than a predetermined angle, or the parallel link mechanism and the rotation axis are combined as illustrated in FIG. 10-11. It is desirable to use a mechanism and use the rocking motion of the link to lower the load while maintaining the posture of the load horizontally.
- the loading surface 200 or the loading surface 10 When holding the bottom surface, the loading surface 200 or the loading surface 10 is provided with a relief portion for operating the holding portion in order to ensure that the loading surface 10 is lowered to the loading surface 200 and smoothly released from the holding portion 21. It is desirable to be there.
- a convex portion having an area where the mounted object 10 can stably stand on its own is provided, and the periphery thereof is used as a relief portion of the holding portion 21. It can be released without giving an impact to the mounted object 10.
- the descending method and speed of the holding portion 21, and the position (height, etc.) where the load 10 is released are determined based on various conditions such as the type, size, weight of the load, the material of the landing surface 200, and the like.
- the impact on the impact should be determined to be of a given magnitude. In order to make the impact smaller, it is desirable to slow down the descent speed when the load comes into contact with the ground and set the release position to the position where a part of the load 10 touches the ground. There is a slowdown.
- the same effect can be obtained by providing a relief portion on the load 10.
- the load 10 stably stands on the loading surface 200 by the clog member 11.
- the holding portion 21 smoothly performs a releasing operation without rubbing against the mounted object 10 or giving an impact to the mounted object 10.
- FIG. 13 and 14 show enlarged views of a configuration example of the holding mechanism 20 when the bottom surface of the load 10 is held.
- the holding portion 21 that supports the bottom surface of the load 10 can be raised and lowered by the rotation of the motor 40 connected to the full screw rod 41, and the load surface 10 is loaded by the hinge 23 provided in the center in the vertical direction. After reaching 200, the holding portions 21 can be rotated outward in the left-right direction (+-X direction) to release the mounted object 10.
- a hinge generally called a spring hinge or a spring hinge
- a hinge that opens when the hinge moves downward from the cover portion 24 by using a spring reaction force
- a servo is used outward in the left-right direction. It is possible to open it by providing a rod that connects to the like.
- the servo 30 and the horn 31 shown in FIG. 13 are connected to the cover portion 24 via the rod 32, and when the servo 30 operates, the cover portion 24 and the mounted object 10 rotate around the connecting portion 22. Then, the posture of the load 10 is controlled.
- a holding portion 26 is provided in order to prevent the load 10 from shifting in the front-rear direction during the flight of the flying object 100.
- the holding portion 26 is a member (for example, a protrusion integrated with the covering portion, a plate material, a roller mechanism, a cushion material, etc.) provided inward from a cover or the like (hereinafter collectively referred to as a covering portion) that covers the holding portion 21 or the mounted object. Is.
- a covering portion a cover or the like
- the holding portion 26 can provide a clearance between the loading portion 10 and the covering portion at the time of re-takeoff of the flying object 100 while suppressing the rattling of the loading portion 10 during flight.
- 17 to 21 show a conceptual diagram of the flow from the landing of the flying object of the mechanism of FIG. 14 to the release of the loaded object and the takeoff again. 17-21 are simplified to facilitate the description of the unloading structure, for example, elements such as the landing gear 130 and frame 120 of the air vehicle are not shown.
- the landing surface 200 and the load 10 are separated from each other.
- the mounted object 10 and the holding portion 21 that supports the mounted object 10 from the bottom surface are connected to the fully threaded rod 41 via a guide, and as shown in FIG. 18, the motor 40 is lowered by rotation.
- the motor 40 is lowered by rotation.
- the clog member 11 first comes into contact with the landing surface 200, and when the descent further progresses, the holding portion 21 does not hold the load 10 and the load is released.
- the position of the hinge 23 in which the spring hinge that tries to open outward in the left-right direction is used is lower than the cover portion 24. Then, the hinge 23, which has lost the cover portion 24 for pressing, is pushed open outward as shown in FIG.
- the holding mechanism can be pulled out without the holding portion 21 or the like touching the loaded object 10 released on the landing surface.
- the holding portion 21 is raised by the rotation of the motor 40, and the opened hinge 23 is closed by being pressed against the cover portion.
- the holding portion 21 may be provided with a roller 25 or the like at the end portion in order to prevent the flying object from being caught when it touches the loaded object 10 due to wobbling during re-takeoff.
- the holding mechanism 20 may be connected to the side surface of the load 10 and held.
- the connection method includes a method of piercing a needle-shaped member into the side surface of the load, a method of providing a hole or a slit on the side of the load, inserting the holding portion 21, a method of attracting and releasing by magnetic force or negative pressure, and the like.
