WO2023026672A1

WO2023026672A1 - Unmanned aerial vehicle and loading device

Info

Publication number: WO2023026672A1
Application number: PCT/JP2022/025409
Authority: WO
Inventors: 史哲村上; 武志橋本; 弘美水口
Original assignee: コニカミノルタ株式会社
Priority date: 2021-08-24
Filing date: 2022-06-24
Publication date: 2023-03-02
Also published as: JPWO2023026672A1

Abstract

Provided is an unmanned aerial vehicle capable of loading cargo so that the loaded cargo does not influence maneuvering stability.　The unmanned aerial vehicle which flies in the air to transport the cargo comprises a cargo bed 210 and a packing body 205 which encloses the cargo, and the unmanned aerial vehicle applies a tensile force to the packing body 205 in a state in which the cargo is arranged between the cargo bed 210 and the packing body 205 to secure the cargo to the cargo bed 210.

Description

Unmanned Air Vehicles and Loaders

The present disclosure relates to an unmanned air vehicle that transports cargo and a loading device that loads cargo by flying through the air.

In recent years, unmanned aerial vehicles that fly in the air have been used to transport luggage.

In the case of luggage transport using unmanned air vehicles, it is common to attach a containment box made of metal material etc. to the unmanned air vehicle and store the luggage in it. In this form, since the size of the storage box is fixed, there are restrictions on the size and shape of the package, and there are considerable gaps in the storage box, which can cause the package to move during transportation, affecting the quality of the package. There is concern that it will affect

Patent Document 1 discloses a packing method for transporting packages using an unmanned air vehicle. An inner package, tensioned by a plurality of elastic traction members, is held substantially centrally within the outer package, and cargo is contained within the inner package. Subsequently, the air within the inner package is evacuated and the inner package is contracted, thereby creating additional tension in the elastic traction material. With this method of packing, the load is safely placed approximately in the center of the outer package.

Japanese Patent Application Publication No. 2019-535603

However, according to the technique disclosed in Patent Document 1, for example, when the flight speed or traveling direction of the unmanned air vehicle suddenly changes due to a sudden wind, the tension balance of the elastic traction member is lost due to the inertial force. , the package is offset from the center of the outer package. After that, due to the restoring force of the elastic traction member, when the cargo tries to return to the center of the outer package, it will be pulled by the cargo, and the unmanned air vehicle will be moved further, affecting the steering stability of the unmanned air vehicle. There is a problem that

The purpose is to solve such problems and to provide an unmanned flying vehicle and a loading device that can load cargo without affecting the steering stability.

One aspect of the present disclosure is an unmanned aerial vehicle that transports cargo by flying in the air, the unmanned air vehicle includes a loading platform and a package surrounding the cargo, and the cargo is placed between the loading platform and the packaging. The cargo is fixed to the loading platform by applying tension to the package in the arranged state.

Here, a tensioning mechanism that applies tension to the package may be further provided.

Here, the tension imparting mechanism is a winding roller, and the package is a long belt-shaped body, one end of which is wound around the winding roller, and the other end of which is attached to a loading platform. good too.

wherein the package is made of a bag-shaped film, the inlet edge of the bag is attached to the platform, and the platform and the bag-shaped package form a closed space, By discharging the air in the space, the package may be shrunk and tension may be applied.

Here, a check valve may be provided that passes through the loading platform or the packaging body, allows air to flow out from the space to the outside, and restricts air from entering the space from the outside. .

Here, the package body may have an opening for loading and unloading cargo at a location facing the entrance edge, and the opening may be provided with a highly airtight fastener.

Here, the package may have a bag structure, the inlet edge portion of which is attached to the loading platform, and tension may be applied by squeezing the package.

Here, a ring-shaped squeezing member is further provided, the package is inserted into the inner peripheral portion of the squeezing member from the end opposite to the entrance edge, and the squeezing member is inserted into the end of the package. The load may be fixed in a state of being pressed against the loading platform by moving the load to the entrance side.

Here, the package may be made of a plate-like or band-like elastic material, and the edges of the package may be attached to the loading platform.

Here, a through-hole may be formed in the cargo bed, cargo may be taken in and out through the through-hole, and the cargo bed may be provided with a lid that closes the through-hole so that it can be freely opened and closed.

Here, an opening may be provided in the packaging body for loading and unloading, and the opening may be provided with a fastener.

Here, the main body may be further provided with flight means, and the main body and the cargo bed may be integrally configured.

Here, a main body portion may be further provided with flight means, and the loading platform and the packaging body may be detachably attached to the main body portion as a loading portion for loading cargo.

Further, one aspect of the present disclosure is a loading device that is provided in an unmanned aerial vehicle that flies in the air and loads a load, the loading device including a cargo bed and a packaging body surrounding the cargo, wherein the cargo bed and the packaging body The cargo is fixed to the loading platform by applying tension to the package while the cargo is placed between the and.

According to this aspect, cargo can be loaded on the unmanned flying object and the loading device so as not to affect the steering stability of the unmanned flying object.

