Flying object control system, flying object, and control method and program for the same

Abstract

To provide a flying object control system capable of landing a flying object at a place of a narrow landing space.SOLUTION: Provided is a flying object control system equipped with a plurality of arms each having a propeller. This control system comprises a processor configured to be able to execute each of the following steps. In a flight control step, the rotational speed and the rotation direction of the propeller is controlled. In an arm control step, during flight of the flying object, arms to be folded among the arms are displaced between a development position where buoyance or thrust is generated through rotation of the propeller and a storage position set inside the flying object more than the development position in a plan view.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an aircraft control system, an aircraft, and a control method and program for an aircraft. [Background technology]

[0002] As disclosed in the following documents, an aircraft (drone) capable of vertical takeoff and landing using propellers is used to transport cargo. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2021 / 124573 Summary of the Invention [Problem to be solved by the invention]

[0004] When the location where the aircraft is to deliver cargo is a mountainous area or other location with limited takeoff and landing space, there is a risk that the aircraft may come into contact with obstacles such as surrounding trees. For this reason, the transportation of cargo to such locations is limited with conventional aircraft.

[0005] In view of the above circumstances, the present invention provides an aircraft control system capable of landing an aircraft in a location with a narrow takeoff and landing space. [Means for solving the problem]

[0006] According to one aspect of the present invention, there is provided a control system for an aircraft having a plurality of arms each having a propeller. The control system includes a processor configured to execute the following steps: In the flight control step, the rotation speed and rotation direction of the propeller are controlled; In the arm control step, during flight of the aircraft, some of the plurality of arms to be folded are displaced between an unfolded position where buoyancy or thrust is generated by the rotation of the propeller and a stowed position located inside the aircraft from the unfolded position in a plan view.

[0007] According to this aspect, by folding some of the arms during takeoff and landing, the projected area of ​​the aircraft on the ground can be reduced, allowing the aircraft to land in places with limited takeoff and landing space. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a schematic perspective view showing an aircraft 1. [Diagram 2] 2 is a block diagram showing the configuration of a control box 5. FIG. [Diagram 3] FIG. 2 is a block diagram showing the hardware configuration of the aircraft control system 51. [Figure 4] A block diagram showing functions realized by the aircraft control system 51 (processor 513). [Diagram 5] FIG. 2 is a schematic perspective view showing the aircraft 1 in a folded state in which the second arm 3B and the fifth arm 3E are the arms to be folded. [Figure 6] FIG. 2 is a schematic plan view of the aircraft 1. [Figure 7] 1 is a schematic diagram showing an example of the flow from takeoff to landing of an aircraft 1 transporting baggage C. [Figure 8] 1 is a flow chart showing the flow of processing executed by the aircraft control system 51 when the aircraft 1 descends (lands). [Figure 9] 1 is a flow chart showing the flow of processing executed by the aircraft control system 51 when the aircraft 1 ascends (takes off). DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described with reference to the drawings. Various characteristic features shown in the following embodiments can be combined with each other.

[0010] Incidentally, the program for realizing the software appearing in this embodiment may be provided as a non-transitory computer-readable recording medium, or may be provided so as to be downloadable from an external server, or may be provided so that the program is started on an external computer and its functions are realized on a client terminal (so-called cloud computing).

[0011] In addition, in this embodiment, the term "unit" may include, for example, a combination of hardware resources implemented by a circuit in the broad sense and software information processing that can be specifically realized by these hardware resources. In addition, in this embodiment, various information is handled, and this information is represented, for example, by physical values ​​of signal values ​​representing voltage and current, high and low signal values ​​as a binary bit collection consisting of 0 or 1, or quantum superposition (so-called quantum bits), and communication and calculation can be performed on the circuit in the broad sense.

[0012] In addition, a circuit in the broad sense is a circuit realized by at least appropriately combining a circuit, circuitry, a processor, a memory, etc. In other words, it includes an application specific integrated circuit (ASIC), a programmable logic device (e.g., a simple programmable logic device (SPLD), a complex programmable logic device (CPLD), and a field programmable gate array (FPGA)), etc.

[0013] 1. Hardware Configuration This section describes the hardware configuration.

