Storage body

Abstract

To provide a storage body achieving further improvement.SOLUTION: A storage body (a home delivery box (1004a)) stores baggage delivered by an unmanned aircraft, and includes a first structure (an upper lid (1004a2)) closing a first opening (an upper surface opening (1004a5)) located at the upper part of the storage body; and a mechanism moving the first structure. The first structure is moved by the mechanism when the baggage is stored inside the storage body via the first opening, and the first opening is opened.SELECTED DRAWING: Figure 104

Description

[Technical field]

[0001] The present disclosure relates to a housing. [Background technology]

[0002] A control method has been proposed to improve safety during flight of a drone, which is an unmanned aerial vehicle (see, for example, Patent Document 1).

[0003] Patent Document 1 discloses a technology for detecting abnormalities in a drone's flight using various means and recovering the drone that is flying abnormally using a recovery means attached to an electric wire or utility pole, etc. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2018-12477 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, there is room for improvement in the system using the unmanned aerial vehicle disclosed in Patent Document 1.

[0006] Therefore, the present disclosure provides a storage body that is improved over conventional storage bodies. [Means for solving the problem]

[0007] A storage unit according to one embodiment of the present disclosure is a storage unit for storing luggage to be delivered by an unmanned aerial vehicle, comprising a first structure that blocks a first opening located above the storage unit, a mechanism for moving the first structure, and when the luggage is stored inside the storage unit through the first opening, the mechanism moves the first structure to open the first opening.

[0008] In addition, these comprehensive or specific aspects may be realized in an unmanned aerial vehicle, a storage device, one or more thruster devices, a system, a method, an integrated circuit, a computer program, or a computer-readable recording medium such as a CD-ROM, or in any combination thereof. Effect of the Invention

[0009] The housing of the present disclosure can be further improved. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic diagram illustrating a flight system according to the first embodiment. [Diagram 2] FIG. 2 is a block diagram illustrating the configuration of the flight system in the first embodiment. [Diagram 3] FIG. 3 is a diagram illustrating rails installed on a building within a flight area in the first embodiment. [Figure 4] FIG. 4 is a diagram illustrating a state in which a child drone is connected to a rail installed on a building and a parent drone is connected to the child drone by a wire in embodiment 1. [Diagram 5] FIG. 5 is a flowchart illustrating a first example of fall prevention control in the flight system in the first embodiment. [Figure 6] FIG. 6 is a flowchart illustrating a second example of the control for fall prevention in the flight system in the first embodiment. [Figure 7A] FIG. 7A is a flowchart illustrating a third example of the control for fall prevention in the flight system in the first embodiment. [Figure 7B] FIG. 7B is a flowchart illustrating a third example of the control for fall prevention in the flight system in embodiment 1. [Figure 8] FIG. 8 is a diagram showing a schematic appearance of a parent drone connected to a child drone by a wire in embodiment 1. [Figure 9]FIG. 9 shows top and side views of the parent drone with a rotating ring to which the wires connect. [Figure 10] FIG. 10 shows a parent drone with a rotating ring to which wires are connected from the top and side with the wire connections on the underside. [Figure 11] FIG. 11 is a diagram illustrating the movement of a rotating ring connected to a wire. [Figure 12] FIG. 12 is a schematic diagram for explaining the role of the rotating ring when the parent drone falls in embodiment 1. [Figure 13] FIG. 13 is a diagram illustrating a procedure for a parent drone to retrieve a child drone in embodiment 1. [Figure 14] Figure 14 shows how cargo is loaded onto a parent drone from the side. [Figure 15] FIG. 15 is a diagram illustrating two rails installed on a building within a flight area in the first embodiment. [Figure 16] FIG. 16 is a diagram illustrating an example of one of two child drones overtaking the other on a two-lane rail in embodiment 1. [Figure 17] FIG. 17 is a diagram showing an example of a two-lane rail arrangement in the first embodiment. [Figure 18] FIG. 18 is a diagram showing an example of a rail arrangement for a two-lane road in the first embodiment. [Figure 19] Figure 19 is a schematic diagram illustrating the arrangement of parent and child drones when two rails are installed. [Figure 20] FIG. 20 is a diagram illustrating two child drones connected to one parent drone in embodiment 1. [Figure 21] FIG. 21 is a diagram illustrating an example of a parent drone connected to two child drones in embodiment 1 overtaking another parent drone and child drone in front. [Figure 22]Figure 22 is a configuration diagram of a sensor that reads address three-dimensional position information and navigation data written on the surface of the wire connecting the parent drone and child drone in embodiment 1. [Diagram 23] FIG. 23 is a diagram illustrating the contents of data written on the rail in the first embodiment. [Figure 24] FIG. 24 is a flowchart illustrating control regarding the acquisition of rail position information by a child drone in embodiment 1. [Figure 25A] FIG. 25A is a flowchart illustrating control regarding the acquisition of position information of a parent drone in embodiment 1. [Figure 25B] Figure 25B is a flowchart illustrating control regarding the acquisition of position information of a parent drone in embodiment 1. [Figure 26] FIG. 26 is a schematic diagram illustrating flight control between rails in the first embodiment. [Figure 27] FIG. 27 is a flowchart illustrating flight control between rails in the first embodiment. [Figure 28] FIG. 28 is a diagram illustrating an example of opening and closing of an arm provided on a child drone in embodiment 1. [Figure 29] FIG. 29 is a diagram illustrating another example of opening and closing of the arm provided on the child drone in embodiment 1. [Diagram 30] FIG. 30 is a flowchart illustrating a method for controlling an unmanned aerial vehicle according to one embodiment of the present disclosure. [Diagram 31] FIG. 31 is a schematic diagram illustrating a flight system according to the second embodiment. [Diagram 32] FIG. 32 is a block diagram illustrating the configuration of a flight system in the second embodiment. [Diagram 33] FIG. 33 is a flowchart illustrating the operation of the flight system in embodiment 2 from the delivery origin to the delivery destination. [Figure 34A]FIG. 34A is a schematic diagram illustrating a state in which the arm of a child drone in embodiment 3 is fixed to a rail. [Figure 34B] Figure 34B is a schematic diagram illustrating the child drone in embodiment 3 descending with its arm fixed to a rail. [Diagram 35] FIG. 35 is a schematic diagram illustrating a child drone of a flight system in embodiment 4. [Diagram 36] FIG. 36 is a block diagram illustrating the configuration of a flight system in the fourth embodiment. [Figure 37] FIG. 37 is a schematic diagram illustrating the arm of a child drone in a flight system in embodiment 4. [Figure 38] Figure 38 is a schematic diagram illustrating another arm of a child drone in a flight system in embodiment 4. [Figure 39] FIG. 39 is a block diagram illustrating the configuration of a flight system in the fourth embodiment. [Diagram 40] Figure 40 is a schematic diagram illustrating yet another arm of a child drone in a flight system in embodiment 4 in a retracted and extended state. [Diagram 41] FIG. 41 is a block diagram illustrating the configuration of a flight system in the fourth embodiment. [Diagram 42] FIG. 42 is a schematic diagram illustrating a child drone in a flight system in embodiment 4. [Figure 43A] FIG. 43A is a schematic diagram illustrating a state in which a child drone in a flight system in embodiment 4 has its arms retracted. [Figure 43B] Figure 43B is a schematic diagram illustrating a state in which a child drone in a flight system in embodiment 4 has its arm extended. [Diagram 44] Figure 44 is a schematic diagram illustrating yet another arm of a child drone in a flight system in embodiment 4. [Diagram 45]Figure 45 is a schematic diagram illustrating a child drone in a flight system in variant example 1 of embodiment 4. [Figure 46] FIG. 46 is a schematic diagram illustrating a child drone in a flight system in variant example 1 of embodiment 4. [Figure 47] Figure 47 is a schematic diagram illustrating a child drone in a flight system in variant example 2 of embodiment 4 when viewed from the front and from the side. [Figure 48] Figure 48 is a schematic diagram illustrating another child drone in a flight system in variant example 2 of embodiment 4, viewed from the front. [Figure 49] FIG. 49 is a block diagram illustrating the configuration of a flight system in the third modification of the fourth embodiment. [Figure 50] Figure 50 is a schematic diagram illustrating another child drone in a flight system in variant example 3 of embodiment 4. [Figure 51] FIG. 51 is a block diagram illustrating the configuration of a flight system in the fourth modification of the fourth embodiment. [Figure 52] FIG. 52 is a flowchart illustrating the operation of the flight system in embodiment 5 from the delivery source to the destination point of delivery. [Figure 53] FIG. 53 is a schematic diagram illustrating the operation of the flight system in embodiment 5 from the delivery source to the delivery destination. [Figure 54] FIG. 54 is a flowchart illustrating the operation of the flight system in embodiment 6 from the delivery source to the delivery destination. [Figure 55] FIG. 55 is a block diagram illustrating the configuration of a delivery system in the seventh embodiment. [Figure 56] Figure 56 is an image diagram illustrating a drone of the delivery system in embodiment 7 delivering a package from a delivery source to a delivery destination. [Figure 57] FIG. 57 is a front view and a side view illustrating a drone of a delivery system in embodiment 7. [Figure 58] FIG. 58 is a flowchart illustrating the operation of the delivery system in the seventh embodiment. [Figure 59] FIG. 59 is a schematic diagram illustrating a state in which the positions of the opening of the delivery box and the package are corrected when the package is blown in the third direction by wind. [Figure 60] FIG. 60 is a schematic diagram illustrating another manner in which the positions of the opening of the delivery box and the package are corrected when the package is blown in the third direction by wind. [Figure 61] FIG. 61 is an image diagram illustrating a drone of the delivery system in embodiment 7 delivering a package from the delivery source to a relay point at the delivery destination. [Figure 62A] FIG. 62A is a schematic diagram illustrating the height from the ground when a drone of the delivery system in embodiment 7 moves. [Figure 62B] Figure 62B is a schematic diagram illustrating the location of the drone highway in the delivery system in embodiment 7. [Figure 63] FIG. 63 is a schematic diagram illustrating a drone of the delivery system in the seventh embodiment storing a package in a delivery box via a retraction pole and a retraction wire. [Figure 64] FIG. 64 is a perspective view illustrating a drone of the delivery system in the seventh embodiment storing a package in a delivery box via a retraction pole and a retraction wire. [Figure 65] Figure 65 is a schematic diagram illustrating the state in which the body of a drone in the delivery system in embodiment 7 is in a posture approximately parallel to the vertical direction and stores a package in a delivery box via a retraction support and a retraction wire. [Figure 66] FIG. 66 is a schematic diagram illustrating a case where the delivery system in the seventh embodiment flies in a place where there are no rails. [Figure 67] FIG. 67 is a schematic diagram illustrating a case where a lead-in support pole, a first lead-in wire, and a second lead-in wire of a delivery system in the first modification of the seventh embodiment are installed in an apartment complex. [Figure 68] FIG. 68 is a schematic diagram illustrating a drone delivering a package to an apartment complex in the first variant of the seventh embodiment. [Figure 69] FIG. 69 is a schematic diagram illustrating a case where the support pole of the delivery system in the second modification of the seventh embodiment is a street light. [Figure 70] Figure 70 is a schematic diagram illustrating the position of a drone highway when the support pillars of the delivery system in the second variant of the seventh embodiment are street lights. [Figure 71] FIG. 71 is a perspective view illustrating a drone of a delivery system in the third modification of the seventh embodiment. [Figure 72] FIG. 72 is a perspective view illustrating a manner in which the attitude of the main body of a drone of a delivery system in a third variant of the seventh embodiment is changed. [Figure 73] FIG. 73 is a block diagram illustrating the configuration of a delivery system in the eighth embodiment. [Figure 74] FIG. 74 is a front view illustrating a drone of the delivery system in the eighth embodiment. [Figure 75] Figure 75 is a top view illustrating how the connection of the connector is switched from the first rail to the second rail when the drone and rail of the delivery system in embodiment 8 are viewed from above. [Figure 76] FIG. 76 is a flowchart illustrating an example of the operation of switching the connection body of the drone of the delivery system in embodiment 8 from the first rail to the second rail. [Figure 77] Figure 77 is a front view illustrating the state in which the connection of the connector is switched from the first rail to the second rail on the front side of the drone and rail of the delivery system in embodiment 8. [Figure 78] Figure 78 is a flowchart showing in detail an example of the operation of switching the connection body of the drone of the delivery system in embodiment 8 from the first rail to the second rail. [Figure 79] Figure 79 is a side view, a top view, and a front view of the first hook and rail of the drone of the delivery system in embodiment 8. [Figure 80] FIG. 80 is a perspective view illustrating a thruster device of a delivery system in the ninth embodiment and a cargo attached to the thruster device. [Figure 81] FIG. 81 is a block diagram illustrating the configuration of a delivery system in the ninth embodiment. [Figure 82] FIG. 82 is a schematic diagram illustrating a state in which a thruster device of a delivery system in the ninth embodiment stores a package in a delivery box. [Figure 83] FIG. 83 is a top view of a thruster device and a delivery box in a delivery system according to the ninth embodiment. [Figure 84] FIG. 84 is a schematic diagram illustrating a manner in which a thruster device of a delivery system in embodiment 9 uses a drone to deliver parcels to an apartment complex. [Figure 85] FIG. 85 is a block diagram illustrating a thruster device according to the tenth embodiment. As shown in FIG. [Figure 86] FIG. 86 is a schematic diagram illustrating a thruster device according to the tenth embodiment. [Figure 87] FIG. 87 is a schematic diagram illustrating a thruster device according to the first modification of the tenth embodiment. As shown in FIG. [Figure 88] FIG. 88 is a schematic diagram illustrating a state in which the vertical rails and the horizontal rails of the thruster device in the first modification of the tenth embodiment are slid. [Figure 89] FIG. 89 is a schematic diagram illustrating the rotation directions of propellers in a plurality of motors of a thruster device in the second modification of the tenth embodiment. In FIG. [Figure 90] FIG. 90 is a schematic diagram illustrating a thruster device according to the eleventh embodiment. [Figure 91] FIG. 91 is a block diagram illustrating a thruster device according to the twelfth embodiment. As shown in FIG. [Figure 92] FIG. 92 is a schematic diagram illustrating a state in which the thruster device according to the twelfth embodiment stores a package in a delivery box. [Figure 93]FIG. 93 is a flowchart illustrating an operation of the thruster device in the twelfth embodiment to store a package in a delivery box. [Figure 94] FIG. 94 is a schematic diagram illustrating another manner in which the thruster device according to the twelfth embodiment stores a parcel in a delivery box. [Figure 95] FIG. 95 is a diagram illustrating a shape of a propeller of a thruster device in the thirteenth embodiment. In FIG. [Figure 96] FIG. 96 is a diagram illustrating a state in which the thruster device of the lifting system in the fourteenth embodiment lowers a load. [Figure 97] FIG. 97 is a diagram illustrating a state after the thruster device of the lifting system in the fourteenth embodiment has lowered a load. [Figure 98] FIG. 98 is a block diagram illustrating an elevation system in the fourteenth embodiment. [Figure 99] FIG. 99 is a diagram illustrating a state in which a thruster device of the lifting system in the first modification of the fourteenth embodiment is lowered. [Figure 100] FIG. 100 is a diagram illustrating a state after the thruster device of the lifting system in the first modification of the fourteenth embodiment has lowered a load. [Figure 101] FIG. 101 is a schematic diagram illustrating a state in which the first thruster device and the second thruster device of the lifting system in the second modification of the fourteenth embodiment deliver a package to an apartment complex. [Figure 102] FIG. 102 is a schematic diagram illustrating an elevation system in the third modification of the fourteenth embodiment. [Figure 103] FIG. 103 is a schematic diagram illustrating a thruster device of a lifting system in a fourth modification of the fourteenth embodiment. As shown in FIG. [Figure 104] FIG. 104 is a schematic diagram illustrating a delivery box in the fifteenth embodiment. [Figure 105] FIG. 105 is a top view of a delivery box in the system according to the sixteenth embodiment. [Figure 106]FIG. 106 is a schematic diagram illustrating a state in which the lifting device of the system in the sixteenth embodiment unloads luggage. [Figure 107] FIG. 107 is a schematic diagram illustrating an unmanned aerial vehicle in the seventeenth embodiment. [Figure 108] FIG. 108 is a flowchart illustrating an example of the operation of changing the first arm of an unmanned aerial vehicle in embodiment 17 from a closed state to an open state. [Figure 109] FIG. 109 is a flowchart illustrating another operation for changing the first arm of the unmanned aerial vehicle in embodiment 17 from a closed state to an open state. [Figure 110] FIG. 110 is a schematic diagram illustrating an unmanned aerial vehicle in Variation 1 of the seventeenth embodiment. [Figure 111] FIG. 111 is a schematic diagram illustrating an unmanned aerial vehicle and rail system in Variation 2 of the seventeenth embodiment. [Figure 112] FIG. 112 is a schematic diagram illustrating an unmanned aerial vehicle in the eighteenth embodiment. [Figure 113] FIG. 113 is a schematic diagram illustrating the manner in which an unmanned aerial vehicle in the eighteenth embodiment moves along rails. [Fig. 114] Figure 114 is a schematic diagram illustrating the state of an unmanned aerial vehicle in embodiment 18 when traveling forward and when traveling in reverse, and is a schematic diagram illustrating the state of an unmanned aerial vehicle in variants 1 and 2 of embodiment 18 when traveling in reverse. [Figure 115] FIG. 115 is a schematic diagram illustrating a connection body of an unmanned aerial vehicle in the first variant of the eighteenth embodiment. [Fig. 116] FIG. 116 is a schematic diagram illustrating a connection body of an unmanned aerial vehicle in the second variant of the eighteenth embodiment. [Figure 117] Figure 117 is a schematic diagram illustrating the direction of rotation of the propellers of an unmanned aerial vehicle in variant example 2 of embodiment 18 when moving forward and when braking. [Fig. 118] FIG. 118 is a schematic diagram illustrating an unmanned aerial vehicle and a delivery box in the nineteenth embodiment. [Figure 119]FIG. 119 is a schematic diagram illustrating an unmanned aerial vehicle and a delivery box in the twentieth embodiment. [Figure 120] FIG. 120 is a perspective view illustrating an unmanned aerial vehicle and a delivery box in the twentieth embodiment. [Figure 121] FIG. 121 is a side view illustrating the movement of a delivery box when the unmanned aerial vehicle in embodiment 20 is suspended from a rail. [Figure 122] FIG. 122 is a flowchart illustrating the processing performed by an unmanned aerial vehicle in embodiment 20 from the start to the end of delivering a package to a delivery box. [Figure 123] FIG. 123 is a schematic diagram illustrating an example process from when the unmanned aerial vehicle in the twentieth embodiment starts storing a package in a delivery box until the second arm releases the package. [Figure 124] FIG. 124 is a schematic diagram illustrating the process from when the camera of an unmanned aerial vehicle in embodiment 20 captures an image of a package stored in a delivery box to when the unmanned aerial vehicle departs from the rail. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] A control method for an unmanned aerial vehicle according to one embodiment of the present disclosure is a control method for controlling a first unmanned aerial vehicle and a second unmanned aerial vehicle connected to the first unmanned aerial vehicle by a connecting line in a system including the first unmanned aerial vehicle and a second unmanned aerial vehicle, the control method (A) causing the first and second unmanned aerial vehicles to move forward, and (B) causing the first unmanned aerial vehicle to stop moving forward when an abnormality occurs in the flight of the second unmanned aerial vehicle.