1 shows an external perspective view of an aerial transportation system 5 including an unmanned air vehicle 10 for loading and transporting a load and a control device 20 for operating the unmanned air vehicle 10 of Embodiment 1. FIG. 1 is a block diagram showing the configuration of an air transportation system 5 composed of an unmanned air vehicle 10 and a control device 20; FIG. (a) shows a top view of the stacking unit 100 according to the first embodiment when the lid 104 is open, as seen from above. (b) shows a cross-sectional view taken along line AA of the stacking unit 100 with the lid 104 open. An exploded perspective view of the stacking unit 100 is shown. (a) shows a bottom view of the stacking unit 100 viewed from below. (b) shows a side view of the stacking unit 100, viewed from direction E in FIG. (c) shows a side view of the stacking unit 100 when the lid 104 is closed and tension is applied to the package 105 as seen from direction E in FIG. (d) shows a BB cross-sectional view of the ratchet gear 117a and the ratchet pawl 117b. (a) shows a cross-sectional view of a state in which the lid 104 is open, the load 115 is accommodated inside the stacking section 100, and the package 105 is not tensioned. (b) shows a cross-sectional view of a state in which the load 115 is accommodated inside the loading unit 100 and the lid 104 is closed. (c) shows a cross-sectional view of a state in which the load 115 is accommodated inside the loading unit 100, the lid 104 is closed, and the package 105 is under tension. (a) shows a cross-sectional view of the stacking unit 100a of Modification 1 of Embodiment 1 with the lid 104 open. (b) shows a cross-sectional view of a state in which the lid 104 is opened in the loading section 100a and the load 132 is accommodated inside the loading section 100. FIG. (c) shows a cross-sectional view of the loading section 100a in which the load 132 is accommodated inside the loading section 100a and the lid 104 is closed. (a) is an external perspective view showing a state in which tension is not applied to the package 140 in the stacking section 100b of Modification 2 of Embodiment 1. FIG. (b) is an external perspective view showing a state in which tension is applied to the package 140 in the loading section 100b. (c) is an external perspective view showing a diaphragm member 141 for fixing baggage. (d) shows a top view of the diaphragm member 141 in the locked state as seen from above. (e) shows a CC sectional view of the throttle member 141 in the locked state. (f) shows a CC sectional view of the diaphragm member 141 in the released state. FIG. 10 is an external perspective view of a stacking section 100c of Modification 3 of Embodiment 1; FIG. 10 is a cross-sectional view of a stacking section 100d of Modification 4 of Embodiment 1; (a) shows a top view of the stacking unit 200 according to the second embodiment when the lid 206 is open, as seen from above. (b) shows a DD sectional view of the loading unit 200 with the lid 206 open. 3 shows an exploded perspective view of the stacking unit 200. FIG. (a) shows a DD cross-sectional view of a state in which the lid 206 is open and the cargo 215 is accommodated inside the loading section 200. FIG. (b) shows a DD cross-sectional view of a state in which a load 215 is accommodated inside the loading unit 200 and the lid 206 is closed. (a) shows a DD cross-sectional view of a state in which cargo 215 is accommodated inside loading unit 200, lid 206 is closed, and pump 222 is attached. (b) shows a DD cross-sectional view of the loading unit 200 in a state in which the internal air is discharged by the pump 222; (c) shows a DD cross-sectional view of the loading unit 200 after the internal air is discharged and the pump 222 is removed. FIG. 10 is a cross-sectional view of a stacking portion 200a of Modification 1 of Embodiment 2; FIG. 10 is a cross-sectional view of a stacking portion 200b of Modification 2 of Embodiment 2; FIG. 10 is a cross-sectional view of a stacking portion 200c of Modified Example 3 of Example 2; FIG. 11 shows a stacking section 200d of Modified Example 4 of Example 2. FIG. (a) shows a cross-sectional view in which the lid 206 is open and the bottom 233 of the package 205d is open. (b) shows a cross-sectional view of a state in which the load 215 is accommodated inside the loading section 200d, the lid 206 is closed, and the bottom portion 233 of the package 205d is closed. (c) shows an external perspective view of the package 205d with the bottom 233 closed.

1 Example 1
An air transportation system 5 as a first embodiment of the present disclosure will be described.

1.1 Air transport system 5
The air transportation system 5 is composed of an unmanned air vehicle 10 and a control device 20, as shown in FIG. The unmanned flying object 10 is called a drone, a multicopter, or the like, and is operated by a control device 20 . The unmanned air vehicle 10 can be operated by an operator using the control device 20 and/or automatically navigated according to a pre-stored route program.

1.2 Unmanned Air Vehicle 10
The unmanned air vehicle 10 transports cargo by flying in the air. The unmanned flying object 10 is provided with a loading platform and a packaging body surrounding a cargo, and with the cargo placed between the loading platform and the packaging body, tension is applied to the packaging body to fix the cargo to the loading platform.
The unmanned air vehicle 10 is an aircraft for industrial use, has multiple rotor blades, and flies by rotating rotors with electric power supplied from the battery pack 12b (FIG. 2).