[0014] <Flying Vehicle 1> Fig. 1 is a schematic perspective view showing an aircraft 1. Specifically, the aircraft 1 in Fig. 1 is a rotary wing drone (unmanned aerial vehicle). The aircraft 1 includes a frame 2, a first arm 3A, a second arm 3B, a third arm 3C, a fourth arm 3D, a fifth arm 3E, a sixth arm 3F, a skid 4, and a control box 5.

[0015] <Frame 2> The frame 2 is the fuselage of the aircraft 1 that supports the arms 3A-3F. The frame 2 has a frame main body 21 and multiple hinge portions 22. The frame main body 21 houses or holds the control box 5 and various other devices.

[0016] The multiple hinge portions 22 are provided on the side surface of the frame main body 21. Any of the first arm 3A, the second arm 3B, the third arm 3C, the fourth arm 3D, the fifth arm 3E, and the sixth arm 3F is connected to each of the multiple hinge portions 22 so as to be swingable in the up-down direction. The swing central axis of the hinge portion 22 is parallel to the horizontal direction.

[0017] <Arm 3A-3F> The first arm 3A, the second arm 3B, the third arm 3C, the fourth arm 3D, the fifth arm 3E, and the sixth arm 3F are each attached to the frame 2. Each arm has an arm body 31 and a propeller 32.

[0018] The arm body 31 has a first end connected to the hinge portion 22 and a second end to which a propeller 32 is attached. A motor 33 (see FIG. 2) that rotates the propeller 32 and a power supply line to the motor 33 are arranged on the arm body 31.

[0019] The propeller 32 is rotated by the motor 33 to generate buoyancy and thrust for the aircraft 1. The rotation speed and direction of the propeller 32 are controlled by a control box 5 (aircraft control system 51).

[0020] The six arms 3A-3F are arranged clockwise around the frame 2 in a plan view in the order of the first arm 3A, the second arm 3B, the third arm 3C, the fourth arm 3D, the fifth arm 3E, and the sixth arm 3F. The first arm 3A and the fourth arm 3D are arranged in opposing positions (diagonal positions) in a plan view. The second arm 3B and the fifth arm 3E are arranged in opposing positions in a plan view. The third arm 3C and the sixth arm 3F are arranged in opposing positions in a plan view.

[0021] <Skid> The skid 4 is a leg that touches the ground when the aircraft 1 lands. The skid 4 is attached to the frame body 21 so as to protrude downward from the frame 2. The skid 4 may be configured to be foldable during horizontal flight.

[0022] <Control box> The control box 5 controls the arms 3A-3F. Fig. 2 is a block diagram showing the configuration of the control box 5. The control box 5 is held by the frame 2. As shown in Fig. 2, the control box 5 has an aircraft control system 51 (information processing device), a plurality of motors / controllers 52, a plurality of ESCs 53, and a battery 55.

[0023] The aircraft control system 51 mainly controls the arms 3A-3F. The configuration of the aircraft control system 51 will be described later. The motor / controller 52 displaces (folds and unfolds) the arms 3A-3F. The ESC 53 (electric speed controller) controls the rotation speed of the motor 33 of the propeller 32. One motor / controller 52 and one ESC 53 are provided for each of the arms 3A-3F. The battery 55 supplies power to the aircraft control system 51, the motor / controller 52, the motor 33, etc.

[0024] The control box 5 receives the output of the camera / sensor 6 of the flying object 1. The camera / sensor 6 includes a sensor (e.g., a LiDAR sensor) configured to measure the distance to an obstacle around the flying object 1. The control box 5 uses the output received from the camera / sensor 6 for processing by the flying object control system 51, or transmits the output to the transceiver 100.

[0025] <Aircraft Control System 51> The aircraft control system 51 controls the displacement of the arm body 31 and the rotation of the propeller 32 for each of the arms 3A-3F. The aircraft control system 51 is composed of one or more information processing devices or components. These components will be described below.

[0026] 3 is a block diagram showing a hardware configuration of the flying object control system 51. The flying object control system 51 includes a communication bus 510, a communication unit 511, a storage unit 512, and a processor 513. The communication unit 511, the storage unit 512, and the processor 513 are electrically connected via the communication bus 510 inside the flying object control system 51.