[0012] This can reduce the likelihood of the second unmanned aerial vehicle crashing, resulting in further improvements.

[0013] In (B), the motion of the first unmanned aerial vehicle may be changed from forward motion to hovering.

[0014] This allows the first unmanned aerial vehicle to remain in a predetermined position when an abnormality occurs in the second unmanned aerial vehicle.

[0015] In (A), the first unmanned aerial vehicle may monitor the tension on the connecting line, and in (B), the first unmanned aerial vehicle may detect an abnormality in the flight of the second unmanned aerial vehicle based on a change in the tension.

[0016] This allows the first unmanned aerial vehicle to instantly detect any abnormality in the flight of the second unmanned aerial vehicle.

[0017] In (B) above, the first unmanned aerial vehicle may determine that the flight of the second unmanned aerial vehicle is abnormal when the tension becomes equal to or greater than a predetermined value.

[0018] This allows the first unmanned aerial vehicle to quantitatively determine whether or not there is an abnormality when a flight abnormality occurs in the second unmanned aerial vehicle.The first unmanned aerial vehicle can instantly detect the abnormality when a flight abnormality occurs in the second unmanned aerial vehicle.

[0019] In (B), when an abnormality occurs in the flight of the second unmanned aerial vehicle, the second unmanned aerial vehicle may be caused to output an abnormality signal, and the first unmanned aerial vehicle may detect that an abnormality has occurred in the flight of the second unmanned aerial vehicle by receiving the abnormality signal.

[0020] This allows the first unmanned aerial vehicle to electrically detect an abnormality when a flight abnormality occurs in the second unmanned aerial vehicle. The first unmanned aerial vehicle can receive a signal by wireless communication or wired communication. When a flight abnormality occurs in the second unmanned aerial vehicle, the first unmanned aerial vehicle can instantly detect the abnormality.

[0021] The connecting line may include a communication cable, and the abnormality signal may be transmitted from the second unmanned aerial vehicle to the first unmanned aerial vehicle via the communication cable.

[0022] This allows the first unmanned aerial vehicle to instantly detect any flight abnormality occurring in the second unmanned aerial vehicle, without relying on radio wave conditions.

[0023] The first unmanned aerial vehicle may include a camera, and in (B), the first unmanned aerial vehicle may detect that an abnormality has occurred in the second unmanned aerial vehicle based on images from the camera.

[0024] As a result, if a flight abnormality occurs in the second unmanned aerial vehicle, the first unmanned aerial vehicle can detect the abnormality by grasping the specific situation from the video, even if there is no significant change in the tension of the connecting line.

[0025] In (B) above, when an abnormality occurs in the second unmanned aerial vehicle, the length of the connecting line may be further shortened.

[0026] This makes it possible to reduce the scope of any fall or flight abnormality of the second unmanned aerial vehicle when an abnormality occurs in the second unmanned aerial vehicle.

[0027] In (B), the length of the extending connecting line may be shortened by having the first unmanned aerial vehicle wind up a portion of the connecting line.

[0028] This makes it possible to efficiently shorten the length of the connecting line when an abnormality occurs in the second unmanned aerial vehicle.

[0029] The system may further include a first rail fixed at a position away from the ground, and in (A), the first unmanned aerial vehicle may be advanced at a position closer to the first rail than the second unmanned aerial vehicle.

[0030] This limits the flight route of the first unmanned aerial vehicle, enabling it to fly with greater spatial precision.

[0031] In (A) above, the first unmanned aerial vehicle may be moved forward at a position lower than the first rail.

[0032] This allows the first unmanned aerial vehicle to stabilize its flight.

[0033] In (A), the first unmanned aerial vehicle may be moved forward along the first rail while being movably connected to the first rail.

[0034] This enables the first unmanned aerial vehicle to fly stably along the first rail.

[0035] In (B), when an abnormality occurs in the flight of the second unmanned aerial vehicle, the first unmanned aerial vehicle may be further coupled to the first rail.

[0036] This makes it possible to stabilize the flight of the first unmanned aerial vehicle even if an abnormality occurs in the second unmanned aerial vehicle, and to prevent the second unmanned aerial vehicle connected to the first unmanned aerial vehicle by a connecting line from crashing.

[0037] The first unmanned aerial vehicle may include an arm that can be opened and closed, and in (A), the first unmanned aerial vehicle may be moved forward with the arm open, and in (B), the first unmanned aerial vehicle may be coupled to the first rail by closing the arm to surround the first rail.

[0038] As a result, in the case of (A), it is possible to prevent the first unmanned aerial vehicle from coming into contact with the rail during flight of the first unmanned aerial vehicle, and in the case of (B), it is possible to stabilize the flight of the first unmanned aerial vehicle even if an abnormality occurs in the second unmanned aerial vehicle.

[0039] The arm may include a first arm and a second arm, and when the arms are in an open state, the distance between one end of the first arm and one end of the second arm may be greater than a width of the first rail, and when the arms are in a closed state, the distance between one end of the first arm and one end of the second arm may be less than the width of the first rail.

[0040] This allows the first unmanned aerial vehicle to come off the rail when the arm is open, and prevents the first unmanned aerial vehicle from coming off the rail when the arm is closed.

[0041] The first unmanned aerial vehicle may be smaller than the second unmanned aerial vehicle.

[0042] This allows the first unmanned aerial vehicle to not interfere with the flight of the second unmanned aerial vehicle and also reduces noise, etc.

[0043] One end of the connecting line may be connected to the underside of the first unmanned aerial vehicle when the first unmanned aerial vehicle is in a flying state.

[0044] This ensures that the connecting line connecting the first unmanned aerial vehicle and the second unmanned aerial vehicle does not interfere with the flight of the first unmanned aerial vehicle.

[0045] The second unmanned aerial vehicle may include a ring that surrounds a main body of the second unmanned aerial vehicle and is rotatable relative to the main body, and the outer surface of the ring crosses the underside, first side, upper side and second side of the main body of the second unmanned aerial vehicle when the second unmanned aerial vehicle is in a flight state, and the other end of the connecting line may be connected to the outer surface of the ring of the second unmanned aerial vehicle when the second unmanned aerial vehicle is in a flight state.

[0046] This allows the second unmanned aerial vehicle to hang down from the first unmanned aerial vehicle without having to flip over if it falls during flight.

[0047] The system includes a management server, the first rail includes a first recording surface on which first identification information for identifying the first rail is recorded, and the first unmanned aerial vehicle includes at least one read sensor for reading the first identification information from the first recording surface, and in (A), the system may further include causing the first unmanned aerial vehicle to continuously or intermittently read the first identification information via the at least one read sensor, causing the first unmanned aerial vehicle to identify its own position based on the first identification information, and causing the first unmanned aerial vehicle to wirelessly transmit first position information indicating its own position to the management server continuously or intermittently.

[0048] This allows the first unmanned aerial vehicle to determine its own position and therefore perform flight with greater spatial precision.

[0049] In (A), the first unmanned aerial vehicle may further be caused to wirelessly transmit second position information indicating the relative position between the first unmanned aerial vehicle and the second unmanned aerial vehicle to the management server continuously or intermittently, and the management server may be caused to determine the position of the second unmanned aerial vehicle based on the first and second position information.

[0050] This allows the management server to ascertain the position of the second unmanned aerial vehicle, enabling the second unmanned aerial vehicle to fly with greater spatial precision.

[0051] Prior to (A), rail information regarding a plurality of rails placed on a planned flight route of the first and second unmanned aerial vehicles may be downloaded from the management server to the first unmanned aerial vehicle, and in (A), the first unmanned aerial vehicle may be caused to determine its own position by matching the first identification information with the rail information.

[0052] This allows the first unmanned aerial vehicle to acquire rail information and determine its own position from the acquired rail information, thereby enabling it to fly with greater spatial precision.

[0053] The rail information may include identification information for each of the plurality of rails, and coordinate information indicating the geographic coordinates of each of the plurality of rails.

[0054] This allows the first unmanned aerial vehicle to identify each rail and obtain coordinate information indicating the position of the rail, thereby enabling it to fly with greater spatial precision.

[0055] The at least one read sensor may be at least one optical sensor.

[0056] This allows the first unmanned aerial vehicle to grasp the position of the rails and perform flight with greater spatial precision.

[0057] The recording surface may be disposed on an outer peripheral surface of the first rail, the at least one optical sensor may be a plurality of optical sensors, and in (A), the plurality of optical sensors may sense the recording surface from different directions.

[0058] This allows the first unmanned aerial vehicle to use multiple sensors to read out the rail identification information, etc. from different directions, thereby enabling the first unmanned aerial vehicle to reliably read out the rail identification information.

[0059] The first recording surface may further include altitude information indicating an altitude of the first rail.

[0060] This allows the first unmanned aerial vehicle to fly with greater spatial precision by acquiring altitude information for each rail.

[0061] Furthermore, (C) a following aircraft flying behind the second unmanned aerial vehicle may change the flight course of the second unmanned aerial vehicle when overtaking the second unmanned aerial vehicle.

[0062] This allows an unmanned aerial vehicle flying behind a second unmanned aerial vehicle to overtake the second unmanned aerial vehicle without collision by changing the flight course of the second unmanned aerial vehicle.

[0063] In (C), the flight course of the second unmanned aerial vehicle may be changed in a direction away from the first unmanned aerial vehicle.

[0064] This allows the second unmanned aerial vehicle to avoid colliding with the first unmanned aerial vehicle when being overtaken by the following aircraft.

[0065] In (C), after the following aircraft has overtaken the second unmanned aerial vehicle, the second unmanned aerial vehicle may be caused to return to its original flight course.

[0066] This allows the second unmanned aerial vehicle to return to its original flight course after being overtaken by the following aircraft, thereby continuing to fly the same flight route it was on before being overtaken.

[0067] In (C), the length of the connecting line extending from the first unmanned aerial vehicle to the second unmanned aerial vehicle may be increased before the following aircraft overtakes the second unmanned aerial vehicle.

[0068] This allows the second unmanned aerial vehicle to smoothly change its flight course when being overtaken by the following aircraft.

[0069] The system may further include a third unmanned aerial vehicle sharing the first rail with the first unmanned aerial vehicle, and a fourth unmanned aerial vehicle connected to the third unmanned aerial vehicle by a connecting line, and the control method may further include (D) changing the flight course of the first unmanned aerial vehicle when the third unmanned aerial vehicle flying behind the first unmanned aerial vehicle overtakes the first unmanned aerial vehicle.

[0070] This allows the third unmanned aerial vehicle and the fourth unmanned aerial vehicle connected to the third unmanned aerial vehicle by a connecting line to overtake the first unmanned aerial vehicle without collision, by changing the flight course of the first unmanned aerial vehicle.