As shown in FIG. 1, the unmanned aircraft 10 includes a main body 11 which is an aircraft frame, four support shafts 16 extending from the main body 11, motors 15 provided at the ends of the support shafts 16, and a plurality of , a landing gear 17 for supporting the main body 11 on the ground, an antenna 18 (FIG. 2) for receiving control signals from the control device 20, and the like.

The main unit 11 incorporates a control unit 12 that electronically controls the unmanned air vehicle 10, and includes a loading unit 100 (loading device) for loading cargo.

As shown in FIG. 2, the control unit 12 includes a flight controller 12a. The flight controller 12a includes an acceleration sensor and an angular velocity sensor that detect the attitude of the unmanned air vehicle 10, an optical/ultrasonic sensor that detects approaching obstacles, a geomagnetic sensor that detects the direction and direction of the aircraft, a GPS, and the like. Further, the flight controller 12a drives the motor 15 based on a control signal or the like input from a built-in sensor or antenna 18 to stably control the unmanned air vehicle 10. FIG. The control unit 12 includes a battery pack 12b for supplying electric power to the motor 15, the flight controller 12a, and the like.

Here, the plurality of motors 15, the plurality of rotors 14, the landing gear 17, the flight controller 12a, the battery pack 12b, etc. constitute flight means.

Due to its characteristics, the unmanned flying object 10 has the function of flying by freely selecting its position and altitude during flight, as well as the function of standing still (hovering) in the air.

The control device 20 includes a housing 21, an input section 22, an antenna 23, and the like. The housing 21 incorporates a control device that generates a control signal for controlling the unmanned air vehicle 10 based on an operator's operation via the input unit 22 . A control signal generated by the housing 21 is output to the antenna 23 and transmitted from the antenna 23 to the unmanned air vehicle 10 . In this manner, the control device 20 controls the unmanned air vehicle 10 by the operator's operation.

1.3 Configuration of Stacking Portion 100 The configuration of the stacking portion 100 provided in the main body portion 11 will be described with reference to FIGS. explain. The loading unit 100 is mainly composed of a loading platform 109 for supporting or containing a load, and a packaging body 105 for enclosing the load. The loading platform 109 includes a rectangular flat plate-like member 110 and a lid 104 that is openable and closable through a hinge 102 in an opening 112 opened in the center of the plate-like member 110 . The plate-like member 110 may be integrally formed with the body portion 11 (FIG. 1). Moreover, the loading platform 109 may be formed integrally with the main body portion 11 .

3(a) is a top view of the loading unit 100 with the lid 104 open, and FIG. 3(b) is a cross-sectional view taken along the line AA in FIG. 3(a). . 4 is an exploded perspective view of the stacking unit 100, FIG. 5(a) is a bottom view of the stacking unit 100 viewed from below, and FIG. 5(b) is the stacking unit 100 with the lid 104 closed. FIG. 5C shows a side view of the package 105 when no tension is applied to the package 105 as seen from direction E in FIG. 3A. FIG. The side view seen from the E direction of Fig.3 (a) when tension|tensile_strength is provided is shown, respectively.

The opening 112 of the plate member 110 is provided with a step 111 along the entire circumference of the opening 112 .

A key member 103 is attached to the upper surface of the plate-like member 110 in the vicinity of the opening 112 so as to be rotatable around a support shaft 103a. With the lid 104 closed, one end of the key member 103 is rotated to the upper surface of the lid 104 to fix the lid 104 in the closed state.

In this embodiment, the package 105 is a long strip woven of synthetic fibers such as polyethylene and nylon or natural fibers such as hemp and cotton. In addition to this, the package 105 may be configured in a mesh shape (net shape, mesh shape).

A pair of bearing members 108 are provided on the lower surface side of the loading platform 109 with an interval slightly wider than the width of the strip-shaped package 105 as shown in FIGS. 5(a) to 5(c). A winding roller 106 is rotatably supported by a pair of bearing members 108 . One end of the package 105 is wound (wound) on the winding roller 106 . The other end of the package 105 is attached to the plate member 110 of the loading platform 109 .

A guide roller 107 is provided on the bearing member 108 in parallel with the winding roller 106 . The package 105 is wound up by a winding roller 106 while being guided by the guide roller 107 .

As shown in FIG. 5(a), an operating handle 116 is detachably attached to one axial end of the winding roller 106 (FIG. 5(a) shows that the operating handle 116 is attached to the axial end of the winding roller 106). ). By attaching the operation handle 116 to one end of the winding roller 106 in the axial direction and rotating it, the package 105 can be paid out or wound up. By rotating the operating handle 116 in the direction of winding the package 105, tension is applied to the package 105 shown in FIG. 5(c) from the slackened state shown in FIG. 5(b). change to state. Conversely, by rotating the operating handle 116 in the direction in which the package 105 is delivered, the package 105 shown in FIG. It changes to a slack state.