[0027] <Communication Unit 511> The communication unit 511 is preferably a wired communication means such as USB, IEEE1394, Thunderbolt (registered trademark), wired LAN network communication, etc., but may also include wireless LAN network communication, mobile communication such as 3G / LTE / 5G, BLUETOOTH (registered trademark) communication, etc. as necessary. In other words, it is more preferable to implement it as a collection of multiple communication means. In other words, the aircraft control system 51 may communicate various information from the outside via the communication unit 511 and the network.

[0028] <Storage section 512> The memory unit 512 stores various information defined in the above description. This can be implemented, for example, as a storage device such as a solid state drive (SSD) that stores various programs and the like related to the aircraft control system 51 executed by the processor 513, or as a memory such as a random access memory (RAM) that stores temporarily required information (arguments, arrays, etc.) related to the program calculations. The memory unit 512 stores various programs, variables, etc. related to the aircraft control system 51 executed by the processor 513.

[0029] <Processor 513> The processor 513 processes and controls the overall operation related to the aircraft control system 51. The processor 513 is, for example, a central processing unit (CPU). The processor 513 realizes various functions related to the aircraft control system 51 by reading out a predetermined program stored in the memory unit 512. That is, information processing by software stored in the memory unit 512 can be specifically realized by the processor 513, which is an example of hardware, and executed as each functional unit included in the processor 513. These will be described in more detail in the next section. The processor 513 is not limited to being single, and may be implemented with multiple processors 513 for each function. Also, a combination of these may be used.

[0030] The aircraft control system 51 may be an on-premise type or a cloud type. As the cloud type aircraft control system 51, for example, the above-mentioned functions and processes may be provided in the form of SaaS (Software as a Service) or cloud computing.

[0031] 2. Functional configuration In this section, the functional configuration of the present embodiment will be described. Information processing by software stored in the storage unit 512 is specifically realized by the processor 513, which is an example of hardware, and can be executed as each functional unit included in the processor 513.

[0032] 4 is a block diagram showing functions realized by the flying object control system 51 (processor 513). Specifically, the flying object control system 51 (processor 513) includes a transceiver unit 5131, a flight control unit 5132, and an arm control unit 5133.

[0033] <Transmitter / receiver 5131> The transceiver 5131 is configured to transmit and receive data to and from the transceiver 100 (proportional system) shown in Fig. 2. Transmission and reception between the transceiver 5131 and the transceiver 100 is performed by wireless communication. Data sent from the transceiver 100 to the transceiver 5131 includes commands for the operation of the aircraft 1 (ascent, descent, horizontal flight, hovering, etc.) and commands for the displacement of the arms 3A-3F. Data sent from the transceiver 5131 to the transceiver 100 includes images captured by the camera of the aircraft 1, data acquired by sensors, etc.

[0034] <Flight Control Unit 5132> The flight control unit 5132 is configured to control the rotation speed and direction of the propellers 32 of each of the arms 3A-3F. Specifically, the flight control unit 5132 controls the motors 33 of each of the propellers 32 based on the operation command received by the transceiver unit 5131, thereby controlling the rotation speed and direction of each of the propellers 32. The flight control unit 5132 also controls the rotation and stopping of each of the propellers 32. Under the control of the flight control unit 5132, the flying object 1 performs operations such as ascent, descent, horizontal flight, and hovering based on the command from the transceiver 100.

[0035] <Arm control unit 5133> The arm control unit 5133 is configured to displace some of the arms to be folded among the multiple arms 3A-3F during flight of the aircraft 1 between an unfolded position where buoyancy or thrust is generated by the rotation of the propeller 32 and a stored position located inside the aircraft 1 from the unfolded position in a plan view. Here, "during flight of the aircraft 1" refers to a state in which the aircraft 1 is ascending, descending, flying horizontally, hovering, or a combination of these, and is a state in which the aircraft 1 is separated from the ground surface by the rotation of at least one propeller 32.