- it is not limited to this as long as the mounted object is connected so as not to fall or swing unintentionally.
- a geta member or the like is provided at the lower part of the loading object because a relief portion that serves as a pull-out space for the holding portion 21 is not required as in the first embodiment in which the mounted object is supported from the bottom surface. Or, it is not necessary to provide a convex portion on the landing surface 200.
- the holding mechanism 20 may be connected to and held on the upper surface of the load 10.
- the connection method includes adsorption by magnetic force or negative pressure, catching the holding portion 21, etc., but if the mounted object is connected so as not to be unintentionally dropped or rocked. Well, not limited to this.
- a plate-shaped member having a hole portion as shown in FIGS. 28 and 29 may be used as the insertion member 12 of the holding portion.
- a clog member or the like may be provided at the lower part of the load, or the loading surface 200 may be provided. There is no need to provide a convex portion on the surface.
- a holding portion is provided on each of the left and right sides, but in the method of holding by connecting to the upper surface, there is only one holding mechanism, so weight reduction can be expected.
- the configuration of the flying object in each embodiment can be implemented by combining a plurality of them. It is desirable to consider an appropriate configuration according to the cost of manufacturing the flying object and the environment and characteristics of the place where the flying object is operated.
Abstract
Description
[項目1]
搭載物を保持する保持機構を備える飛行体であって、
前記保持機構は、
前記飛行体の着陸脚が接地後に、前記搭載物を水平を保持しながら、少なくとも鉛直下方に移動させる、
ことを特徴とする飛行体。
[項目2]
項目1に記載の飛行体であって、
前記保持機構は、前記搭載物が接地するまで移動させる、
ことを特徴とする飛行体。
[項目3]
項目1または2のいずれかに記載の飛行体であって、
前記保持機構は、前記搭載物の底部を保持する保持部を有する、
ことを特徴とする飛行体。
[項目4]
項目1ないし3のいずれかに記載の飛行体であって、
前記搭載物は、所定の高さを有する下駄部材を底部に有する、
ことを特徴とする飛行体。
[項目5]
項目1または2のいずれかにに記載の飛行体であって、
前記保持機構は、前記搭載物の側面部を保持する保持部を有する、
ことを特徴とする飛行体。
[項目6]
項目1または2のいずれかにに記載の飛行体であって、
前記保持機構は、前記搭載物の上部を保持する保持部を有する、
ことを特徴とする飛行体。
[項目7]
搭載物を保持する保持機構を備える飛行体による着荷方法であって、
前記保持機構により、前記飛行体の着陸脚が接地後に、前記搭載物を水平を保持しながら、少なくとも鉛直下方向に移動させるステップ、を含む、
ことを特徴とする着荷方法。
[項目8]
搭載物を保持する保持機構を備える飛行体が備えるプロセッサに着荷方法を実行させるシステムであって、
前記着荷方法は、
前記保持機構により、前記飛行体の着陸脚が接地後に、前記搭載物を水平を保持しながら、少なくとも鉛直下方向に移動させるステップ、を含む、
ことを特徴とするシステム。
[項目9]
搭載物を保持する保持機構を備える飛行体が備えるプロセッサに着荷方法を実行させるプログラムであって、
前記着荷方法は、
前記保持機構により、前記飛行体の着陸脚が接地後に、前記搭載物を水平を保持しながら、少なくとも鉛直下方向に移動させるステップ、を含む、
ことを特徴とするプログラム。
以下、本発明の実施の形態による飛行体、着荷方法、システム、プログラムについて、図面を参照しながら説明する。
本発明による第2の実施の形態の詳細において、第1の実施の形態と重複する構成要素は同様の動作を行うので、再度の説明は省略する。
<第3の実施の形態の詳細>
本発明による第3の実施の形態の詳細において、第1の実施の形態および第2の実施の形態と重複する構成要素は同様の動作を行うので、再度の説明は省略する。
11 下駄部材
12 差し込み部材
20 保持機構
21 保持部
22 接続部
23 ヒンジ
24 カバー部
25 ローラー
40 モータ
41 全ねじ棒
50 回動軸
100 飛行体
110a~110h プロペラ
111a~111h モータ
120 フレーム
130 着陸脚
131 ダンパ
140 飛行部
200 着陸面(着荷面)
Claims (9)
- 搭載物を保持する保持機構を備える飛行体であって、
前記保持機構は、
前記飛行体の着陸脚が接地後に、前記搭載物を水平を保持しながら、少なくとも鉛直下方に移動させる、
ことを特徴とする飛行体。 - 請求項1に記載の飛行体であって、