Further, as shown in FIG. 5A, a ratchet gear 117a is fixed to the outside of the bearing member 108 of the winding roller 106, and a ratchet pawl 117b that can be engaged with the ratchet gear 117a is attached to the plate member 110. supported on the underside of the The ratchet pawl 117b is movably supported between a meshing position where the tip thereof meshes with the ratchet gear 117a and a retracted position where the tip thereof does not mesh with the ratchet gear 117a. there is These ratchet gear 117a and ratchet pawl 118b constitute a ratchet mechanism (FIG. 5(d)). That is, this ratchet mechanism allows the winding roller 106 to rotate only in the winding direction of the package 105 (clockwise in FIG. 5B). By moving the ratchet pawl 117b to the retracted position, the engagement with the ratchet gear 117a is released. can be rotated. The ratchet pawl 117b is used to engage with the ratchet gear 117a when fixing a load, and to move the ratchet pawl 117b to the retracted position to release the engagement of the ratchet gear 117a when loading or unloading the load.

1.4 Work of Loading and Fixing a Package by Loading Unit 100 The ratchet pawl 117b is moved to the retracted position, and the ratchet mechanism is disengaged. ), a space for accommodating a load 115 (FIGS. 6A, 6B, and 6C) is secured between the loading platform 109 (the plate-like member 110 and the lid 104) and the package 105. As shown in FIG. Next, as shown in FIG. 3(b), the lid 104 is opened, and the package 115 is accommodated in the accommodation space between the loading platform 109 and the package 105 through the opening 112. Next, as shown in FIG. FIG. 6(a) shows a state in which the load 115 is accommodated inside the loading section 100. As shown in FIG. As shown in this figure, package 115 is held by package 105 .

After that, as shown in FIG. 6(b), the lid 104 is closed and the key member 103 is rotated to lock the lid 104 in the closed state.

Subsequently, the winding roller 106 (tension applying mechanism) is rotated in the direction in which the package 105 is wound up to apply tension to the package 105, and as shown in FIG. and the carrier 109 (the plate member 110 and the lid 104). That is, the top surface of the load 115 is pressed against the lid 104 while the bottom surface of the load 115 is supported by the package 105, and the load 115 is fixed to the loading platform 109 (the plate member 110 and the lid 104). Due to the ratchet mechanism described above, the cargo 115 is kept restrained even when the operating handle 116 is released.

Thus, the luggage 115 is fixed to the loading platform 109 of the unmanned air vehicle 10 and can be stably transported by the unmanned air vehicle 10.

1.5 Summary According to Example 1, the belt-shaped package 105 supports the bottom surface, which is part of the outer peripheral surface of the package 115, and tension is applied to the package 105 by the tension applying mechanism (winding roller 106). Then, the load 115 is fixed to the loading platform 109 by pressing the load 115 against the loading platform 109. - 特許庁With this configuration, cargo can be loaded without affecting the steering stability of the unmanned air vehicle.

1.6 Modification of Example 1 In Example 1, tension is applied to the package 105 by the tension applying mechanism, but the present invention is not limited to this.

(1) Modification 1
As a modified example 1, instead of the stacking unit 100 of the first embodiment, a stacking unit 100a (stacking device) shown in FIG. 7 may be provided.

The stacking section 100a does not have the bearing member 108, the winding roller 106, or the guide roller 107, and instead of the package 105, it has a package 130 (FIG. 7(a)). Other than this, the configuration is substantially the same as that of the stacking unit 100 of the first embodiment. The packaging body 130 is formed in a strip or plate shape using an elastic material such as rubber, and adhesive It is fixed to the lower surface of the plate-like member 110 of the loading platform 109 by, for example.

7A is a cross-sectional view of the loading section 100a with the lid 104 open, and FIG. 7B is a cross-sectional view of the loading section 100a with the lid 104 open and a load 132 inside the loading section 100a. FIG. 7(c) shows a cross-sectional view of the loaded state, and FIG. 7C shows a cross-sectional view of a state where the cargo 132 is stored inside the loading section 100a and the lid 104 is closed.

As shown in FIGS. 7(b) and 7(c), the load 132 is accommodated inside the loading section 100a and the lid 104 is closed, so that the package 130 made of an elastic material is attached to the outer peripheral surface of the load. In particular, it stretches (elastically deforms) so as to fit around the bottom surface of the luggage. Then, tension is applied to the package 130 by the restoring force against the deformation, and the load 132 is pressed against the loading platform 109 (the plate member 110 and the lid 104) and fixed.

(2) Modification 2
As a modified example 2, instead of the stacking unit 100 of the first embodiment, a stacking unit 100b (stacking device) shown in FIGS. 8(a) and 8(b) may be provided.

The stacking unit 100b does not include the bearing member 108, the winding roller 106, or the guide roller 107, but includes a bag-like (bag structure) package 140 (FIG. 8A) instead of the package 105, and further includes a squeeze member. 141 is provided. Except for this configuration, it has substantially the same configuration as the stacking unit 100 of the first embodiment. The package 140 is formed in a bag-like shape, and the inlet edge is fixed to the lower surface of the plate-like member 110 of the loading platform 109 with an adhesive or the like. It is possible to put luggage in and take it out. The package 140 is squeezed by a squeeze member 141 at an appropriate length from the entrance edge.