[0036] 5 is a schematic perspective view showing the aircraft 1 in a state where the second arm 3B and the fifth arm 3E are folded as arms to be folded. In the folded arms (the second arm 3B and the fifth arm 3E) in the stored position, the second end (the end to which the propeller 32 is attached) of the arm body 31 is positioned lower than when the arms are in the unfolded position (see FIG. 1). Therefore, the propeller 32 in the stored position is positioned lower than the propeller 32 of the arm in the unfolded position. In addition, the arms other than the arms to be folded (the first arm 3A, the third arm 3C, the fourth arm 3D, and the sixth arm 3F) are held in the unfolded position.

[0037] The flight control unit 5132 does not rotate the propellers 32 of the arms to be folded that are in the stored position. The flight control unit 5132 causes the aircraft 1 to fly using only the propellers 32 of the arms that are in the deployed position. Therefore, in the folding mode in which some of the arms 3A-3F are in the stored position (some of the propellers 32 do not rotate), the flight control unit 5132 increases the output of the propellers 32 of the arms that are in the deployed position, depending on the situation, compared to the output in the full mode in which all of the arms are in the deployed position (all of the propellers 32 rotate).

[0038] Fig. 6 is a schematic plan view of the aircraft 1. As shown in Fig. 6A, in the full mode in which all of the arms 3A-3F are in the deployed position, the rotation axes of all of the propellers 32 are arranged on one imaginary circle. As shown in Fig. 6B, in the folded mode in which some of the arms (the second arm 3B and the fifth arm 3E) are displaced to the stored position, the projected area of ​​the aircraft 1 on the horizontal plane is smaller than that in the full mode.

[0039] When the aircraft 1 starts to descend, the arm control unit 5133 displaces the arms to be folded from the deployed position to the stored position. This allows the aircraft 1 to land in places with small areas for takeoff and landing due to obstacles in the vicinity. In addition, the number of propellers 32 (motors 33) to be rotated is reduced, reducing losses due to branching of current. As a result, the energy efficiency of the aircraft 1 is improved, and the flight time of the aircraft 1 can be improved.

[0040] When at least one arm to be folded is in the stored position, the flight control unit 5132 increases the propeller output of the arm in the deployed position among the multiple arms 3A-3F during descent of the flying object 1, greater than the propeller output (rated output) during horizontal flight. This makes it possible to secure the buoyancy required for descent while folding the arms to be folded. In the example of Fig. 5, the output of the motor 33 that rotates the propeller 32 of the first arm 3A, the third arm 3C, the fourth arm 3D, and the sixth arm 3F that are not folded is increased compared to that during horizontal flight.

[0041] The arm control unit 5133 holds the arms to be folded in the stored position while the aircraft 1 is ascending, and displaces the arms to be folded to the deployed position after the aircraft 1 has completed its ascent. This allows the aircraft 1 to take off from a location with a small takeoff area while maintaining the speed during horizontal flight. In addition, the number of propellers 32 (motors 33) to be rotated is reduced, thereby improving the flight time of the aircraft 1.

[0042] When at least one arm to be folded is in the stored position, the flight control unit 5132 increases the propeller output of the arm in the deployed position among the multiple arms 3A-3F during the ascent of the flying object 1, greater than the propeller output (rated output) during horizontal flight. This makes it possible to secure the buoyancy required for ascent while folding the arms to be folded. In the example of Fig. 5, the output of the motor 33 that rotates the propellers 32 of the first arm 3A, the third arm 3C, the fourth arm 3D, and the sixth arm 3F that are not folded is increased compared to the output during horizontal flight.

[0043] The arm control unit 5133 may fold and unfold the above-mentioned arms to be folded based on commands from the transceiver 100, or may autonomously fold and unfold the arms to be folded based on predetermined conditions.

[0044] For example, the arm control unit 5133 may displace the arm to be folded from the stored position to the deployed position when the distance detected by a sensor configured to measure the distance to a surrounding obstacle is equal to or greater than a certain value. This allows the flying object 1 to perform autonomous flight including deployment of the arm. Furthermore, the arm control unit 5133 may displace the arm to be folded from the deployed position to the stored position when the distance detected by the sensor is less than a certain value.