前記保持機構は、前記搭載物が接地するまで移動させる、
ことを特徴とする飛行体。 - 請求項1または2のいずれかに記載の飛行体であって、
前記保持機構は、前記搭載物の底部を保持する保持部を有する、
ことを特徴とする飛行体。 - 請求項1ないし3のいずれかに記載の飛行体であって、
前記搭載物は、所定の高さを有する下駄部材を底部に有する、
ことを特徴とする飛行体。 - 請求項1または2のいずれかにに記載の飛行体であって、
前記保持機構は、前記搭載物の側面部を保持する保持部を有する、
ことを特徴とする飛行体。 - 請求項1または2のいずれかにに記載の飛行体であって、
前記保持機構は、前記搭載物の上部を保持する保持部を有する、
ことを特徴とする飛行体。 - 搭載物を保持する保持機構を備える飛行体による着荷方法であって、
前記保持機構により、前記飛行体の着陸脚が接地後に、前記搭載物を水平を保持しながら、少なくとも鉛直下方向に移動させるステップ、を含む、
ことを特徴とする着荷方法。 - 搭載物を保持する保持機構を備える飛行体が備えるプロセッサに着荷方法を実行させるシステムであって、
前記着荷方法は、
前記保持機構により、前記飛行体の着陸脚が接地後に、前記搭載物を水平を保持しながら、少なくとも鉛直下方向に移動させるステップ、を含む、
ことを特徴とするシステム。 - 搭載物を保持する保持機構を備える飛行体が備えるプロセッサに着荷方法を実行させるプログラムであって、
前記着荷方法は、
前記保持機構により、前記飛行体の着陸脚が接地後に、前記搭載物を水平を保持しながら、少なくとも鉛直下方向に移動させるステップ、を含む、
ことを特徴とするプログラム。
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JP2021539007A JP6997494B1 (ja) | 2020-11-27 | 2020-11-27 | 飛行体、着荷方法、システム、プログラム |
US18/253,373 US20230415892A1 (en) | 2020-11-27 | 2020-11-27 | Aircraft, landing method and system |
PCT/JP2020/044369 WO2022113305A1 (ja) | 2020-11-27 | 2020-11-27 | 飛行体、着荷方法、システム、プログラム |
EP20963569.7A EP4253231A1 (en) | 2020-11-27 | 2020-11-27 | Aircraft, landing method, system, and program |
CN202122921341.0U CN217320757U (zh) | 2020-11-27 | 2021-11-26 | 飞行器 |
CN202111416832.8A CN114560088A (zh) | 2020-11-27 | 2021-11-26 | 飞行器、货物到达方法、系统、程序 |
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Citations (5)
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US9536216B1 (en) | 2014-12-18 | 2017-01-03 | Amazon Technologies, Inc. | Delivery of packages by unmanned aerial vehicles |
CN109229385A (zh) * | 2018-10-19 | 2019-01-18 | 浙江工业大学 | 一种自抓取货物搬运装置 |
US20200031473A1 (en) * | 2018-07-27 | 2020-01-30 | The Boeing Company | Vehicle docking systems, payload transfer systems, and related methods |
JP2020040798A (ja) * | 2018-09-12 | 2020-03-19 | 三菱ロジスネクスト株式会社 | 搬送システム |
US10618655B2 (en) | 2015-10-14 | 2020-04-14 | Flirtey Holdings, Inc. | Package delivery mechanism in an unmanned aerial vehicle |
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CN109941432B (zh) * | 2019-03-06 | 2020-12-04 | 江苏锦程航空科技有限公司 | 一种飞行平稳的具有调节功能的物流配送无人机 |
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Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
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US9536216B1 (en) | 2014-12-18 | 2017-01-03 | Amazon Technologies, Inc. | Delivery of packages by unmanned aerial vehicles |
US10618655B2 (en) | 2015-10-14 | 2020-04-14 | Flirtey Holdings, Inc. | Package delivery mechanism in an unmanned aerial vehicle |
US20200031473A1 (en) * | 2018-07-27 | 2020-01-30 | The Boeing Company | Vehicle docking systems, payload transfer systems, and related methods |
JP2020040798A (ja) * | 2018-09-12 | 2020-03-19 | 三菱ロジスネクスト株式会社 | 搬送システム |
CN109229385A (zh) * | 2018-10-19 | 2019-01-18 | 浙江工业大学 | 一种自抓取货物搬运装置 |
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CN114560088A (zh) | 2022-05-31 |
US20230415892A1 (en) | 2023-12-28 |
CN217320757U (zh) | 2022-08-30 |
EP4253231A1 (en) | 2023-10-04 |
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