The throttle member 141 consists of two ring-shaped

members

142 and 143 and a compression spring 144, as shown in FIGS. 8(c) and 8(d). One ring-shaped member 142 has a groove formed in its inner peripheral portion for receiving the outer peripheral side of the other ring-shaped member 143 . The groove has a shape complementary to the outer peripheral shape of the ring-shaped member 143 . Specifically, as shown in FIGS. 8(c) and 8(d), the ring-shaped member 143 has a width between the inner circumference and the outer circumference of the left half 143a of the ring-shaped member 143 that is equal to the inner circumference of the right half 143b. A groove 143c that becomes narrower as it goes deeper is formed between the right half 143b and the left half 143a. On the other hand, the groove formed in the ring-shaped member 142 is such that the thickness direction central portion of the left half 142a of the ring-shaped member 142 is oriented from the inner peripheral side to the outer peripheral side by half the width of the inner periphery and the outer periphery. In addition, in the thickness direction of the left half 142a, an amount corresponding to the thickness of the ring-shaped member 143 is cut, and the central portion in the thickness direction of the right half 142b is cut from the inner peripheral side to the outer peripheral side, and , is cut in the thickness direction of the right half 142b by an amount corresponding to the thickness of the ring-shaped member 143. As shown in FIG. A sharp protrusion 142c that fits into the groove 143c is formed between the left half 142a and the right half 142b.

The natural length of the compression spring 144 is set to the length shown in FIG. 8(e). One end of the compression spring 144 is fitted into and secured to a recess 142e formed in the left end 142d of one ring-shaped member 142, and the other end of the compression spring 144 is secured to the left end 143d of the other ring-shaped member 143.

With no external force acting on the compression spring 144, the two ring-shaped

members

142 and 143 move in the separation direction due to the restoring force of the compression spring 144, and enter the states shown in FIGS. 8(d) and 8(e). When an external force is applied to compress the compression spring 144, the two ring-shaped

members

142 and 143 can be combined as shown in FIGS. 8(c) and 8(f).

An external force is applied to the squeezing member 141 configured as described above to bring it into the state shown in FIG. 8(c), and as shown in FIGS. It is inserted into the inner peripheral portion of the member 141, moved to an appropriate length position, and the external force is released. Then, the squeezing member 141 enters the state shown in FIG. 8(d) and locks the package 140 in the squeezed state.

As described above, the wrapper 140 is inserted from the end opposite the entrance edge of the wrapper 140 into the inner periphery of the ring-shaped wringer member 141, and the wringer member 141 is pushed into the opposite side of the wrapper 140. By moving the load from the end side to the entrance edge side, the load is fixed while being pressed against the loading platform 109. - 特許庁
In this way, by squeezing the package 140 by the squeezing member 141, tension can be applied to the package 140, and the load can be easily fixed while being pressed against the carrier.

(3) Modification 3
In Modified Example 3, instead of the stacking portion 100b of Modified Example 2, a stacking portion 100c (stacking device) as shown in FIG. 9 is provided.

The loading unit 100c is the same as in the embodiment except that the package 140 has an opening 150, and instead of the plate-like member 110 having an opening, a flat plate-like member 110a having no opening is provided. It has almost the same configuration as the stacking portion 100b of Modification 2 of 1. A fastener is attached to the opening 150 , and packages can be taken in and out of the bag-like package 140 through the opening 150 .

(4) Modification 4
In the modification 4, instead of the stacking unit 100, as shown in FIG. ing.

In the loading section 100d, the plate member 110b is fixed to the body section 11 with bolts 118 and nuts 119. As shown in FIG. Similar to the plate-like member 110, the plate-like member 110b has an opening 112 in the center of the plate-like member 110b.

According to this configuration, when the stacking section 100d is deteriorated or damaged, the deteriorated or damaged stacking section 100d can be removed and replaced with a new one, thereby facilitating maintenance.

2 Example 2
2.1 Configuration of Stacking Portion 200 A second embodiment is shown in FIGS. 11 to 14. FIG. The unmanned air vehicle 10 includes a loading unit 200 (loading device) shown in FIGS. 11(a) and 11(b) and FIG.

The loading section 200 is composed of a loading platform 210 that supports or stores the load, and a packaging body 205 that surrounds the load. As shown in FIGS. 11A and 11B, the loading platform 210 is a rectangular plate having an opening 213 at its center, and a lid 206 is provided in the opening 213 via a hinge 202 so as to be openable and closable. ing. A step 211 is provided in the opening 213 along the entire circumference of the opening 213 .

As shown in FIGS. 11(b) and 12, the packaging body 205 is formed in a cubic bag shape from flexible plastic laminated films such as nylon and polyethylene. The inlet edge 205a of the package 205 is adhered to the step 211 of the loading platform 210, and a frame-shaped sealing material 204 is formed on the inlet edge 205a to prevent air leakage. is affixed.

A hole 201a is formed in the lid 206, and a check valve 201 is provided in the hole 201a. That is, the check valve 201 is provided through the loading platform 210 having the lid 206 . When the lid 206 is closed, the check valve 201 allows air to flow out from the closed space formed by the package 205 and the lid 206 only toward the outside of the lid 206 . restricts (prevents) the inflow of air from the

A key member 203 is rotatably attached to the upper surface of the loading platform 210 in close proximity to the opening 213 . With the lid 206 closed, one end of the key member 203 is rotated to the upper surface of the lid 206 to fix the lid 206 in the closed state.