[0045] Furthermore, the arm control unit 5133 may displace the arms to be folded from the deployed position to the stored position when the weight of the luggage held by the aircraft 1 is less than a certain value. This allows the number of propellers 32 to be rotated to be adjusted according to the weight of the luggage (or whether luggage is being transported), thereby improving the flight efficiency of the aircraft 1.

[0046] Furthermore, the arm control unit 5133 may displace the arm to be folded from the stored position to the deployed position after the aircraft 1 completes its ascent if the weight of the luggage held by the aircraft 1 is equal to or greater than a certain value, and may maintain the arm to be folded in the stored position even after the aircraft 1 completes its ascent if the weight is less than a certain value.

[0047] Fig. 7 is a schematic diagram showing an example of the flow from takeoff to landing of an aircraft 1 carrying baggage C. As shown in Fig. 7A, in this example, the aircraft 1 starts from a place with a small takeoff and landing area (for example, a space in a mountain area surrounded by trees) and carries the baggage C to a destination. The aircraft 1 holds the baggage C using a baggage holding unit 7. The aircraft 1 also rises from the departure point with part of its arms folded (folded mode).

[0048] As shown in Fig. 7B, after rising to a certain height, the aircraft 1 unfolds the folded arms. This causes the aircraft 1 to transition to full mode in which all propellers rotate, as shown in Fig. 7C. After transitioning to full mode, the aircraft 1 flies horizontally up to the sky above the destination, as shown in Fig. 7D. When the aircraft 1 reaches the sky above the destination, it lowers the portion of the baggage holder 7 that holds the baggage C, and drops the baggage C at the destination, as shown in Fig. 7E.

[0049] After unloading baggage C, the aircraft 1, which is no longer loaded with baggage, folds part of the arms and transitions to folding mode, as shown in FIG. 7F. After transitioning to folding mode, the aircraft 1 flies horizontally up to the sky above the departure point (or another baggage claim location), as shown in FIG. 7G. When it reaches the sky above the departure point, the aircraft 1 begins to descend while still in folding mode, as shown in FIG. 7H. This allows the aircraft 1 to land at the departure point, which has a small takeoff and landing area, as shown in FIG. 7I.

[0050] 3. Control method of the flying object This section describes a method for controlling an aircraft using the aircraft control system 51. In this method for controlling an aircraft, each unit of the aircraft control system 51 is executed as each step by a computer.

[0051] Specifically, the method for controlling an aircraft includes a transmitting / receiving step, a flight control step, and an arm control step.

[0052] In the transmission / reception step, a command is received from the transceiver 100. In the flight control step, the rotation speed and direction of the propeller 32 are controlled. In the arm control step, during flight of the aircraft 1, some of the arms to be folded among the multiple arms 3A-3F are displaced between an unfolded position where buoyancy or thrust is generated by the rotation of the propeller 32 and a stored position located inside the aircraft 1 from the unfolded position in a plan view.

[0053] In the arm control step, the arms to be folded are displaced from the deployed position to the stored position when the flying object 1 starts to descend. In the flight control step, the propeller output of the arm in the deployed position among the multiple arms 3A-3F during the descent of the flying object 1 is made larger than the propeller output during horizontal flight.

[0054] In the arm control step, the arms to be folded are held in the stored position while the aircraft 1 is ascending, and are displaced to the deployed position after the aircraft 1 has completed its ascent. In the flight control step, the propeller output of the arm in the deployed position among the multiple arms 3A-3F during the ascent of the aircraft 1 is made larger than the propeller output during horizontal flight.

[0055] 8 is a flow diagram showing the process flow executed by the aircraft control system 51 when the aircraft 1 descends (lands). This flow starts when the aircraft control system 51 is flying horizontally or hovering in full mode. First, the aircraft control system 51 receives a descent command from the transceiver 100 (step S110). Next, the aircraft control system 51 stops the rotation of the propellers 32 of multiple (basically an even number) arms to be folded, folds the arms to be folded, and transitions the aircraft 1 to the folding mode (step S120).