[0071] In (D), the flight course of the first unmanned aerial vehicle may be changed in a direction away from the first rail.

[0072] This allows the third unmanned aerial vehicle and the fourth unmanned aerial vehicle connected to the third unmanned aerial vehicle by a connecting line to overtake the first aircraft without changing course.

[0073] The system may further include a second rail fixed at a position away from the ground and extending parallel to the first rail, and in (D), the flight course of the first unmanned aerial vehicle may be changed in a direction approaching the second rail.

[0074] This allows the flight course of the first unmanned aerial vehicle to be changed to approach the second rail, allowing the third unmanned aerial vehicle and the fourth unmanned aerial vehicle connected to the third unmanned aerial vehicle by a connecting line to overtake the first unmanned aerial vehicle without colliding with each other.

[0075] In (A), the first unmanned aerial vehicle may be moved forward along the first rail while being movably connected to the first rail, and in (D), before the third unmanned aerial vehicle overtakes the first unmanned aerial vehicle, the first unmanned aerial vehicle may be caused to change its connection from the first rail to the second rail, and after the third unmanned aerial vehicle has overtaken the first unmanned aerial vehicle, the first unmanned aerial vehicle may be caused to change its connection from the second rail to the first rail.

[0076] This allows the third unmanned aerial vehicle and the fourth unmanned aerial vehicle connected to the third unmanned aerial vehicle by a connecting line to overtake the first unmanned aerial vehicle without colliding with the first unmanned aerial vehicle.

[0077] When viewed in a direction perpendicular to the ground, the distance between the first rail and the second rail may be greater than a width of the first unmanned aerial vehicle.

[0078] This allows the first unmanned aerial vehicle to move between the first rail and the second rail without contacting the rail, thereby reducing the possibility of the first unmanned aerial vehicle colliding with the trailing unmanned aerial vehicle when the first unmanned aerial vehicle is overtaken by the trailing unmanned aerial vehicle.

[0079] The first and second rails may be disposed at the same height above the ground.

[0080] This allows multiple parent-child drones to fly at the same altitude when overtaking occurs.

[0081] The system further includes a third unmanned aerial vehicle connected to the second unmanned aerial vehicle by a connecting line and sharing the first rail with the first unmanned aerial vehicle, a fourth unmanned aerial vehicle sharing the first rail with the first and third unmanned aerial vehicles, and a fifth unmanned aerial vehicle connected to the fourth unmanned aerial vehicle by a connecting line, and in (A), each of the first and third unmanned aerial vehicles is moved forward along the first rail while being movably connected to the first rail, and the control method further includes (E) a step of: In this case, when the second unmanned aerial vehicle overtakes the fifth unmanned aerial vehicle, the first unmanned aerial vehicle may be caused to disconnect from the first rail, the first unmanned aerial vehicle may be moved ahead of the fourth unmanned aerial vehicle, and the first unmanned aerial vehicle may be caused to reconnect to the first rail, and after the first unmanned aerial vehicle is reconnected to the first rail, the second unmanned aerial vehicle may be caused to move ahead of the fifth unmanned aerial vehicle, and after the first unmanned aerial vehicle is reconnected to the first rail, the third unmanned aerial vehicle may be caused to disconnect from the first rail, the third unmanned aerial vehicle may be caused to move ahead of the fourth unmanned aerial vehicle, and the third unmanned aerial vehicle may be caused to reconnect to the first rail.

[0082] This allows the second unmanned aerial vehicle to overtake the fifth unmanned aerial vehicle without becoming entangled in the connecting line.

[0083] The system may further include a second rail fixed at a position away from the ground and adjacent to and spaced apart from the first rail, and the control method may further include (F) moving the first unmanned aerial vehicle from around the first rail to around the second rail when the first unmanned aerial vehicle is moving forward along the first rail and the second rail is located in the direction of forward movement of the first unmanned aerial vehicle.

[0084] This allows the second unmanned aerial vehicle to overtake the first unmanned aerial vehicle without colliding with the first unmanned aerial vehicle.

[0085] In (F), the altitude of the first unmanned aerial vehicle may be temporarily increased when the first unmanned aerial vehicle leaves the first rail.

[0086] This allows the first unmanned aerial vehicle to smoothly depart from the first rail.

[0087] In (F), the altitude of the first unmanned aerial vehicle may be set higher than the height of both the first and second rails.

[0088] This allows the first unmanned aerial vehicle to reposition itself without colliding with the rail.

[0089] The control method may further include, (G) stopping the flight of the first unmanned aerial vehicle while the second unmanned aerial vehicle is flying, and having the second unmanned aerial vehicle reel in the connecting line to secure the first unmanned aerial vehicle to the second unmanned aerial vehicle.

[0090] This allows the second unmanned aerial vehicle to fix the first unmanned aerial vehicle in a predetermined position between the second unmanned aerial vehicle.

[0091] In (G), the second unmanned aerial vehicle may be stored within the first unmanned aerial vehicle.

[0092] This allows the first and second unmanned aerial vehicles to fly together in places where rails do not exist.

[0093] The second unmanned aerial vehicle may include a storage port for storing luggage, and the storage port may be provided on a side of the second unmanned aerial vehicle when in flight.

[0094] This allows the second unmanned aerial vehicle to store and transport cargo in the storage port.

[0095] The method for controlling an unmanned aerial vehicle may be executed by a computer.

[0096] As a result, the above-mentioned unmanned aerial vehicle control method can be executed by a computer.

[0097] Additionally, an unmanned aerial vehicle in a system including an unmanned aerial vehicle and another unmanned aerial vehicle connected to the unmanned aerial vehicle by a connecting line may include a first controller that causes the unmanned aerial vehicle to move forward and stops the forward movement of the unmanned aerial vehicle when an abnormality occurs in the flight of the other unmanned aerial vehicle.

[0098] As a result, the first unmanned aerial vehicle can be controlled by the first controller to move forward or stop moving forward, and can also be operated remotely.

[0099] Additionally, a system may be provided that includes a first unmanned aerial vehicle and a second unmanned aerial vehicle connected to the first unmanned aerial vehicle by a connecting line, the first unmanned aerial vehicle including a first controller and the second unmanned aerial vehicle including a second controller, the first controller causing the first unmanned aerial vehicle to move forward and stopping the forward movement of the first unmanned aerial vehicle when an abnormality occurs in the flight of the second unmanned aerial vehicle.

[0100] As a result, the first unmanned aerial vehicle and the second unmanned aerial vehicle can be controlled by the first controller and the second controller to move forward or stop moving forward, and can also be operated remotely.

[0101] The unmanned aerial vehicle is an unmanned aerial vehicle for delivering luggage, and includes a plurality of rotors, a plurality of first motors for rotating the plurality of rotors, a main body supporting the plurality of first motors, a connector for connecting the main body to a rail located away from the ground in a suspended state, a movable part for setting the inclination of an imaginary plane including the plurality of rotors with respect to a support direction when the connector is supported on the rail, and a control circuit for controlling the plurality of first motors and the movable part, the connector having a first end connected to the main body and a second end slidably attached to the rail. The unmanned aerial vehicle has a first end and a second end for freely connecting to the rail, the support direction being a direction from the first end of the connecting body to the second end, and when the second end of the connecting body is connected to the rail, the control circuit (i) sets the rotation speed of the multiple first motors to a rotation speed that is less than the minimum rotation speed for levitating the unmanned aerial vehicle and greater than the minimum rotation speed for propelling the unmanned aerial vehicle in the direction of extension of the rail, and (ii) increases the angle that the normal direction of the virtual plane makes with the supporting direction of the connecting body by the movable part.

[0102] According to this, the unmanned aerial vehicle can move along the rail with the connecting body connected to the rail. In the case of (i), the control circuit controls the rotation speed of the multiple first motors to make it smaller than the minimum rotation speed for levitating the unmanned aerial vehicle and larger than the minimum rotation speed for propelling the unmanned aerial vehicle, so that the unmanned aerial vehicle can move along the rail at an appropriate speed. In the case of (ii), the control circuit controls the actuator to change the inclination of a virtual plane including the multiple rotors relative to the support direction of the connecting body, thereby adjusting the speed of the unmanned aerial vehicle.

[0103] The delivery system may include an unmanned aerial vehicle, a plurality of posts, and the rail stretched between two adjacent posts of the plurality of posts.

[0104] The movable portion may be disposed between the main body and the connecting body.

[0105] This allows the movable portion to easily change the angle of the connection body relative to the main body.

[0106] For example, when the connecting body is disposed at or near the center of gravity of the main body, the movable part is also disposed at or near the center of gravity of the main body, thereby making it possible to balance the center of gravity of the unmanned aerial vehicle.

[0107] The unmanned aerial vehicle may further include a pair of wings.

[0108] According to this, for example, if the pair of wings are yaw wings, the unmanned aircraft can be rotated horizontally, and if the pair of wings are pitch wings, the unmanned aircraft can be rotated vertically. As a result, the direction of travel of the unmanned aircraft can be freely steered, and the unmanned aircraft can achieve stable movement.

[0109] The control circuit may, after increasing the angle by the movable part, remove the connector from the rail when the propulsion speed of the unmanned aerial vehicle exceeds a predetermined value.

[0110] This makes it possible to prevent contact between the connector and the rail, thereby improving the safety of the unmanned aerial vehicle.

[0111] The control circuit may reduce the angle using the movable part when the connecting body comes off the rail, and may control the rotation speed of the multiple first motors so that it is greater than the minimum rotation speed for airborne the unmanned aerial vehicle.

[0112] According to this, when the connector comes off the rail, the angle is reduced, allowing the unmanned aerial vehicle to float at a predetermined height from the ground, which reduces contact with objects and improves the safety of the unmanned aerial vehicle.

[0113] In the step (ii), the control circuit may control the rotation speeds of the plurality of first motors so as to make the angle greater than 15°.

[0114] This allows the speed of the unmanned aerial vehicle to be controlled appropriately.

[0115] In the above (ii), the control circuit may control the rotation speeds of the plurality of first motors so as to make the angle greater than 45°.

[0116] In (ii), the control circuit may control the rotation speeds of the plurality of first motors so as to make the angle greater than 65°.

[0117] In the step (ii), the control circuit may control the rotation speeds of the plurality of first motors so as to make the angle greater than 80°.

[0118] The connecting body may include a support part connected to the main body so as to be able to swing freely, and a first arm connected to one end of the support part.

[0119] According to this, the first arm can be swung together with the swinging of the support part, which makes it easier to connect to the rail.

[0120] The first arm may be a hanger for suspending the unmanned aerial vehicle from the rail.

[0121] According to this, when the unmanned aerial vehicle is stopped, the first arm can be suspended from the rail. Therefore, the package can be placed at the delivery destination with the unmanned aerial vehicle suspended from the rail.

[0122] The connector may further include a wheel connected to the first arm for rotatably contacting the rail.

[0123] With this, when the unmanned aerial vehicle is connected to the rail, it can move with its wheels in contact with the rail. Because the wheels start to rotate due to friction with the rail, the unmanned aerial vehicle can travel on the rail using only the propulsive force in the forward direction produced by the rotation of the rotors. This means that the unmanned aerial vehicle does not need to use the rotational force of the rotors to generate lift to lift itself. As a result, energy conservation in the unmanned aerial vehicle can be achieved.

[0124] The connector may further include a second arm connected to the one end of the support portion.

[0125] With this, not only the first arm but also the second arm can be connected to the rail, which prevents the unmanned aerial vehicle from falling off the rail, further improving safety in systems using unmanned aerial vehicles.

[0126] The first arm may be a first hanger for hanging the unmanned aerial vehicle on the rail, and the second arm may be a second hanger for hanging the unmanned aerial vehicle on the rail, and the connecting body may further have a first actuator for setting the angle of the first arm relative to the support portion and a second actuator for setting the angle of the second arm relative to the support portion.

[0127] This allows the unmanned aerial vehicle to be securely suspended from the rails, preventing the unmanned aerial vehicle from falling off the rails, further improving the safety of systems that use unmanned aerial vehicles.

[0128] The connector may further include a base disposed between the support portion and the first arm and the second arm, and a third actuator that sets an angle of the base relative to the support portion.

[0129] According to this, the height of the first arm and the height of the second arm relative to the main body can be changed simply by changing the angle of the base. Therefore, the heights of the first arm and the second arm can be changed without tilting the main body, so the stability of the unmanned aerial vehicle can be maintained.

[0130] The first arm may have a first hook extending from a first connection end connected to the first actuator to a first open end, the second arm may have a second hook extending from a second connection end connected to the second actuator to a second open end, the first hook may have a first bent portion bent in a first direction from the first connection end to the first open end, and the second hook may have a second bent portion bent in a second direction opposite to the first direction from the second connection end to the second open end.

[0131] According to this, when the first hook is hung from the rail, the main body can be kept in a horizontal position, and when the second hook is hung from the rail, the main body can be kept in a horizontal position as well. Therefore, the first hook and the second hook can hold the unmanned aerial vehicle in an appropriate position.

[0132] The first hook and the second hook make it easy to hook onto the rail.

[0133] When the unmanned aerial vehicle is slidably suspended from a first rail by the first hook, the control circuit may control the second actuator to hook the second hook onto a second rail extending adjacent to the first rail along the first rail, and may control the first actuator to disengage the first hook from the first rail.

[0134] According to this, for example, when the first hook of the unmanned aerial vehicle is connected to the first rail, the second hook is connected to the second rail, and then the first hook is detached from the first rail, allowing the unmanned aerial vehicle to switch connection from the first rail to another rail, the second rail, and move. Therefore, the unmanned aerial vehicle can reliably switch rails at a branch point between the rails, which prevents the unmanned aerial vehicle from falling and further enhances safety in a system using the unmanned aerial vehicle.

[0135] The delivery system may include an unmanned aerial vehicle, a plurality of pillars, and the first rail and the second rail stretched between two adjacent pillars among the plurality of pillars.

[0136] When the unmanned aerial vehicle is slidably suspended from a first rail by the first hook and the second hook, the control circuit may control the second actuator to remove the second hook from the first rail and hook it onto a second rail extending adjacent to the first rail, and may control the first actuator to remove the first hook from the first rail and hook it onto the second rail.

[0137] According to this, for example, when the first hook and the second hook of the unmanned aerial vehicle are connected to the first rail, the second hook is detached from the first rail and connected to the second rail, and then the first hook is detached from the first rail and connected to the second rail, so that the unmanned aerial vehicle can switch the connection from the first rail to the second rail, which is another rail, and move. Therefore, the unmanned aerial vehicle can reliably switch rails at the branch point between the rails, which prevents the unmanned aerial vehicle from falling and further enhances the safety of the system using the unmanned aerial vehicle.

[0138] When hooking the second hook onto the second rail, the control circuit may tilt the main body or the support part in the second direction to make the second connection end higher than the first connection end, and when removing the first hook from the first rail, the control circuit may tilt the main body or the support part in the first direction to make the first connection end higher than the second connection end.

[0139] According to this, by tilting the main body or the support part, the first hook and the second hook can be easily hooked onto the rail or the first hook and the second hook can be easily detached from the rail.