2.2 Work of Loading and Fixing a Package to the Loading Section 200 As shown in FIG. do. FIG. 13(a) shows a state in which a load 215 is accommodated inside the loading section 200. As shown in FIG. As shown in this figure, package 215 is held by wrapper 205 .

After that, as shown in FIG. 13(b), the lid 206 is closed and the key member 203 is rotated to lock the lid 206 in the closed state.

When the lid 206 is closed, the lid 206 is in close contact with the sealing material 204 to form a closed space between the lid 206 provided on the loading platform 210 and the package 205 .

Subsequently, as shown in FIG. 14(a), the tip of the tube 221 connected to the pump 222 is connected to the check valve 201, and the pump 222 pumps the inside of the closed space formed by the package 205 and the lid 206. of air.

When the air inside the closed space is discharged, due to the decrease in air pressure in the closed space, the surface of the packaging body 205 shrinks by the amount of the discharged air so that several points on the surface of the package 205 are folded (Fig. 14(b)). ). Furthermore, when the amount of air discharged increases, the number of folded portions on the surface of the package 205 increases, and the folded area also increases. When most of the air inside the closed space is exhausted, as shown in FIG. Of the surfaces, the surface surrounding the outer peripheral surface of the load 215, excluding the folded portion, is pressed against the lid 206 and fixed. At this time, most of the surface of the package 205 is folded, so that the overall surface area of the package 205 surrounding the package 215 is reduced, and the surface of the package 205 that surrounds the outer peripheral surface of the package 215 is tensioned. is given.

Next, as shown in FIG. 14(c), the tip of the tube 221 is removed from the check valve 201. After the tip of the tube 221 is removed, the check valve 201 prevents outside air from entering the closed space formed by the package 205 and the lid 206 .

Thus, the luggage 215 is fixed to the loading platform 210 of the unmanned air vehicle 10 and can be stably transported by the unmanned air vehicle 10.

(summary)
According to the second embodiment, with the cargo 215 placed between the loading platform 210 and the package 205, most of the air inside the closed space is discharged to apply tension to the package 205, thereby 215 is fixed to the platform 210 . In this way, cargo can be loaded without affecting the steering stability of the unmanned air vehicle. In addition, since the cargo can be shielded from the outside air, the quality of the cargo can be ensured when the cargo has hygroscopic characteristics.
In addition, in Example 2, the check valve 201 is provided through the loading platform 210 having the lid 206 . However, it is not limited to this configuration.
Instead of the check valve 201 penetrating the loading platform 210 having the lid 206, a check valve penetrating the package 205 may be provided. With the lid 206 closed, the check valve allows air to flow out of the closed space formed by the package 205 and the lid 206 only in the direction outside the closed space. restricts (prevents) the inflow of air from the
As in FIG. 14( a ), the tip of the tube connected to the pump is connected to a check valve penetrating the package 205 , and the pump actuates the inside of the closed space formed by the package 205 and the lid 206 . Exhaust air.
As a result, most of the air inside the closed space is discharged, and tension is applied to the package 205 , thereby securing the load 215 to the loading platform 210 .

2.3 Modifications of Embodiment 2 (1) Modification 1
In Example 2, the loading platform 210 and the loading section 200 are integrally configured. However, it is not limited to this.

Instead of the stacking unit 200 of the second embodiment, as shown in FIG. 15, a configuration in which a stacking unit 200a (stacking device) is detachably provided on the body unit 11 may be implemented.

The stacking unit 200a has substantially the same configuration as the stacking unit 200 of the second embodiment.

The loading section 200a includes a flat loading platform 210a. Similarly to the loading platform 210, the loading platform 210a is provided with an opening 213 and a step 211. As shown in FIG. A lid 206 is attached to the loading platform 210a by means of a hinge 202 so as to be openable and closable. An entrance edge 205a of the package 205 is attached onto the step 211, and a frame-shaped sealing material 204 is attached onto the entrance edge 205a. A check valve 201 is provided through the lid 206 .

The loading platform 210a is fixed to the main body 11 with bolts 224 and nuts 225, as shown in FIG.

According to this configuration, when the stacking section 200a deteriorates or is damaged, the deteriorated or damaged stacking section 200a can be removed and replaced with a new one, thereby facilitating maintenance.

(2) Modification 2
In Example 2, a lid 206 is attached to the upper surface of the loading platform 210, and a packaging body 205 is attached so as to protrude downward from the lower surface of the loading platform 210. As shown in FIG. However, it is not limited to this.

The unmanned flying object 10 of Modification 2 has a loading section 200b (loading device) instead of the loading section 200 of Embodiment 2, as shown in FIG.

In the loading section 200b, as shown in this figure, a lid 206 is attached to the lower surface of the loading platform 210, and a package 205 is attached so as to protrude upward from the upper surface of the loading platform 210.

In the case of storing luggage, the lid 206 is opened downward, and when the lid 206 is closed, the luggage is placed on the upper surface of the lid 206, and the lid 206 is closed. , the air in the closed space formed by the package 205 and the lid 206 can be removed.