[0056] After (or simultaneously with) folding the arm to be folded, the aircraft control system 51 increases the propeller power of the unfolded arm so as to obtain the buoyancy required for descent (step S130). After increasing the propeller power, the aircraft control system 51 descends the aircraft 1 by controlling the rotation of the propeller 32 of the unfolded arm (step S140).

[0057] After the descent has started, the aircraft control system 51 determines whether the descent of the aircraft 1 has been completed (whether the aircraft 1 has landed) based on the output of the sensors, etc. (step S150). If the descent of the aircraft 1 has not been completed (S150: NO), the aircraft control system 51 continues the descent. On the other hand, if the descent of the aircraft 1 has been completed (S150: YES), the aircraft control system 51 stops all the propellers 32 while remaining in the folding mode (step S160). This completes the landing of the aircraft 1.

[0058] 9 is a flow diagram showing the flow of processing executed by the aircraft control system 51 when the aircraft 1 ascends (takes off). This flow starts in a state where the aircraft control system 51 has landed in the folded mode. First, the aircraft control system 51 receives an ascending command from the transceiver 100 (step S210). Next, the aircraft control system 51 rotates the propellers 32 of the arms in the deployed position in order to ascend (step S220).

[0059] After the propellers 32 start to rotate, the aircraft control system 51 determines whether the ascent of the aircraft 1 is complete (whether it has reached the target height) based on the output of the sensor, etc. (step S230). If the ascent of the aircraft 1 is not complete (S230: NO), the aircraft control system 51 continues the ascent. On the other hand, if the ascent of the aircraft 1 is complete (S230: YES), the aircraft control system 51 determines whether the weight of the luggage is less than a certain value (step S240).

[0060] If the weight of the luggage is less than a certain value (including the case where there is no luggage) (S240: YES), the aircraft control system 51 completes the ascent of the aircraft 1 without deploying the arms (i.e., keeping the arms in the stored position in that position), and makes the aircraft 1 capable of level flight.

[0061] On the other hand, if the weight of the luggage is equal to or greater than a certain value (S240: NO), the aircraft control system 51 unfolds the folded arms (step S250). Here, all folded arms may be unfolded, or only some of the folded arms may be unfolded depending on the weight of the luggage. After unfolding the arms, the aircraft control system 51 rotates the propellers 32 of the unfolded arms and reduces the output of the propellers 32 that have been rotating since takeoff (step S260). This completes the ascent of the aircraft 1.

[0062] 4. Effect By folding some of the arms 3A-3F during takeoff and landing, it is possible to reduce the projection area of ​​the aircraft 1 onto the ground. This allows the aircraft 1 to land in places with limited takeoff and landing space.

[0063] Although the embodiment of the present invention has been described above, the present invention is not limited to this, and can be modified as appropriate without departing from the technical concept of the invention.

[0064] 5.Other The aspect of this embodiment is not limited to the flying object control system 51, and may be a flying object control method or a program. The flying object control method includes each step of the flying object control system 51. The program causes a computer to function as the flying object control system 51.

[0065] The number of arms (propellers 32) of the aircraft 1 is not limited to 6. For example, the aircraft 1 may have four arms.

[0066] The aircraft control system 51 does not necessarily have to be installed in the aircraft 1. For example, the aircraft control system 51 may be configured with an information processing device installed in a facility or the like outside the aircraft 1.

[0067] It may be provided in any of the following ways:

[0068] (1) A control system for an aircraft having a plurality of arms, each having a propeller, comprising a processor configured to execute each of the following steps: a flight control step controls the rotation speed and direction of the propellers; and an arm control step displaces, during flight of the aircraft, some of the plurality of arms to be folded between a deployed position in which buoyancy or thrust is generated by the rotation of the propellers and a stowed position that is located inside the aircraft in a planar view.

[0069] (2) In the control system for an aircraft described in (1) above, in the arm control step, the arm to be folded is displaced from the deployed position to the stored position when the aircraft begins to descend.

[0070] (3) A control system for an aircraft described in (2) above, wherein the flight control step makes the propeller output of the arm in the deployed position among the multiple arms greater than the propeller output during horizontal flight when the aircraft is descending.