[0140] The unmanned aerial vehicle may further include a suspension wire connected to the main body for suspending the cargo, and a lift motor capable of winding up the suspension wire, and the control circuit, with the connecting body connected to the rail, may position the unmanned aerial vehicle vertically above a storage device for accommodating the cargo, and drive the lift motor to pay out the suspension wire, thereby lowering the cargo relative to the main body and storing it in the storage device.

[0141] According to this, when the unmanned aerial vehicle arrives at the destination, the control circuit controls the lift motor to pay out the hoisting wire, so that the cargo can be lowered and stored in the storage device. Thus, the unmanned aerial vehicle can deliver the cargo to the delivery destination.

[0142] The control circuit may adjust at least one of a position and an orientation of the body depending on a relative position of the load with respect to the storage device while paying out the suspension wire.

[0143] According to this, even if the unmanned aerial vehicle becomes misaligned with respect to directly above the storage device, the control circuit can adjust at least one of the position and orientation of the main body to align the main body with respect to the storage device. Therefore, the unmanned aerial vehicle can reliably lower the package and store it in the storage device, thereby reliably delivering the package to the delivery destination.

[0144] In particular, with this unmanned aerial vehicle, even if the unmanned aerial vehicle moves from directly above the storage device due to wind or other factors, the main body can be aligned with the storage device.

[0145] The control circuit may move the unmanned aerial vehicle in a fourth direction opposite to the third direction along the extension direction of the rail when the position of the luggage is displaced in a third direction from a position vertically above the storage device.

[0146] With this, even if the cargo is displaced (moved) by being blown in the third direction via the hanging wire by wind or the like, the control circuit can displace the unmanned aerial vehicle in the fourth direction opposite to the third direction. Therefore, the unmanned aerial vehicle can reliably lower the cargo and store it in the storage device, so that the cargo can be delivered to the delivery destination more reliably.

[0147] The control circuit may, when the position of the luggage is displaced in a fifth direction from a position vertically above the storage device, swing the unmanned aerial vehicle around the rail as a fulcrum, moving the center of gravity of the unmanned aerial vehicle in a sixth direction opposite to the fifth direction.

[0148] With this, even if the luggage is displaced in the fifth direction via the hanging wire due to wind or the like, the control circuit can move the center of gravity of the unmanned aerial vehicle, thereby displacing the luggage in the sixth direction, which is the opposite direction to the fifth direction. Therefore, the unmanned aerial vehicle can reliably lower the luggage and store it in the storage device, so that the luggage can be delivered to the delivery destination more reliably.

[0149] The unmanned aerial vehicle may further include a thruster device removably attached to the cargo, the thruster device may have a plurality of propellers, a plurality of second motors that respectively rotate the plurality of propellers, and a support that supports the plurality of second motors.

[0150] With this, even if the unmanned aerial vehicle becomes misaligned relative to directly above the storage device, the thruster device can guide the luggage to the storage device. Therefore, the unmanned aerial vehicle can reliably lower the luggage and store it in the storage device, so the luggage can be delivered to the destination more reliably. Even in a situation where the opening of the storage device is narrow and it is difficult to insert the luggage, the unmanned aerial vehicle can reliably insert the luggage into the storage device. This eliminates the need for a large area to land the unmanned aerial vehicle.

[0151] In particular, with this unmanned aerial vehicle, even if the unmanned aerial vehicle moves from directly above the storage device due to wind or other factors, the thruster device can store the cargo in the storage device.

[0152] The plurality of propellers may include a first propeller disposed on a first side portion of the support, and a second propeller disposed on a second side portion of the support that is different from the first side portion.

[0153] This makes it possible to adjust the position and orientation of the thruster device relative to the storage device, thereby enabling the thruster device to more reliably store the cargo in the storage device in this unmanned aerial vehicle.

[0154] The control circuit may control the thruster device to drive at least one of the plurality of second motors during at least a portion of a period during which the suspension wire is being paid out.

[0155] According to this, when the load is lowered from the unmanned aerial vehicle, the position and orientation of the thruster device with respect to the storage device can be adjusted, so that the load can be smoothly stored in the storage device with this unmanned aerial vehicle.

[0156] The distribution system may be such that each of the plurality of poles is a utility pole.

[0157] This system allows existing utility poles to be used as supports, eliminating the need to install new supports for stringing rails across the system, making it possible to prevent the cost of installation from rising.

[0158] The delivery system may further include a pull-in post positioned within a specified site and a pull-in wire stretched across the rail, and a height from the ground to a first connection point where the pull-in wire is connected to the pull-in post may be lower than a height from the ground to a second connection point where the pull-in wire is connected to the rail.

[0159] According to this, since the rail is placed at a position higher than the first connection point, the unmanned aerial vehicle can move at a high position. Since the unmanned aerial vehicle travels at a position that is difficult for people to see, the privacy of the user at the delivery destination and the privacy of people in facilities such as houses that face the rail can be protected.

[0160] The utility pole may support a power transmission line, and the rail may be provided at a position lower than the power transmission line and higher than the tip of the pull-in pole.

[0161] According to this, the rails are placed below the power lines, so that the rails can be placed at a position where they do not come into contact with the power lines and the unmanned aerial vehicle can travel on them, thereby ensuring the safety of the unmanned aerial vehicle that delivers packages.

[0162] The plurality of poles may be street lights.

[0163] This allows existing street lights to be used as poles, eliminating the need to install new poles to span the rails, and therefore the system can prevent the cost of installation from rising.

[0164] The delivery system may further include a protective net stretched vertically below the vicinity area between the first rail and the second rail, and the vicinity area may be an area where the distance between the first rail and the second rail is less than the width of the unmanned aerial vehicle.

[0165] With this, since the distance between the first rail and the second rail is smaller than the width (size) of the main body, the unmanned aerial vehicle can easily switch from the first rail to the second rail and move there.

[0166] By providing a protective net vertically below the area adjacent to the first rail and the second rail, the unmanned aerial vehicle can be prevented from falling to the ground even if it deviates from the first rail and the second rail, which further enhances the safety of the system using the unmanned aerial vehicle.

[0167] A height of at least a portion of the second rail may be greater than a height of the adjacent first rail.

[0168] According to this, when two unmanned aerial vehicles run in opposite directions on the first rail, one of the two unmanned aerial vehicles can retreat to the second rail. In other words, the second rail can be used as an evacuation route. This makes it possible to prevent collisions and congestion of unmanned aerial vehicles.

[0169] The device includes a support for removably attaching cargo, a wire having one end connected to the support and the other end connected to an object positioned at a position away from the ground, thereby enabling the support to be suspended, a plurality of motors arranged on a side of the support, a plurality of propellers driven by the plurality of motors, and a control unit for controlling the plurality of motors, and the angle formed by the rotation axes of the plurality of motors with respect to an imaginary plane passing through the centers of each of the plurality of propellers may be greater than -45 degrees and less than +45 degrees.

[0170] According to this, by controlling the angles of the rotation shafts of the multiple motors relative to the virtual plane, it is possible to align the load with respect to the predetermined position when placing the load at the predetermined position. By moving the device in a desired direction, it is possible to fine-tune the position of the device with respect to the predetermined position.

[0171] With the support suspended from the object via a wire, the device can be aligned so that the load is aligned with a specified position when viewed vertically as it descends, allowing fine adjustments to the position of the device.

[0172] Therefore, with this device, it is possible to place the luggage at a predetermined position. In particular, when the device is used outdoors, even if the device is displaced from the predetermined position due to wind or the like, the device can move toward the predetermined position to correct the positional displacement, so that the luggage can be placed at the predetermined position.

[0173] The angle may be greater than or equal to -30 degrees and less than or equal to +30 degrees.

[0174] This makes it difficult for the levitating thrust of the device to become large, so that, for example, slackening of the wires due to a sudden ascent of the device can be suppressed.

[0175] The apparatus may further include one or more actuators that adjust the angles of the rotation axes of the motors relative to the imaginary plane.

[0176] This allows the position of the motors relative to the support to be adjusted, so that the device can move horizontally and vertically, allowing the load to be more accurately aligned with the desired position.

[0177] The control unit may have a first mode in which the one or more rotation axes are tilted so that the angle is 0 degrees by controlling the one or more actuators, and a second mode in which the one or more rotation axes are tilted so that the angle is an elevation angle.

[0178] This allows the attitude of one or more of the rotating shafts of the motors to be individually controlled, and therefore allows the attitude and direction of the device to be precisely controlled so that the device moves to a specified position, allowing the device position to be finely adjusted with greater precision.

[0179] The wire may be directly connected to at least one connection point of the support.

[0180] According to this, the support can be suspended via the wire simply by providing one connection point on the support, which allows the wire configuration to be simplified.

[0181] The wire may have a main wire and a plurality of sub-wires, one ends of the plurality of sub-wires being directly connected to a plurality of connection points of the support, and the other ends of the plurality of sub-wires being connected to one end of the main wire which is a common connection point, and the main wire may suspend and support the support from the object via the plurality of sub-wires.

[0182] According to this, a plurality of sub-wires can be connected to the support in a one-to-one relationship via a plurality of connection points, so that the attitude of the support can be stabilized when the support is suspended by the wires.

[0183] The support body may have a polygonal frame body that is placed around the luggage, and the multiple connection points may be located at multiple parts of the frame body that correspond to multiple vertices.

[0184] This makes it possible to more reliably stabilize the attitude of the support when it is suspended by the wire.

[0185] The support may have a polygonal frame that is placed around the luggage, and the one connection point may be movable on a plane within the frame that is parallel to the imaginary plane.

[0186] This allows the position of one connection point to be changed relative to the support. Therefore, even if the center of gravity of the support holding a load shifts from the center, the position of the connection point can be changed to match the center of gravity. Therefore, the posture of the support suspended from the wire can be corrected to a desired posture.

[0187] The side portion of the support body may have a first side portion and a second side portion facing the first side portion across the support body and / or the luggage, the multiple motors may have a first motor provided on the first side portion and having a first rotating shaft, and a second motor provided on the second side portion and having a second rotating shaft, and the control unit may have a third mode in which the first rotating shaft is rotated in a first rotation direction and the second rotating shaft is rotated in a second rotation direction opposite to the first rotation direction, and a fourth mode in which the first rotating shaft and the second rotating shaft are rotated in the second rotation direction.

[0188] According to this, by reversing the rotation direction of the first rotating shaft of the first motor and the second rotating shaft of the second motor, the device can obtain a thrust force to move in a desired direction, thereby enabling the device to finely adjust the position of the device relative to a predetermined position with high accuracy.

[0189] The multiple motors may further include a third motor having a third rotation shaft and provided on the first side portion at a position adjacent to the first motor in the virtual plane, and a fourth motor having a fourth rotation shaft and provided on the second side portion at a position adjacent to the second motor in the virtual plane, and in the third mode, the control unit may rotate the third rotation shaft in the second rotation direction and rotate the fourth rotation shaft in the first rotation direction, and in the fourth mode, rotate the third rotation shaft and the fourth rotation shaft in the first rotation direction.

[0190] According to this, by reversing the rotation direction of the third rotating shaft of the third motor and the fourth rotating shaft of the fourth motor, a thrust force moving in a desired direction can be obtained. Since the rotation direction of the first rotating shaft of the first motor and the second rotating shaft of the second motor can also be controlled, the position of the device relative to a predetermined position can be fine-tuned with greater precision.

[0191] The apparatus may further include a guard surrounding the plurality of propellers.

[0192] With this, the protective body can protect the rotating propeller, thereby preventing the propeller from coming into contact with other objects.

[0193] The device may further include a reel to which the other end of the wire is connected, and a lift motor that rotates the reel to pay out the wire, and when the reel is positioned vertically above a storage device for accommodating the luggage, the control unit may start driving the multiple motors after the length of the paid-out portion of the wire exceeds a predetermined length.

[0194] According to this, when the device approaches the storage device, adjustment of the position of the device relative to the predetermined position begins, making it easier to align the device with the predetermined position.

[0195] The apparatus may further comprise a sensor for detecting the position of a storage device for accommodating the cargo when the reel is positioned vertically above the storage device.

[0196] According to this, the position of the device relative to the storage device can be detected with high accuracy, and therefore the position of the device relative to the storage device can be finely adjusted with high accuracy.

[0197] The predetermined length may correspond to half the distance from the storage device to the reel.

[0198] According to this, when the device is positioned near the storage device, adjustment of the position of the device relative to the predetermined position begins, making it easier to align the device with the predetermined position.

[0199] Each of the multiple propellers may have a multiple number of blades, and a multiple number of protrusions may be provided on a surface of each of the multiple blades, and the multiple protrusions may be in a striped pattern extending along the rotation direction of the multiple blades.

[0200] This makes it possible to suppress the effect of wind during flight of the device, and therefore the attitude of the device can be stabilized even in a windy environment, making it easier to align the device with the predetermined position.

[0201] The lifting system includes an unmanned aerial vehicle, a first device removably attached to the unmanned aerial vehicle, a first wire connecting the first device and the unmanned aerial vehicle, a first reel capable of winding up the first wire, a second device removably attached to luggage and removably attached to the first device, a second wire connecting the first device and the second device, a second reel capable of winding up the second wire, and a control unit, wherein when the unmanned aerial vehicle is located away from the ground, the control unit may detach the first device and the second device from the unmanned aerial vehicle, control the first reel to reel out the first wire, detach the second device from the first device, and control the second reel to reel out the second wire.

[0202] According to this, even if it is difficult to deliver the package to the predetermined position, for example when there is an obstacle vertically above the predetermined position, the first device and the second device can move to go around the obstacle. Therefore, the second device can be moved vertically above the predetermined position, so that the package can be delivered to the predetermined position reliably.

[0203] The first device may have a first support removably attached to the unmanned aerial vehicle, a plurality of first motors arranged on a plurality of side portions of the first support, and a plurality of first propellers driven by the plurality of first motors, and the second device may have a second support removably attached to the first device, a plurality of second motors arranged on a plurality of side portions of the second support, and a plurality of second propellers driven by the plurality of second motors.

[0204] According to this, the position of the first device relative to the unmanned aerial vehicle can be adjusted, and the position of the second device relative to the first device can be adjusted. Therefore, the first device and the second device can be moved to go around the obstacle. As a result, the package can be delivered reliably to the specified location.

[0205] The control unit drives the first motors and / or the second motors after the first device and the second device are detached from the unmanned aerial vehicle, and After the second device is detached, the first motors and the second motors may be driven.

[0206] According to this, the first device and the second device can move together to a destination position for bypassing an obstacle, and therefore the control unit can suppress an increase in the processing load for controlling the drive of the multiple first motors and the multiple second motors.

[0207] After detaching the second device from the first device, the control unit may perform different controls on the multiple first motors and the multiple second motors, thereby making a first suspension direction in which the first wire extends between the unmanned aerial vehicle and the first device different from a second suspension direction in which the second wire extends between the first device and the second device.

[0208] According to this, even if there is an obstacle vertically above the predetermined position, the first device and the second device can be positioned so as to reliably go around the obstacle. As a result, the lifting system can reliably deliver the package to the predetermined position.