As explained above, according to Modification 2, cargo can be loaded without affecting the steering stability of the unmanned air vehicle. Moreover, since the load of the cargo is supported by the lid 206, it is possible to support a heavier load compared to the case where the load of the cargo is supported by the film-like package 205 as in the second embodiment.

(3) Modification 3
In Example 2, a lid 206 is attached to the upper surface of the loading platform 210, and a packaging body 205 is attached so as to protrude downward from the lower surface of the loading platform 210. As shown in FIG. However, it is not limited to this.

The unmanned flying object 10 of Modification 3 includes a loading section 200c (loading device), as shown in FIG. 17, instead of the loading section 200 of Embodiment 2.

The stacking unit 200c has substantially the same configuration as the stacking unit 200 of the second embodiment.

As shown in FIG. 17, the loading section 200c includes a flat loading platform 210c, which has the same configuration as the loading platform 210.

The unmanned flying object 10 of Modified Example 3 includes a main body portion 230 without a through hole, instead of the loading platform 210 of the unmanned flying object 10 of Embodiment 2.

One end of the loading platform 210c is attached to the central part and the lower surface of the main body part 230 so that the surface of the loading platform 210c and the surface of the main body part 230 are perpendicular to each other.

That is, when the posture of the unmanned flying object 10 is maintained in the horizontal direction, the package 205 is provided below the unmanned flying object 10 so that the package 205 horizontally protrudes from the loading platform 210c. It is

When storing a load, the lid 206 is opened to store the load in the package 205, then the lid 206 is closed, and after closing the lid 206, the package 205 and the lid 206 The air in the closed space formed by is removed.

As described above, even in the case of Modification 3, cargo can be loaded without affecting the steering stability of the unmanned air vehicle.

(4) Modification 4
In Example 2, a lid 206 is attached to the upper surface of the loading platform 210, and a packaging body 205 is attached so as to protrude downward from the lower surface of the loading platform 210. As shown in FIG. However, it is not limited to this.

The unmanned flying object 10 of Modification 4 includes a loading section 200d (loading device) instead of the loading section 200 of Embodiment 2, as shown in FIGS. 18(a) and (b). Instead of the package 205, the loading unit 200d is provided with a tubular package 205d having openings at the upper and lower ends so as to protrude downward from the lower surface of the loading platform 210. As shown in FIG. Here, FIG. 18(a) shows a state in which the lower end of the package 205d is open, and FIG. 18(b) shows a state in which the lower end of the package 205d is closed. As will be described later, a highly airtight fastener capable of preventing air leakage in the closed state is attached to the opening at the lower end of the package 205d. can be taken in and out.

The packaging body 205d is formed in a tubular shape from a flexible plastic laminated film such as nylon or polyethylene.

As shown in FIG. 18(c), the upper part 231 of the package 205d has a cubic shape and has an inlet edge 205a of the same shape as the inlet edge 205a of the package 205 of the second embodiment. The inlet edge 205a of the upper portion 231 of the package 205d is adhered onto the step 211 in the same manner as the inlet edge 205a of the package 205 of the second embodiment.

A central portion 232 following the upper portion 231 of the package 205d also has a substantially cubic shape.

From the central part 232 to the bottom part 233 of the package 205d, one side 209a of the cube and the side 209b opposite to the side 209a are vertically folded 208a and 208b, respectively.

A fastener 207 is provided on the edge 205b of the bottom 233 of the package 205d to prevent air leakage in the closed state. The fastener 207 is composed of a male part 207a and a female part 207b. When the fastener 207 is closed, the convex portion of the male mold portion 207a is fitted into the concave portion of the female mold portion 207b.

Sides

209a and 209b are formed with

vertical creases

208a and 208b, respectively, so that when fastener 207 is closed, package 205d folds along

creases

208a and 208b from center portion 232 to bottom portion 233. be done. This makes the fastener 207 easy to close.

By closing the fastener 207, air leakage from the bottom 233 of the package 205d can be prevented.

When storing a load, the lid 206 is opened, the fastener 207 is closed, the load is put into the loading section 200d through the opening 213, and the lid 206 is closed. After closing the lid 206, the air in the closed space formed by the package 205d and the lid 206 can be removed as in the second embodiment.

Alternatively, the lid 206 may be closed, the fastener 207 may be opened, and the load may be put into the loading section 200d through the opening of the bottom section 233. After that, the fastener 207 is closed. After closing the fastener 207, the air in the closed space formed by the package 205d and the lid 206 can be removed as in the second embodiment.

Here, it may be assumed that the lid 206 is not provided on the upper surface of the loading platform 210 . That is, the opening 213 is not opened in the upper surface of the loading platform 210 . In this case, the fastener 207 may be opened and the load may be put into the loading section 200d through the opening of the bottom section 233. FIG. After that, the fastener 207 is closed, and after closing the fastener 207, the air in the closed space formed by the package 205d and the carrier 210 can be removed as in the second embodiment.

As described above, even in the case of modification 4, it is possible to load cargo without affecting the steering stability of the unmanned air vehicle.