[0071] (4) In the control system for an aircraft described in any one of (1) to (3) above, in the arm control step, the arm to be folded is held in the stored position during the ascent of the aircraft, and after the ascent of the aircraft is completed, the arm to be folded is displaced to the unfolded position.

[0072] (5) A control system for an aircraft described in (4) above, wherein the flight control step makes the propeller output of the arm in the deployed position among the multiple arms greater than the propeller output during horizontal flight when the aircraft is ascending.

[0073] (6) A control system for an aircraft described in any one of (1) to (5) above, wherein in the arm control step, when the weight of the luggage held by the aircraft is less than a certain value, the arm to be folded is displaced from the deployed position to the stored position.

[0074] (7) In the control system for an aircraft described in any one of (1) to (6) above, the aircraft is equipped with a sensor configured to measure the distance to a surrounding obstacle, and in the arm control step, when the distance detected by the sensor is equal to or greater than a certain value, the arm to be folded is displaced from the stored position to the deployed position.

[0075] (8) An aircraft comprising an information processing device as a control system for the aircraft described in any one of (1) to (7) above.

[0076] (9) A method for controlling an aircraft, comprising each step of the control system for an aircraft described in any one of (1) to (7) above.

[0077] (10) A program for causing a computer to function as a control system for an aircraft described in any one of (1) to (7) above. Of course, this is not the case.

[0078] Finally, although various embodiments according to the present disclosure have been described, these are presented as examples and are not intended to limit the scope of the invention. The novel embodiment can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. The embodiments and their modifications are included within the scope and spirit of the invention, and are included in the scope of the invention and its equivalents described in the claims. [Explanation of symbols]

[0079] 1: Flying object 2: Frame 3A: First arm 3B: Second arm 3C: 3rd arm 3D: 4th arm 3E: 5th arm 3F: Arm 6 4: Skid 5: Control box 6: Sensor 7: Luggage holding section 21: Frame body 22: Hinge part 31: Arm body 32: Propeller 33: Motor 51: Aircraft control system 52: Controller 53: ESC 55: Battery 100: Transmitter / receiver 510: Communication bus 511: Communications Department 512: Storage section 513: Processor 5131: Transmitter / receiver 5132: Flight control unit 5133: Arm control unit

Claims

1. 1. A control system for an aircraft having a plurality of arms each having a propeller, A processor configured to perform the steps of: In the flight control step, a rotation speed and a rotation direction of the propeller are controlled. In the arm control step, while the aircraft is flying, a portion of the plurality of arms to be folded are displaced between a deployed position in which buoyancy or thrust is generated by rotation of the propeller and a stored position which is located inside the aircraft body relative to the deployed position in a planar view.

2. 2. The flying object control system according to claim 1, In the arm control step, the arm to be folded is displaced from the deployed position to the stored position when the aircraft begins to descend.

3. 3. The flying object control system according to claim 2, In the flight control step, the propeller output of one of the arms that is in the deployed position is made greater than the propeller output during horizontal flight when the aircraft is descending.

4. 2. The flying object control system according to claim 1, In the arm control step, the arm to be folded is held in the stored position while the aircraft is ascending, and the arm to be folded is displaced to the deployed position after the aircraft has completed its ascent.

5. 5. The flying object control system according to claim 4, In the flight control step, a propeller output of an arm among the plurality of arms that is in the deployed position is made greater than a propeller output during horizontal flight when the aircraft is ascending.

6. 2. The flying object control system according to claim 1, In the arm control step, when the weight of the luggage held by the aircraft is less than a certain value, the arm to be folded is displaced from the deployed position to the stored position.

7. 2. The flying object control system according to claim 1, The flying object includes a sensor configured to measure a distance to a surrounding obstacle; In the arm control step, when the distance detected by the sensor is equal to or greater than a certain value, the arm to be folded is displaced from the stored position to the deployed position.

8. An aircraft comprising an information processing device as a control system for the aircraft according to claim 1.

9. A method for controlling an aircraft, comprising: A method comprising the steps of the air vehicle control system according to any one of claims 1 to 7.

10. A program, A program for causing a computer to function as the control system for the aircraft according to any one of claims 1 to 7.

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