[0209] After detaching the second device from the first device, the control unit may perform different controls on the multiple first motors and the multiple second motors to reduce the overlapping area between the first device and the second device when viewed in a direction perpendicular to the ground, or to eliminate the overlap between the first device and the second device.

[0210] According to this, the relative positions of the first device and the second device can be changed so that the first device is not positioned vertically above the second device. Therefore, even if there is an obstacle vertically above the predetermined position, the first device and the second device can be positioned so as to reliably go around the obstacle. As a result, the package can be reliably delivered to the predetermined position.

[0211] After detaching the cargo from the second device, the control unit may wind up the second wire around the second reel, attach the second device to the first device, wind up the first wire around the first reel, and attach the first device and the second device to the unmanned aerial vehicle.

[0212] According to this, after the luggage is delivered to the predetermined location, the second device can be attached to the first device while winding up the second wire, and the first device and the second device can be attached to the unmanned aerial vehicle while winding up the first wire. Therefore, it is possible to prevent the first wire and the second wire from coming into contact with an obstacle, which can cause the wires to be damaged or entangled. Therefore, it is possible to prevent a decrease in the operating efficiency of the lifting system.

[0213] The unmanned aerial vehicle has an arm capable of gripping a rail, and the control unit may detach the first device and the second device from the unmanned aerial vehicle when the unmanned aerial vehicle is located at a position away from the ground and the arm is in a state where it is gripping the rail.

[0214] According to this, the unmanned aerial vehicle can be held on the rail by the arm. Therefore, even if the first device and the second device are detached from the unmanned aerial vehicle, the first device and the second device can be held via the first wire and the second wire. Therefore, it is possible to prevent the first device and the second device from falling.

[0215] Since the unmanned aerial vehicle can be held on the rails even when not in flight, energy consumption by the unmanned aerial vehicle can be reduced.

[0216] The lifting system may further include a third device removably attached between the first device and the second device, a third wire connecting the first device and the third device, a third reel capable of winding up the third wire, a fourth wire connecting the third device and the second device, and a fourth reel capable of winding up the fourth wire.

[0217] According to this, after the luggage is delivered to the predetermined location, the second device can be attached to the third device while winding the fourth wire, the second device and the third device can be attached to the first device while winding the third wire, and the second device, the third device, and the first device can be attached to the unmanned aerial vehicle while winding the first wire. Therefore, it is possible to prevent the first wire, the third wire, and the fourth wire from coming into contact with an obstacle, resulting in damage or tangling of these wires. Therefore, it is possible to prevent a decrease in the operating efficiency of the lifting system.

[0218] The storage device may include a container defining a space for storing luggage, a top lid provided on an upper surface of the container and capable of opening and closing the top opening in order to place the luggage into the space from the top opening, and a side lid provided on a side surface of the container and capable of opening and closing the side opening in order to remove the luggage from the space through the side opening.

[0219] According to this, luggage can be placed into the space of the storage device from above, and luggage stored in the space can be removed from the side of the storage device, making it easy to remove luggage.

[0220] The system may include a storage device and a lifting device that is detachably attached to the luggage and can be lowered from vertically above the storage device, wherein the lifting device has a convex portion, and the storage device may have a hole portion provided on the upper surface into which the convex portion can be inserted, and a mechanism for opening the top cover when the convex portion is inserted into the hole portion.

[0221] According to this, when the lifting device stores the luggage in the storage device, the lifting device can be aligned with the top opening of the storage device by inserting the protrusion into the hole, so that the luggage can be securely stored in the space of the storage device.

[0222] The unmanned aerial vehicle comprises a plurality of rotors, a plurality of motors that respectively rotate the plurality of rotors, a main body that supports the plurality of motors, and a connecting body for connecting the main body in a suspended state to a rail located at a position away from the ground, the connecting body having a fixed portion, a first arm having one end connected to the fixed portion and the other end that opens and closes relative to the fixed portion, a second arm having one end connected to the fixed portion and the other end that opens and closes relative to the fixed portion, a first actuator that opens and closes the first arm, a second actuator that opens and closes the second arm, and a control unit that controls the first actuator and the second actuator, and a first area enclosed by the first arm and the fixed portion in a closed state may be separated from a second area enclosed by the second arm and the fixed portion in a closed state.

[0223] According to this, when the first arm of the unmanned aerial vehicle is connected to a first rail, the first arm can be detached from the first rail after the second arm is connected to the second rail, so that the unmanned aerial vehicle can move by switching the connection from the first rail to a different rail, the second rail.

[0224] The fixing portion may include a partition portion extending upward from the main body and separating the first region from the second region.

[0225] According to this, one connector can be connected to two rails, and therefore the orientation of the connector can be maintained better than when two connectors are used.

[0226] The control unit may control the first actuator and the second actuator such that at least one of the first arm and the second arm is in a closed state.

[0227] According to this, if a rail is arranged in at least one of the first area and the second area that are in the closed state, the unmanned aerial vehicle can be securely suspended from the rail.

[0228] When the control unit receives an instruction to change the first arm from a closed state to an open state, it may determine whether the second arm is in a closed state, and if the second arm is in a closed state, change the first arm to an open state, or if the second arm is in an open state, maintain the first arm in the closed state.

[0229] According to this, when the second rail is connected to the second arm in the closed state, the first rail can be connected to the first arm. When the second arm is in the open state, if the first rail is connected to the first arm in the closed state, the first arm can be maintained in the closed state without opening the first arm. In this way, the unmanned aerial vehicle can be reliably suspended from the rail, thereby preventing the unmanned aerial vehicle from falling.

[0230] When the control unit receives an instruction to change the second arm from a closed state to an open state, it may determine whether the first arm is in a closed state, and if the first arm is in a closed state, change the second arm to an open state, and if the first arm is in an open state, maintain the second arm in the closed state.

[0231] According to this, when the first rail is connected to the first arm in the closed state, the second rail can be connected to the second arm. When the first arm is in the open state, if the second rail is connected to the second arm in the closed state, the second arm can be maintained in the closed state without opening the second arm. In this way, the unmanned aerial vehicle can be reliably suspended from the rail, thereby preventing the unmanned aerial vehicle from falling.

[0232] The control unit may further control the rotational speeds of the multiple motors, and when the first arm is in an open state, the second arm is in a closed state, and the second arm is suspended from the rail passing through the second area, the control unit may make the first rotational speed of a first motor among the multiple motors that is closest to the first arm greater than the second rotational speed of a second motor closest to the second arm, or when the second arm is in an open state, the first arm is in a closed state, and the first arm is suspended from the rail passing through the first area, the control unit may make the second rotational speed of a second motor among the multiple motors that is closest to the second arm greater than the first rotational speed of a first motor closest to the first arm.

[0233] According to this, when the second arm is in a closed state and the first arm is in an open state, the center of gravity moves toward the first arm due to the weight of the first arm. Therefore, by making the first rotation speed of the first motor on the first arm side faster than the second rotation speed of the second motor on the second arm side, it is possible to impart buoyancy equivalent to the weight of the center of gravity shifted toward the first arm side to the unmanned aerial vehicle.

[0234] The same is true when the first arm is closed and the second arm is open, and the center of gravity shifts to the second arm side due to the weight of the second arm. Therefore, by making the second rotation speed of the second motor on the second arm side faster than the first rotation speed of the first motor on the first arm side, it is possible to impart buoyancy equivalent to the weight of the center of gravity shifted to the second arm side to the unmanned aerial vehicle.

[0235] Therefore, with this unmanned aerial vehicle, even if the center of gravity shifts from the center of the body of the unmanned aerial vehicle, the attitude of the body of the unmanned aerial vehicle can be kept approximately parallel to the horizontal direction.

[0236] The connecting body further has a third actuator that changes the angle of the fixed part relative to the main body, and the control unit further controls the third actuator so that when the first arm is in an open state, the second arm is in a closed state, and the second arm is hanging from the rail passing through the second area, the control unit changes the angle via the third actuator so that the second area is positioned directly above the center of the main body, or when the second arm is in an open state, the first arm is in a closed state, and the first arm is hanging from the rail passing through the first area, the control unit changes the angle via the third actuator so that the first area is positioned directly above the center of the main body.

[0237] According to this, when the first arm is in an open state and the second arm suspended from the second rail is in a closed state, the first rail that was present in the first area may be opened outside the first area simply by changing the attitude (angle) of the fixed part relative to the main body of the unmanned aerial vehicle.

[0238] When the second arm is in an open state and the first arm suspended from the first rail is in a closed state, the second rail that was in the second area can be opened outside the second area simply by changing the attitude (angle) of the fixed part relative to the main body of the unmanned aerial vehicle.

[0239] In this way, simply by tilting the fixed portion relative to the main body, it is easy to detach the first rail from the connecting body, or to detach the second rail from the connecting body. It is also easy to switch the connecting body connected to the first rail to the second rail, or to switch the connecting body connected to the second rail to the first rail.

[0240] The system may include the unmanned aerial vehicle and the rail, and the rail may be provided with a marker containing predetermined information.

[0241] This allows the unmanned aerial vehicle to read the specific information indicated by the markers attached to the rail. For example, the specific information can include address, location information, etc., which allows the package to be delivered to the specified location more accurately.

[0242] The system may include the unmanned aerial vehicle and the rail, and the rail may be provided with a concave / convex portion containing predetermined information.

[0243] According to this, when the unmanned aerial vehicle moves along the rail, it is possible to obtain predetermined information from the unevenness of the rail. For example, by including address, location information, etc. in the predetermined information, it becomes possible to more accurately deliver the package to the specified location.

[0244] The unmanned aerial vehicle comprises a plurality of rotors, a plurality of motors for rotating each of the plurality of rotors, a main body supporting the plurality of motors, a connecting body for connecting the main body to a rail located away from the ground while the main body is suspended, an actuator for changing the angle between the normal direction of a virtual plane including the plurality of rotors and the support direction when the connecting body is supported on the rail, and a control unit for controlling the plurality of motors and the actuator, wherein the connecting body has a first end connected to the main body and a second end for slidably connecting to the rail, the support direction being a direction from the first end to the second end of the connecting body, and the control unit may, in a first mode, cause the normal direction of the virtual plane to coincide with the support direction via the actuator, and, in a second mode, cause the normal direction of the virtual plane to be perpendicular to the support direction via the actuator.

[0245] According to this, the control unit can change the attitude of the main body of the unmanned aerial vehicle relative to the support direction when traveling on the rail. For example, when the unmanned aerial vehicle travels on the rail, the second mode can be executed, and when the unmanned aerial vehicle leaves the rail, the first mode can be executed. Therefore, the unmanned aerial vehicle can change its flight mode appropriately depending on the situation.

[0246] In a third mode, the control unit may control the angle via the actuator to be equal to or greater than 10 degrees and equal to or less than 30 degrees.

[0247] This allows the unmanned aerial vehicle to move along the rail without contact between the rail and the support.

[0248] The unmanned aerial vehicle may further include a sensor that detects an inclination of the rail, and the control unit may change the angle according to the inclination of the rail.

[0249] This allows the unmanned aerial vehicle to move along an inclined rail even if the rail is inclined relative to the horizontal direction.

[0250] The control unit may cause the normal direction of the virtual plane to coincide with an inclination of the rail via the actuator.

[0251] According to this, the connector is capable of moving along the rail, so that contact between the rail and the support body can be suppressed.

[0252] When the control unit receives a first instruction to propel the unmanned aerial vehicle in a first direction along the rail, it tilts the normal direction of the virtual plane from the support direction to a second direction, rotates the rotor of a first motor among the multiple motors that is located in the first direction relative to the center of the main body in a first rotation direction, and rotates the rotor of a second motor among the multiple motors that is located in the second direction relative to the center of the main body in a second rotation direction, the second direction being opposite to the first direction, and the second rotation direction may be opposite to the first rotation direction.

[0253] This allows the unmanned aerial vehicle to move forward while maintaining the desired attitude of its main body in the support direction.

[0254] When the control unit obtains a second instruction to propel the unmanned aerial vehicle in the second direction along the rail, it may rotate the rotor of the first motor in the second rotational direction and rotate the rotor of the second motor in the first rotational direction.

[0255] According to this, by rotating the first motor and the second motor in the opposite direction, the unmanned aerial vehicle can move in the opposite direction. For example, after delivering the package, the unmanned aerial vehicle can return along the rails it came along.

[0256] When the control unit acquires the second instruction, it may further tilt the normal direction of the virtual plane from the support direction to the first direction via the actuator, rotate the rotor of the first motor in the first rotation direction, and rotate the rotor of the second motor in the second rotation direction.

[0257] This allows the inclination of the body of the unmanned aerial vehicle to be reversed with respect to the support direction. The normal direction of the virtual plane is inclined from the second direction side to the first direction side with respect to the support direction. This allows the unmanned aerial vehicle to run in the opposite direction. For example, even in this case, after delivering the package, the unmanned aerial vehicle can return along the rails it traveled along.

[0258] The connecting body has a fixed part connected to the main body, an arm connected to the rail, and a second actuator arranged between the fixed part and the arm and rotatable around the support direction as a rotation axis, and when the control unit obtains a second instruction to propel the unmanned aerial vehicle in the second direction along the rail, it may reverse the orientation of the main body around the support direction as a rotation axis via the second actuator.

[0259] According to this, by rotating the fixed part with respect to the arm with the support direction as the rotation axis, the tilt of the main body of the unmanned aerial vehicle can be inverted and symmetrical with respect to the support direction. This allows the unmanned aerial vehicle to run in reverse. For example, even in this case, after delivering the package, it can return along the rail it came along.

[0260] The connecting body has an arm connected to the rail and capable of opening and closing, and a third actuator for opening and closing the arm, and when the control unit obtains a second instruction to propel the unmanned aerial vehicle in the second direction along the rail, the control unit may change the arm from a closed state to an open state via the third actuator, control the multiple motors to reverse the orientation of the main body around the support direction, and change the arm from the open state to the closed state via the third actuator.

[0261] According to this, the unmanned aerial vehicle is once detached from the rail, the unmanned aerial vehicle reverses its direction, and the connector of the unmanned aerial vehicle is reconnected to the rail. For example, even in this case, after delivering the package, the unmanned aerial vehicle can return along the rail along which it traveled.

[0262] The connector may include an arm connected to the rail, and a roller provided on an inner circumferential surface of the arm and in rotatable contact with the rail.

[0263] According to this, when the connector of the unmanned aerial vehicle is connected to a rail, the rollers come into contact with the rail, allowing the unmanned aerial vehicle to move along the rail. The unmanned aerial vehicle can move along the rail using only the propulsive force in the direction of its own travel. Since the unmanned aerial vehicle does not need to expend energy on the lift to lift itself, energy conservation of the unmanned aerial vehicle can be achieved.

[0264] The connecting body may include a pair of brake pads and a brake mechanism that changes the spacing between the pair of brake pads to sandwich the rail between the pair of brake pads.

[0265] According to this, when the connector of the unmanned aerial vehicle is connected to a rail, the rail can be clamped by the pair of brake pads, so that a moving unmanned aerial vehicle can be easily slowed down or stopped.