3 Other Modifications Aspects of the present disclosure have been described based on each example and each modification of the above embodiment, but are not limited to the above. You may make it show below.

(1) In each of the examples and modifications of the above embodiments, the unmanned flying object has multiple rotor blades, and flies by rotating the rotor with power supplied from the battery pack. However, it is not limited to this.

Equipped with a tank that stores fuel such as gasoline, an engine that uses the combustion gas generated by burning the fuel stored in the tank to generate rotating power, and multiple rotors. The engine rotates each rotor to fly. It may be an unmanned air vehicle that

(2) In each of the examples and modifications of the above embodiments, unmanned air vehicles are used to transport packages. However, it is not limited to this.

Each embodiment and each modified example may be applied when cargo is transported by a helicopter, an aircraft, or the like, which is a manned aircraft that is piloted by a person and flies in the air.

(3) The above embodiments and modifications may be combined.

The unmanned air vehicle according to the aspect of the present disclosure can be loaded with cargo without affecting its maneuverability, and is useful as an unmanned air vehicle that transports cargo by flying in the air.

5 aerial transportation system 10 unmanned flying object 11 main body 20

control device

100, 100a to 100d loading section 105 package 106 winding roller 107 guide roller 109 loading platform 115 baggage 116 operation handle 140

package

200, 200a to

200d loading section

205, 205d package 206 lid 207

fastener

210, 210a, 210c carrier 215 load 221 tube 222 pump 230 main body

Claims

An unmanned air vehicle that transports cargo by flying through the air,
a cargo bed;
a package surrounding the load,
An unmanned aircraft, wherein a load is placed between the loading platform and the packaging body, and tension is applied to the packaging body to fix the loading to the loading platform.
The unmanned flying object according to claim 1, further comprising a tension applying mechanism that applies tension to the package.
The tensioning mechanism is a winding roller,
3. The unmanned flying object according to claim 2, wherein the package is a long belt-like body, one end of which is wound around the take-up roller, and the other end of which is fixed to a carrier. .
The packaging body is made of a bag-shaped film, and the entrance edge of the bag is attached to the loading platform,
The loading platform and the bag-like package form a closed space,
The unmanned flying object according to claim 1, wherein the air in the space is discharged, so that the package shrinks and tension is applied.
A check valve is provided that penetrates through the loading platform or the package body, allows air to flow out from the space to the outside, and restricts air from entering the space from the outside. The unmanned flying object according to claim 4.
The packaging body has an opening for loading and unloading the package at a location facing the entrance edge,
The unmanned flying object according to claim 4, wherein the opening is provided with a highly airtight fastener.
the package has a bag structure with an inlet edge attached to the platform;
The unmanned flying object according to claim 1, wherein tension is applied by squeezing the package.
Furthermore, a ring-shaped aperture member is provided,
By inserting the package into the inner peripheral portion of the squeezing member from the end opposite to the entrance edge and moving the squeezing member from the end of the package to the entrance, the package is moved to the entrance. 8. The unmanned flying object according to claim 7, wherein the unmanned flying object is fixed while being pressed against the carrier.
The unmanned flying object according to claim 1, wherein the package is made of a plate-like or band-like elastic material, and the edges of the package are attached to the carrier.
A through-hole is provided in the loading platform, and a load is loaded and unloaded through the through-hole,
10. The unmanned flying object according to any one of claims 3, 4, 5, 7, 8 and 9, wherein the loading platform is provided with a lid that closes the through hole so as to be openable and closable.
An opening for loading and unloading the package is provided in the package,
The unmanned flying object according to any one of claims 7 and 8, wherein the opening is provided with a fastener.
Furthermore, it comprises a body section comprising flight means,
The unmanned flying object according to claim 1, wherein the main body and the loading platform are configured integrally.
Furthermore, it comprises a body section comprising flight means,
The unmanned flying object according to claim 1, wherein the loading platform and the packaging body are detachably attached to the main body as a loading section for loading cargo.
A loading device that is provided in an unmanned air vehicle that flies in the air and loads cargo,
a cargo bed;
a package surrounding the package;
A loading device, wherein a load is placed between the loading platform and the packaging body, and tension is applied to the packaging body to fix the loading device to the loading platform.
15. The stacking device according to claim 14, further comprising a tension applying mechanism that applies tension to the package.
The tensioning mechanism is a winding roller,
16. The loading device according to claim 15, wherein the package is a long strip, one end of which is wound around the take-up roller, and the other end of which is secured to a loading platform.
The packaging body is made of a bag-shaped film, and the entrance edge of the bag is attached to the loading platform,
The loading platform and the bag-like package form a closed space,
15. The loading device according to claim 14, wherein the air in the space is discharged, so that the package shrinks and tension is applied.
the package has a bag structure with an inlet edge attached to the platform;
15. The loading device according to claim 14, wherein tension is applied by squeezing the package.
15. The loading device according to claim 14, wherein the package is made of a plate-like or band-like elastic material, and the edges of the package are attached to the loading platform.
A through-hole is provided in the loading platform, and a load is loaded and unloaded through the through-hole,
15. The loading device according to claim 14, wherein the loading platform is provided with an openable/closable lid that closes the through hole.