[0266] When the control unit obtains a stop instruction to stop the unmanned aerial vehicle, it may rotate the rotor of the first motor in the second rotation direction and rotate the rotor of the second motor in the first rotation direction.

[0267] According to this, the rotation direction of the rotor blades of the first motor and the rotor blades of the second motor when instructed to stop can be reversed relative to the rotation direction of the rotor blades of the first motor and the rotor blades of the second motor when moving forward, thereby stopping the movement of the unmanned aerial vehicle.

[0268] The storage device is a storage device capable of storing luggage delivered by an unmanned aerial vehicle, and comprises a container having a bottom portion and a side portion, a top lid provided above the container, and a load support capable of supporting the load of the unmanned aerial vehicle carrying the luggage, wherein the unmanned aerial vehicle has a plurality of legs capable of landing on the load support, and the load support has a plurality of recesses capable of supporting the plurality of legs, and each of the plurality of recesses may be a mortar-shaped or conical recess opening upward.

[0269] According to this, the multiple recesses can guide the multiple legs by engaging with them when the unmanned aerial vehicle descends. Therefore, the load support can hold the unmanned aerial vehicle in a predetermined attitude. Therefore, when the unmanned aerial vehicle delivers a package, the unmanned aerial vehicle can easily be positioned vertically above the container. Therefore, the package can be reliably stored in the storage device.

[0270] The storage device is a storage device capable of storing items delivered by an unmanned aerial vehicle, and comprises a container having a bottom portion and a side portion, a lid rotatably connected to the container, a load support capable of supporting the load of the unmanned aerial vehicle carrying the items, and one or more link rods connected between the load support and the lid, and when the unmanned aerial vehicle applies a load to the load support, the one or more link rods may transmit the load to the lid to open the lid.

[0271] According to this, the container lid can be automatically opened simply by hanging the unmanned aerial vehicle from the load support, so that the item delivered by the unmanned aerial vehicle can be stored in the container.

[0272] A method for storing an item delivered by an unmanned aerial vehicle in a storage device may include the steps of supporting the unmanned aerial vehicle on a load support of the storage device, lowering the item from the unmanned aerial vehicle via a wire after a lid of the storage device is opened and storing the item in the container, disconnecting the item from the wire, winding up the wire, and moving the unmanned aerial vehicle away from the load support.

[0273] The lid may close over the top of the container when the load on the load support is removed.

[0274] This allows the unmanned aerial vehicle to automatically point to the container lid once it has left the load support and taken off.

[0275] The load support may be positioned above the container.

[0276] With this, when the unmanned aerial vehicle is suspended from the load support, the lid of the container opens, making it easy to store items delivered by the unmanned aerial vehicle in the container.

[0277] The load support may be a suspension rod capable of suspending the unmanned aerial vehicle.

[0278] This ensures that the load of the unmanned aerial vehicle suspended from the load support can be supported reliably.

[0279] The hanging rod may have a V-shaped or U-shaped bent portion directly above the container.

[0280] According to this, the unmanned aerial vehicle can be easily positioned since it is easy for the unmanned aerial vehicle to be gripped by the bent portion. Therefore, when the unmanned aerial vehicle is hung from the load support, the lid of the container opens, so that the goods delivered by the unmanned aerial vehicle can be more easily stored in the container.

[0281] The one or more link rods may include a first link rod, a second link rod, and a third link rod, a first end of the first link rod being rotatably connected to the hanging rod, a second end of the first link rod being rotatably connected to a third end of the second link rod, a fourth end of the second link rod being rotatably connected to a fifth end of the third link rod, and a sixth end of the third link rod being rotatably connected to the cover.

[0282] According to this, when the unmanned aerial vehicle is hung from the hanging rod, the hanging rod is bent vertically downward due to the load of the unmanned aerial vehicle. This causes the load to be transmitted to the container lid via the hanging rod, the first link rod, the second link rod, and the third link rod. Therefore, the container lid can be reliably opened simply by hanging the unmanned aerial vehicle from the hanging rod. Therefore, with this storage device, the goods delivered by the unmanned aerial vehicle can be more easily stored in the container.

[0283] The storage device may further include a first shaft supporting rotation of the load support at a position between both ends of the suspension rod, and a second shaft supporting rotation of the third link rod at a position between the fifth end and the sixth end of the third link rod.

[0284] According to this, the load of the unmanned aerial vehicle can be reliably transmitted to the first link rod via the first shaft. The load of the unmanned aerial vehicle transmitted to the third link rod can be reliably transmitted to the lid of the container via the second shaft. As a result, the lid of the container can be opened.

[0285] The device may further include a support member that fixes the positions of the first shaft and the second shaft.

[0286] This allows the weight of the unmanned aerial vehicle hanging from the hanging rod to be reliably transmitted to the container lid via the first link rod, the second link rod, and the third link rod, thereby allowing the container lid to be opened reliably.

[0287] The storage device may further include a door provided on a side portion of the container, and a first interlocking unit that locks the door when the lid is opened.

[0288] According to this, when storing the items in the container, it is possible to prevent the items from jumping out of the door. By locking the door, it is possible to prevent the door from being forgotten to be locked, and therefore it is possible to prevent theft of the items stored in the storage device, which is highly convenient.

[0289] The storage device may further comprise a second interlocking portion for locking the lid when the lid is closed.

[0290] According to this, the lid can be automatically locked when it is closed. Therefore, the trouble of locking the lid is reduced. By locking the lid, it is possible to prevent forgetting to lock the lid, which makes it possible to prevent theft of luggage stored in the storage device, and is therefore highly convenient.

[0291] A system may include the storage device and the unmanned aerial vehicle.

[0292] The unmanned aerial vehicle may have a first arm for hanging from the load support.

[0293] This allows the unmanned aerial vehicle to be securely suspended from the load support, so that it can maintain its posture even if, for example, the motor drive is stopped.

[0294] In the system, the unmanned aerial vehicle has a wire, a second arm connected to one end of the wire and holding the item, a reel connected to the other end of the wire and capable of winding up the wire, and a control unit, and the control unit may be configured to, after the lid is opened, reel out the wire to carry the item into the container, and after the item is placed on the bottom of the container, release the second arm from holding the item and cause the reel to wind up the wire.

[0295] According to this, when the unmanned aerial vehicle is suspended from the load support, the second arm and the object can be lowered toward the container by letting out the wire. When the object is placed on the bottom of the container, the second arm can be moved away from the object. Therefore, this system can reliably store the object inside the container.

[0296] In the system, the unmanned aerial vehicle may further include a camera capable of photographing the inside of the container.

[0297] This makes it possible to check whether the unmanned aerial vehicle has stored the baggage in the container. Therefore, if the item has not been stored inside the container, the second arm can be prevented from moving away from the item. The baggage can be stored in the container after being pulled up again.

[0298] In the system, the control unit may acquire images of the interior of the storage device via the camera, and perform an authentication process based on the images to verify that the unmanned aerial vehicle has stored the item.

[0299] This makes it possible to prove that the item has been stored in the storage device, thereby ensuring the reliability of storing the item in the container.

[0300] An angle formed by a rotation shaft of each of the first motors with respect to an imaginary plane passing through a center of each of the first propellers may be equal to or greater than -45 degrees and equal to or smaller than +45 degrees.

[0301] The lifting system may further include one or more actuators that adjust the angles formed by the rotation axes of each of the plurality of first motors with respect to the imaginary plane.

[0302] The one or more actuators may tilt the rotational axis so that the angle is 0 degrees in a first mode, and tilt the rotational axis so that the angle is an elevation angle in a second mode.

[0303] The first wire may be directly connected to at least one connection point of the first support.

[0304] The first wire may have a first main wire and a plurality of first sub-wires, one ends of the plurality of first sub-wires being directly connected one-to-one to a plurality of connection points of the first support, and the other ends of the plurality of first sub-wires being connected to one end of the first main wire which is a common connection point, and the first main wire may suspend and support the first support on the unmanned aerial vehicle via the plurality of first sub-wires.

[0305] The first support body may have a polygonal first frame body, and the multiple connection points may be arranged at multiple portions of the first frame body corresponding to multiple vertices.

[0306] The first support may have a polygonal first frame, and the one connection point may be movable on a plane within the first frame that is parallel to an imaginary plane.

[0307] The side portion of the first support may include a first side portion and a second side portion facing the first side portion across the first support and / or the luggage, the multiple first motors may include a first first motor provided on the first side portion and having a first rotating shaft, and a second first motor provided on the second side portion and having a second rotating shaft, and the control unit may execute a third mode in which the first rotating shaft is rotated in a first rotation direction and the second rotating shaft is rotated in a second rotation direction opposite to the first rotation direction, and a fourth mode in which the first rotating shaft and the second rotating shaft are rotated in the second rotation direction.

[0308] The multiple first motors may further include a third first motor having a third rotation shaft and provided on the first side portion at a position adjacent to the first first motor in the virtual plane, and a fourth first motor having a fourth rotation shaft and provided on the second side portion at a position adjacent to the second first motor in the virtual plane, and the control unit may rotate the third rotation shaft in the second rotation direction and rotate the fourth rotation shaft in the first rotation direction in the third mode, and rotate the third rotation shaft and the fourth rotation shaft in the first rotation direction in the fourth mode.

[0309] The second device may further comprise a sensor for detecting the position of a storage device for receiving the luggage.

[0310] These comprehensive or specific aspects may be realized as a system, a method, an integrated circuit, a computer program, or a recording medium such as a computer-readable CD-ROM, or may be realized as any combination of the system, method, integrated circuit, computer program, or recording medium.

[0311] Hereinafter, the embodiment will be specifically described with reference to the drawings.

[0312] The embodiments described below are all comprehensive or specific examples. The numerical values, shapes, materials, components, component arrangement and connection forms, steps, and order of steps shown in the following embodiments are merely examples and are not intended to limit the present invention. Among the components in the following embodiments, components that are not described in the independent claims are described as optional components.

[0313] (Embodiment 1) FIG. 1 is a schematic diagram illustrating a flight system 10 in the first embodiment. With reference to FIG. 1, the flight system 10 in the present embodiment will be described. The flight system 10 in the present embodiment includes a management unit 100 that manages information such as the position information of the rail 400 or information indicating the flight status of the drone, a parent drone 200 that is an unmanned aerial vehicle, and a child drone 300 that is an unmanned aerial vehicle and has a smaller shape than the parent drone 200. The management unit 100 may be realized by a server or a cloud server. The child drone 300 may be connected to the rail 400, and the parent drone 200 may store a load 500. The parent drone 200 and the child drone 300 are each wirelessly connected to the management unit 100. The parent drone 200 and the child drone 300 are connected to each other by a connecting line such as a wire 600.

[0314] The child drone 300 and the parent drone 200 fly while connected to each other by a connecting line. Hereinafter, flying the parent drone 200 and the child drone 300 while connected to each other by a connecting line will be referred to as parent-child connected flight. When a flight abnormality occurs in the parent drone 200, the child drone 300 stops moving forward. The child drone 300 or the parent drone 200 may include a controller, and when a flight abnormality occurs in the parent drone 200, the controller stops the child drone 300 moving forward.

[0315] 2 is a block diagram illustrating the configuration of the flight system 10 in the first embodiment. The management unit 100 includes a communication unit 110, a display 120, and a memory 130. The communication unit 110 includes a transmitter 111 and a receiver 112. The communication unit 110 communicates with the parent drone 200 and the child drone 300. The memory 130 is a recording medium for storing (memorizing) information such as the identification information of the rail 400.

[0316] The parent drone 200 includes a control unit 230, a driving unit 210, and a communication unit 220. The communication unit 220 includes a receiver 221 and a transmitter 222. The driving unit 210 includes a battery 211 and a wire control module 212. The control unit 230 includes a flight controller 231, a gyro sensor 232, a GPS (Global Positioning System) sensor 233, and a speed sensor 234.

[0317] The communication unit 220 communicates with the management unit 100 using the receiver 221 and the transmitter 222. The battery 211 is a battery for driving the parent drone 200, and is realized by a lithium battery or the like. The wire control module 212 controls the wire 600 that connects the parent drone 200 and the child drone 300. The wire control module 212 may be an example of a lift motor. The flight controller 231 detects the inclination and angle of the aircraft during flight, performs various calculations based on the information, and issues instructions to the aircraft regarding its attitude during flight, etc. The gyro sensor 232 detects the angular velocity and acceleration of the aircraft during flight. The GPS sensor 233 detects geospatial information such as latitude and longitude information, etc. The speed sensor 234 detects the speed of the parent drone 200.

[0318] The child drone 300 includes a communication unit 320, a drive unit 310, a control unit 330, and an arm 340. The communication unit 320 includes a receiver 321 and a transmitter 322. The drive unit 310 includes a wire control module 311, a rail control module 312, and a battery 313. The control unit 330 includes a gyro sensor 331, a GPS sensor 332, a tension sensor 333, a camera sensor 334, a speed sensor 335, and a laser sensor 336. The control unit 330 may include a flight controller. The arm 340 includes a first arm 341 and a second arm 342.

[0319] The communication unit 320 communicates with the management unit 100 using the receiver 321 and the transmitter 322. The battery 313 is a battery for driving the child drone 300, and is realized by a lithium battery or the like. The wire control module 311 controls the wire 600 that connects the parent drone 200 and the child drone 300. The rail control module 312 is a module that controls the child drone 300 when the child drone 300 is connected to the rail 400. The gyro sensor 331 detects the angular velocity and acceleration of the aircraft during flight. The GPS sensor 332 detects geospatial information such as latitude and longitude information. The speed sensor 335 detects the speed of the child drone 300. The tension sensor 333 is a sensor that detects the tension of the wire 600 that connects the wire control module 311 of the child drone 300 and the wire control module 212 of the parent drone 200. The camera sensor 334 is a sensor that detects abnormalities in the flight of the parent drone 200 from images captured by the camera. The laser sensor 336 is a sensor that detects the position of an object, and detects the presence or absence of abnormalities in the flight of the parent drone 200. The arm 340 is connected to the rail 400 by driving the first arm 341 and the second arm 342.

[0320] The parent drone 200 and the child drone 300 are connected by a wire 600 via the wire control module 212 of the parent drone 200 and the wire control module 311 of the child drone 300.

[0321] The rail 400 includes an address section 401j, a starting end 402k, and a terminal end 403. The address section 401j stores identification information of the rail 400 and the like. The starting end 402k is the point where the rail 400 starts, and the terminal end 403 is the point where the rail 400 ends. The rail 400 is formed of metal or resin. Data such as identification information or position information of the rail 400 can be written on the surface of the rail 400. The identification information or position information or the like data of the rail 400 is held in the rail 400 as the address section 401j.

[0322] FIG. 3 is a diagram illustrating the rail 400 installed on the building 700 in the flight area in the first embodiment. In FIG. 3, three coordinate axes are set, and the X-axis direction is the direction of travel of the drone, the forward direction of the drone is the X-axis positive side, and the backward direction of the drone is the X-axis negative side. The Y-axis direction is perpendicular to the X-axis direction and the vertical direction, the direction away from the building 700 or the rail 400 is the Y-axis positive side, and the direction approaching is the Y-axis negative side. The Z-axis direction is the vertical direction, the vertical upward direction is the Z-axis positive side, and the vertical downward direction is the Z-axis negative side. The rail 400 is installed horizontally on the side wall of the building 700. The rail 400 is installed away from the ground and fixed. In FIG. 3, the rail 400 is installed in the upper half of the building 700. The rail 400 may be installed in the lower half of the building 700. For example, in the flight system 10 in this embodiment, the child drone 300 is flown at a position closer to the rail 400 than the parent drone 200. The child drone 300 flies at a position lower than the rail 400. This allows the child drone 300 to be easily connected to the rail 400 by the arm 340 provided on the upper part of the child drone 300. The child drone 300 flies along the installed rail 400, or the arm 340 installed on the child drone 300 is connected to the rail 400 to prevent it from falling. The child drone 300 can be movably connected to the rail 400 by the arm 340 provided on the child drone 300, and may fly while being connected to the rail 400.

[0323] FIG. 4 is a diagram illustrating a state in which the child drone 300 is connected to the rail 400 installed on the building 700 and the parent drone 200 is connected to the child drone 300 by the wire 600 in the first embodiment. In FIG. 4, the child drone 300 is connected to the rail 400 installed on the building 700. The child drone 300 is connected to the parent drone 200 by the wire 600. The child drone 300 flies in a state in which the rail 400 and the arm 340 of the child drone 300 are not in contact with each other to avoid wear on the rail 400. The parent drone 200 can fly freely within the reach of the wire 600, starting from the connection point with the child drone 300 via the wire 600. On the other hand, the child drone 300 flies in a straight line along the rail 400 installed on the building 700 and is connected to the rail 400 by the arm 340, so that there is little risk of falling even if an abnormality occurs in the flight of the child drone 300 or the parent drone 200.

[0324] FIG. 5 is a flowchart illustrating a first example of the control for preventing a fall in the flight system 10 in the first embodiment. The child drone 300 determines whether or not a wireless connection is established with the parent drone 200 (S5001). If the child drone 300 has established a wireless connection with the parent drone 200 (Yes in S5001), the child drone 300 flies (S5002). If the child drone 300 has not established a wireless connection with the parent drone 200 (No in S5001), the process returns to step S5001. Next, the child drone 300 uses the tension sensor 333 to detect whether there is any abnormality in the tension of the wire 600 (S5003). If the child drone 300 detects an abnormality in the tension of the wire 600 (Yes in S5003), the child drone 300 stops the forward movement of the child drone 300 (S5004). Next, the child drone 300 determines whether the wire 600 connecting the child drone 300 and the parent drone 200 is equal to or shorter than a predetermined length (S5005). If the wire 600 is equal to or shorter than the predetermined length (Yes in S5005), the child drone 300 connects to the rail 400 (S5007). If the wire 600 is not equal to or shorter than the predetermined length (No in S5005), the child drone 300 winds up the wire 600 by the wire control module 311 (S5006). After that, the child drone 300 connects to the rail 400 (S5007). Next, the child drone 300 determines whether the child drone 300 has detected a downward pressure (S5008). For example, if the control unit 230 is equipped with a pressure sensor, the child drone 300 determines whether the downward pressure detected by the pressure sensor is equal to or higher than a threshold value. If the child drone 300 detects downward pressure (Yes in S5008), the child drone 300 stops the rotation of the child drone 300's propellers (S5009).

[0325] The parent drone 200 determines whether or not a wireless connection has been established with the child drone 300 (S5010). If a wireless connection has been established with the child drone 300 (Yes in S5010), the parent drone 200 flies (S5011). Next, it is determined whether an emergency power off has occurred in the parent drone 200 (S5012). If an emergency power off has occurred (Yes in S5012), the parent drone 200 falls (S5013). At this time, the child drone 300 detects an abnormality in tension in step S5003. Next, the fallen parent drone 200 is suspended in mid-air by the wire 600 that connected the child drone 300 and the parent drone 200 (S5014).

[0326] Through the above series of movements, if the parent drone 200 is powered off in an emergency during flight, the child drone 300 can detect that the parent drone 200 has fallen from a change in tension of the wire 600 connecting the parent drone 200 and the child drone 300. When the tension of the wire 600 reaches or exceeds a predetermined threshold, the flight of the parent drone 200 may be determined to be abnormal. When the parent drone 200 falls, the child drone 300 winds up the wire 600 between the parent drone and the child drone 300 by the wire control module 311, shortens the length of the wire 600, and then connects to the rail 400. This brings the child drone 300 and the parent drone 200 closer to each other, preventing the child drone 300 and the parent drone 200 from falling. Finally, the child drone 300 stops rotating the propellers and ceases flight.

[0327] FIG. 6 is a flowchart illustrating a second example of the control for preventing a fall in the flight system 10 in the first embodiment. The child drone 300 determines whether or not a wireless connection is established with the parent drone 200 (S6001). If a wireless connection is established with the parent drone 200 (Yes in S6001), the child drone 300 flies (S6002). If a wireless connection is not established with the parent drone 200 (No in S6001), the process returns to step S6001. Next, the child drone 300 determines whether or not a tipping signal is received from the parent drone 200 (S6003). If a tipping signal is received from the parent drone 200 (Yes in S6003), the child drone 300 stops moving forward (S6004). Next, the child drone 300 determines whether or not the wire 600 connecting the parent drone 200 and the child drone 300 is equal to or shorter than a predetermined length (S6005). If the wire 600 is sufficiently short (Yes in S6005), the child drone 300 connects to the rail 400 (S6007). If the wire 600 is not sufficiently short, the child drone 300 winds up the wire 600 between the child drone 300 and the parent drone 200 by the wire control module 311. After that, the child drone 300 connects to the rail 400 (S6007). Next, the child drone 300 determines whether or not it has received a recovery signal from the parent drone 200 (S6008). If the child drone 300 has received a recovery signal from the parent drone 200 (Yes in S6008), the child drone 300 leaves the rail 400 (S6010). If the child drone 300 has not received a recovery signal from the parent drone 200 (No in S6008), the child drone 300 stops the propellers (S6009).

[0328] The parent drone 200 determines whether or not a wireless connection is established with the child drone 300 (S6011). If a wireless connection is established with the child drone 300 (Yes in S6011), the parent drone 200 flies (S6012). If a wireless connection is not established with the child drone 300 (No in S6011), the process returns to step S6011. Next, the parent drone 200 determines whether or not it has tipped over (S6013). Here, tipping over refers to a state in which the body of the parent drone 200 is in a state in which the body is nearly upside down during flight. If the parent drone 200 has tipped over (Yes in S6013), it transmits a tipping signal to the child drone 300 (S6014). After that, the parent drone 200 performs a recovery process (S6015). Here, the recovery process refers to a process of collecting information to recover the body of the parent drone that has tipped over. Then, the parent drone 200 determines whether it can recover (S6016). Here, recovery means that the parent drone 200 returns its posture after it has fallen to that of a normal flight state. If the parent drone 200 can recover (Yes in S6016), the parent drone 200 returns to flight mode (S6017). If the parent drone 200 cannot recover (No in S6016), the parent drone 200 stops the propellers (S6018). After the parent drone 200 returns to flight mode in step S6017, the parent drone 200 transmits a recovery signal to the child drone 300 (S6019).

[0329] This allows the child drone 300 to detect the fall of the parent drone 200 by the electrical signal sent from the parent drone 200. When the child drone 300 detects the fall of the parent drone 200, the wire control module 311 of the child drone 300 winds up the wire 600 connecting the parent drone 200 and the child drone 300. This shortens the length of the wire 600 between the parent drone 200 and the child drone 300. After that, the child drone 300 connects to the rail 400, so that the parent drone 200 and the child drone 300 can avoid crashing. When the parent drone 200 returns to the flight mode, the child drone 300 receives a recovery signal sent from the parent drone 200 and releases from the rail 400. This allows the parent drone 200 and the child drone 300 to fly again with a high degree of freedom. If the child drone 300 does not receive a recovery signal transmitted from the parent drone 200, the parent drone 200 and the child drone 300 stop the propellers, and the child drone 300 remains connected to the rail 400. Thus, the parent drone 200 and the child drone 300 can avoid crashing and stop safely.

[0330] 7A and 7B are a flowchart illustrating a third example of the control for fall prevention in flight system 10 in embodiment 1.

[0331] First, the management unit 100, which operates the drones, wirelessly sends a flight preparation command to the parent drone 200 and child drone 300 (S1000). The child drone 300 receives the flight preparation command (S1001). The parent drone 200 receives the flight preparation command (S1002). Next, the child drone 300 attempts to connect to the parent drone 200 wirelessly or via a wire (S1003). The parent drone 200 attempts to connect to the child drone 300 wirelessly or via a wire (S1004). The child drone 300 determines whether the connection with the parent drone 200 is complete (S1005). The parent drone 200 determines whether the connection with the child drone 300 is complete (S1006). When the child drone 300 determines that the connection with the parent drone 200 is complete (Yes in S1005), the child drone 300 transmits a preparation completion signal to the management unit 100 (S1007). When the management unit 100 receives the preparation completion signal from the child drone 300, it determines whether the child drone 300 is ready to fly (S1008). When the management unit 100 determines that the child drone 300 is ready to fly (Yes in S1008), the management unit 100 issues a flight instruction to the child drone 300 (S1009). When the child drone 300 receives the flight instruction from the management unit 100, it flies (S1010). If the management unit 100 does not determine that the child drone 300 is ready to fly (No in S1008), the management unit 100 wirelessly sends a flight preparation instruction to the parent drone 200 and the child drone 300 (return to step S1000). If the child drone 300 does not determine that the connection with the parent drone 200 is complete (No in S1005), the child drone 300 attempts to connect to the parent drone 200 wirelessly or via a wire (return to step S1003). Next, if the parent drone 200 determines that the connection with the child drone 300 is complete (Yes in S1006), the parent drone 200 flies (S1011). If the parent drone 200 does not determine that the connection with the child drone 300 is complete (No in S1006), the parent drone 200 attempts to connect to the child drone 300 wirelessly or via a wire (return to step S1004).

[0332] During flight, the child drone 300 continues to intermittently transmit its own position information obtained using the Global Navigation Satellite System (GNSS) to the management unit 100 (S1012). The parent drone 200 also continues to intermittently transmit its own position information obtained using the GNSS to the management unit 100 (S1013).

[0333] As shown in FIG. 7B, if something abnormal occurs to the parent drone 200 during flight, that is, if some situation occurs that prevents stable flight for some reason (Yes in S1017), the parent drone 200 first determines whether its own power is ON (S1018). If the power is OFF (No in S1018), the propellers of the parent drone 200 are forcibly stopped and the parent drone 200 falls due to its own weight (S1020).

[0334] Specifically, this may occur when the battery 211 of the parent drone 200 runs out of power, or when the power system is instantly destroyed due to a collision with an obstacle, etc.

[0335] If the power can be kept ON (Yes in S1018), the parent drone 200 then determines whether electrical connection with the child drone 300 is maintained and whether a signal informing of an abnormality can be sent to the child drone 300 (S1019).

[0336] If a signal informing the child drone 300 of the abnormality cannot be transmitted (No in S1019), the parent drone 200 performs processing to return to flight on its own (S1022).

[0337] Specifically, a signal cannot be transmitted when, for example, the communication unit 220 of the parent drone 200 is destroyed due to a collision with an obstacle, or when the wireless connection is interrupted due to radio interference.

[0338] The return process here refers to a process in which the flight controller 231 of the parent drone 200 measures and analyzes flight conditions and position information using a group of sensors mounted on the parent drone 200, and attempts to restore a stable flight state. This return process may be attempted autonomously by the parent drone 200 alone, or may be attempted by the management unit 100 through remote operation.

[0339] After this recovery process, it is determined whether the flight state of the parent drone 200 has recovered (S1024), and if it has recovered (Yes in S1024), it temporarily hovers (S1025) and attempts to electrically reconnect with the child drone 300 (S1039). If the flight state has not recovered after a certain amount of time has passed (No in S1024), the parent drone 200 automatically stops its own propellers and falls towards the ground (S1026). At this time, it is also possible that the management unit will remotely send an emergency signal to stop the propellers, causing the drone to fall.

[0340] As a result of attempting reconnection processing to the child drone 300 (S1039), it is determined whether an electrical connection has been achieved and signals can be transmitted (S1040), and if transmission is possible (Yes in S1040), the parent drone 200 transmits a signal regarding the flight status of the parent drone 200 to the child drone 300 (S1041) and prepares to fly again based on the original flight plan (S1043). If transmission is not possible after a certain period of time has passed, the parent drone 200 stops the propellers automatically or manually by the management unit 100 and falls (S1042).

[0341] If it was possible to transmit an abnormality signal from the beginning (Yes in S1019), the abnormality signal is transmitted to the child drone 300 (S1021) and a recovery process is performed (S1023). As a result, it is determined whether the parent drone 200 has recovered its flight state (S1035), and if it has recovered, it prepares to fly again (S1037). If it has not recovered, it transmits a signal to the child drone 300 to inform it of its fall (S1036), and the propellers are stopped manually or automatically to fall (S1038). The child drone 300 constantly checks whether it has received an abnormality signal from the parent drone 200 (S1014), and if it receives an abnormality signal (Yes in S1014), the child drone 300 stops moving forward based on the flight plan (S1015) and prepares for the parent drone 200 to fall.

[0342] First, the child drone 300 measures the length of the wire 600 connected to the parent drone 200, and determines whether it is short enough not to crash into the ground, taking into account the current speed or position information of the parent drone 200 (S1027). If it is determined that it is not short enough, the child drone 300 winds up the wire 600 to the required length (S1044) and attempts to connect to a rail 400 in its vicinity (S1028). Here, connection to the rail 400 refers to the arm 340 being physically connected to the rail 400 by the rail control module 312 of the child drone 300.

[0343] After that, the child drone 300 determines whether it has received a fall signal from the parent drone 200 or whether it has detected a fall in the wire control module 311 (S1029). If it detects a fall (Yes in S1029), the child drone 300 also stops its propellers (S1030) and sends a signal to the management unit 100 notifying it that it has also fallen (S1034). However, in this fall, the child drone 300 loses lift from the propellers and loses altitude to a certain extent, but does not crash into the ground because it is connected to the rail 400. The same applies when the parent drone 200 falls, meaning that it will not crash into the ground.

[0344] If no fall is detected after a certain period of time has passed (No in S1029), it is determined that the parent drone 200 has successfully returned and prepares to fly again (S1031).

[0345] Even if no abnormality signal is received from the parent drone 200 (No in S1014), if the child drone 300 detects that the parent drone 200 has fallen (Yes in S1016), it will send a signal to the management unit 100 indicating that it has fallen and then stop its own propellers (S1033).

[0346] FIG. 8 is a diagram showing the appearance of the parent drone 200 connected to the child drone 300 by the wire 600 in the first embodiment. (a) of FIG. 8 is a diagram showing the parent drone 200 viewed from above. The parent drone 200 has four propellers on the upper surface. The four propellers are provided with ring-shaped propeller guards 800 so as to surround the periphery of the propellers. Providing the propeller guards 800 prevents the parent drone 200 from getting the wire 600 and the like entangled in the propellers during flight. A wire 600 that connects the parent drone 200 and the child drone 300 is connected to the underside of the parent drone 200. The wire 600 is attached to a wire connection part 241 provided on a rotating ring 240 that is rotatably attached so as to surround the body of the parent drone 200. By rotating the rotating ring 240, the wire connection part 241 can be installed on the upper surface of the parent drone 200, or can be installed on the lower surface of the parent drone 200. Therefore, the wire 600 can take a form extending from the upper surface of the parent drone 200 with respect to the parent drone 200, or can take a form hanging down from the lower surface of the parent drone 200. As shown in (b) of FIG. 8, the parent drone 200 is connected to the child drone 300 via the wire 600 connected to the wire connection part 241.

[0347] FIG. 9 is a diagram of the parent drone 200 having a rotating ring 240 to which the wire 600 is connected, as viewed from the top and side. FIG. 9(a) is a diagram of the parent drone 200 as viewed from the top. The parent drone 200 has four propellers on the top surface. The number of propellers possessed by the parent drone 200 is not limited to four, and may be any number. The parent drone 200 has a rotating ring 240, which is rotatably attached so as to cover the body of the parent drone 200. The wire 600 is connected to the rotating ring 240 via a wire connection part 241. In FIG. 9(a), the rotating ring 240 is installed so that the wire connection part 241, which is the connection part of the rotating ring 240 with the wire 600, is located on the top surface of the parent drone 200. FIG. 9(b) is a diagram of the parent drone 200 as viewed from the side. The parent drone 200 may have a shape in which the lower surface of the body is bulged in the vertical direction. The body of the parent drone 200 may have a shape close to a cylinder. The parent drone 200 may have one or more feet for standing on the ground. The propellers installed on the parent drone 200 may be arranged radially from the center of the parent drone 200. In (b) of FIG. 9, the wire 600 connected to the parent drone 200 is installed on the upper surface of the parent drone 200 via the wire connection part 241 on the rotating ring 240. In this way, the wire 600 may take a shape extending from the upper surface of the parent drone 200.

[0348] FIG. 10 is a top and side view of the parent drone 200 having a rotating ring 240 to which the wire 600 is connected, with the wire connection part 241 on the underside. FIG. 10(a) is a top view of the parent drone 200. The parent drone 200 has four propellers on the upper surface. The number of propellers possessed by the parent drone 200 is not limited to four, and may be any number. The parent drone 200 has a rotating ring 240, which is rotatably attached so as to cover the body of the parent drone 200. The wire 600 is connected to the rotating ring 240 via the wire connection part 241, and in FIG. 10(a), the rotating ring 240 is installed so that the wire connection part 241, which is the connection part of the rotating ring 240 to the wire 600, is located on the underside of the parent drone 200. FIG. 10(b) is a side view of the parent drone 200. A wire 600 is connected to the rotating ring 240, and in (b) of Fig. 10, a wire connection part 241 provided on the rotating ring 240 rotatably attached to the parent drone 200 is installed on the underside of the parent drone 200. In this manner, the wire 600 may be dangling from the underside of the parent drone 200.

[0349] FIG. 11 is a diagram illustrating the movement of the rotating ring 240 connected to the wire 600. In FIG. 11, the coordinate axes are set as the x-axis in the left-right direction, the y-axis in the depth direction, and the z-axis in the up-down direction. The rotating ring 240 is attached to the parent drone 200. The rotating ring 240 is attached so as to surround the body of the parent drone 200. The rotating ring 240 rotates around an axis along the X-axis direction as the center of rotation. The rotating ring 240 has a ring-like shape. The rotating ring 240 is realized by metal, resin, or the like. A wire connection part 241 is installed in a part of the rotating ring 240. The wire connection part 241 may have a cylindrical protrusion shape formed on the rotating ring 240. The wire 600 is attached to the wire connection part 241. The rotating ring 240 rotates according to the tension applied to the wire 600. Therefore, regardless of the tension applied to the wire 600, the parent drone 200 can maintain its posture to a certain extent.

[0350] FIG. 12 is a schematic diagram for explaining the role of the rotating ring 240 when the parent drone 200 falls in the first embodiment. Normally, the wire connection part 241 provided on the rotating ring 240 is at the lower end of the body of the parent drone 200. Normally, the parent drone 200 is connected to the child drone 300 via the wire 600 from the wire connection part 241 at the lower end of the body of the parent drone 200. The rotating ring 240 is attached near the center of the body of the parent drone. The wire connection part 241 is attached to the rotating ring 240. Therefore, the rotating ring 240 rotates in the direction in which the wire 600 is pulled.

[0351] When the parent drone falls, the rotating ring 240 equipped with a wire connection part installed on the parent drone 200 rotates half a circle, causing the parent drone 200 to hang down from the bottom of the child drone 300. The rotation of the rotating ring 240 reduces the possibility of the wire 600 becoming entangled in the parent drone 200. This can prevent the body of the parent drone from rotating upside down when it falls, and can prevent damage to the body of the parent drone 200 and the cargo 500 carried by the parent drone 200.

[0352] If the parent drone 200 is not equipped with the rotating ring 240, when the parent drone 200 falls, the parent drone will be in an upside-down position, with the bottom end where the wire connection part 241 is located facing up, and will hang down from the child drone 300.

[0353] FIG. 13 is a diagram showing a schematic diagram of a procedure for recovering the child drone 300 by the parent drone 200 in the first embodiment. The child drone 300 may be provided with a rotating ring for connecting a wire. In (a) of FIG. 13, the child drone 300 stops the propeller for some reason. Then, as shown in (b) of FIG. 13, the child drone 300 is suspended in mid-air, hanging from the parent drone 200. After that, as shown in (c) of FIG. 13, the parent drone 200 reels up the wire 600 connecting the parent drone 200 and the child drone 300 by the wire control module 212 of the drive unit 210. This operation causes the child drone 300 to be recovered by the parent drone 200. This state is referred to as the combination of the parent drone 200 and the child drone 300. The child drone 300 may be stored inside the parent drone 200. Combining the parent drone 200 and the child drone 300 enables high-speed flight in places where rails 400 are not installed, such as suburban areas. Even at collection and delivery points for cargo transported by the parent drone 200, flying in a combined state means that the wire 600 does not get in the way of other parent drones 200 and child drones 300, allowing many drones to efficiently enter and leave the collection and delivery point.

[0354] FIG. 14 is a diagram showing a state where the load 500 is loaded on the parent drone 200 from the side. The parent drone 200 has an opening 250 on the side so that the load 500 can be stored in the cavity of the fuselage. The shape of the opening 250 may be rectangular or circular. The load 500 may be stored in a box-shaped container attached to the lower part of the fuselage of the parent drone 200, not in the cavity of the fuselage of the parent drone 200. The parent drone 200 can store the child drone 300 in the lower part. With the propeller of the child drone 300 stopped, the wire control module 212 of the parent drone 200 can wind up the wire 600 connecting the parent drone 200 and the child drone 300, so that the parent drone 200 can store the child drone 300 in the lower part of the parent drone 200.

[0355] Flying at a higher speed than parent-child linked flight with the child drone 300 stored in the parent drone 200 is referred to as combined high-speed flight. Combined high-speed flight refers not only to a state in which the child drone 300 is stored in the parent drone 200, but also to a state in which the parent drone 200 and the child drone 300 can fly as one unit by shortening the connecting line connecting the parent drone 200 and the child drone 300.

[0356] FIG. 15 is a diagram illustrating two rails 400 installed on a building 700 in a flight area in the first embodiment. As in FIG. 3, the rails 400 are installed horizontally on the side wall of the building. However, the number of installed rails 400 is two. The two rails 400 may be arranged horizontally or may be arranged with a vertical offset. An aircraft consisting of a parent drone 200 and a child drone 300 connected to each other is called a parent-child drone 30. When two or more parent-child drones 30 are flying along the rails 400, one parent-child drone 30 can overtake the other parent-child drone 30 using the two rails.

[0357] FIG. 16 describes a mechanism for two drones overtaking each other using two rails 400. FIG. 16 is a diagram illustrating an example of one of two child drones 300 overtaking the other on a two-lane rail 400 in the first embodiment. The rails 400a and 400b shown in FIG. 16 are the two rails 400 shown in FIG. 15. For example, the rail 400a is closer to the side wall of the building than the rail 400b. The child drones 300a and 300b in FIG. 16 have the same function and configuration as the child drone 300. In 1) of FIG. 16, the child drone 300a and the child drone 300b are connected to the rail 400. The child drone 300a is moving ahead of the child drone 300b.

[0358] When the child drone 300b overtakes the child drone 300a, the following procedure is taken. As shown in 2) of FIG. 16, first, the child drone 300a that is being overtaken retreats to the overtaking rail 400b. At this time, the parent drone 200a (not shown) connected to the child drone 300a by the wire 600 may be moved in a direction away from the child drone 300a. Next, as shown in 3) of FIG. 16, the child drone 300b remaining on the rail 400a advances along the rail 400a. As shown in 4) of FIG. 16, after the child drone 300b has advanced sufficiently along the rail 400a, the child drone 300a returns from the rail 400b to the rail 400a. At this time, the length of the wire 600 connecting the parent drone 200a that is being overtaken and the child drone 300 may be increased. With the above operations, the operation of the child drone 300b overtaking the child drone 300a is completed. Thereafter, the parent drone 200a (not shown), which is connected to the child drone 300a by a wire 600, may be returned to its original flight course.

[0359] Fig. 17 is a diagram showing an example of the arrangement of two-lane rails 400 in the first embodiment. In this case, the distance between the two rails 400a and 400b may be greater than the width of the child drone 300. In Fig. 17, the rail 400a at a lower position is installed closer to the building, and the rail 400b at a higher position is installed farther away from the building than the rail 400a. The child drone 300b is connected to the rail 400a, and the child drone 300a is connected to the rail 400b.

[0360] When multiple rails are used to allow multiple drones to overtake each other while flying along the rails, rails 400a and 400b may be installed with a vertically offset height, as shown in Fig. 17. In this way, when rails 400a and 400b are installed with a vertically offset height, it is possible to reduce the possibility of a collision between parent drone 200a (not shown) connected to child drone 300a and parent drone 200b (not shown) connected to child drone 300b.

[0361] Fig. 18 is a diagram showing an example of the arrangement of two-lane rails 400 in the first embodiment. In Fig. 18, rail 400a is installed close to a building, and rail 400b is installed farther away from the building than rail 400a. Rail 400a and rail 400b are arranged horizontally and have the same height in the vertical direction. Child drone 300b is connected to rail 400a, and child drone 300a is connected to rail 400b.

[0362] When multiple rails are used to allow multiple drones to overtake each other while flying along the rails, rails 400a and 400b may be installed at equal vertical heights, as shown in Fig. 18. In this way, when rails 400a and 400b are installed side by side horizontally and at equal vertical heights, child drones 300a and 300b can move smoothly between rails 400a and 400b.

[0363] FIG. 19 is a schematic diagram illustrating the arrangement of the parent-child drone 30 when two rails 400 are installed. As shown in FIG. 19(a), rails 400a and 400b are installed horizontally on a building 700. At this time, the child drone 300b is connected to the rail 400 installed on the side closer to the building 700, and the child drone 300a is connected to the rail 400b on the side farther from the building. In contrast, the parent drone 200b is connected to the child drone 300b via a wire 600, and the parent drone 200a is connected to the child drone 300a via the wire 600. Therefore, the child drone 300a and the parent drone 200a will be inside the child drone 300b and the parent drone 200b. Therefore, the child drone 300b connected to the rail 400a closest to the building 700 and the parent drone 200b connected by the wire 600 will fly at the outermost position of all the drones, i.e., the farthest position from the building.

[0364] As shown in (b) of FIG. 19, a case will be described where rails 400a and 400b are installed on a building 700 with their heights shifted in the vertical direction. A child drone 300b is connected to the rail 400a installed in a location close to the building 700. A child drone 300a is connected to the rail 400b installed in a location away from the building 700 and at a higher position than the rail 400a. A parent drone 200b is connected to the child drone 300b via a wire 600. A parent drone 200a is connected to the child drone 300a via a wire 600. The child drone 300b and the parent drone 200b are located at a lower position than the child drone 300a and the parent drone 200a. The child drone 300b and the parent drone 200b are located at a position closer to the building 700 than the child drone 300a and the parent drone 200a. Therefore, the child drone 300a and the parent drone 200a fly diagonally above and to the right of the child drone 300b and the parent drone 200b. The length of the wire 600 connecting the child drone 300a and the parent drone 200a is equal to the length of the wire 600 connecting the child drone 300b and the parent drone 200b. Therefore, there is no need to change the control of the wire 600 between the parent-child drone that is overtaking and the parent-child drone that is being overtaken. Since the parent-child drones fly with a vertical offset, there is less risk of collision when overtaking.

[0365] Fig. 20 is a diagram illustrating two child drones 300 connected to one parent drone 200 in embodiment 1. Fig. 21 is a diagram illustrating a state in which one parent drone 200 connected to two child drones 300 in embodiment 1 overtakes another parent drone 200 and child drone 300 in front.

[0366] As shown in Fig. 20, child drone 300a connected to rail 400 and parent drone 200a connected to wire 600 are flying, and behind them are child drones 300ba and 300bb connected to rail 400 and parent drone 200b connected to wire 600. The procedure when child drone 300ba, child drone 300bb, and parent drone 200b flying behind child drone 300a and parent drone 200a overtakes them will be described.

[0367] As shown in FIG. 21, the parent-child drone 20 has two child drones 300ba and 300bb connected to the parent drone 200b. As shown in FIG. 21, first, the management unit 100 changes the flight course of the parent drone 200a of the parent-child drone 30 flying in front. The direction of the change may be the direction in which the parent drone 200a moves away from the rail 400. The child drone 300ba of the parent-child drone 20 flying behind moves away from the rail 400, overtakes the child drone 300a flying in front, and connects to the rail 400 at a position ahead of the child drone 300a. Next, the child drone 300bb flying behind also moves away from the rail 400 like the child drone 300ba, and connects to the rail 400 at a position behind the child drone 300ba and ahead of the child drone 300a. Thereafter, parent drone 200b flies and moves to a position close to child drones 300ba and 300bb, and overtakes parent drone 200a.

[0368] By following these steps in order for parent drone 200b to overtake parent drone 200a, parent drone 200b can overtake parent drone 200a without the wire 600 connecting parent drone 200a to child drone 300a and the wire 600 connecting parent drone 200b to child drones 300ba and 300bb becoming tangled.

[0369] FIG. 22 is a configuration diagram of a sensor that records address three-dimensional position information and navigation data on the surface of the wire 600 that connects the parent drone 200 and the child drone 300 in the first embodiment and reads the data. As shown in FIG. 22(a), data 900 is recorded on the surface of the rail 400. The data 900 includes, for example, identification information of the rail 400, three-dimensional position information, and navigation data for the child drone 300. The data 900 may be recorded in a ring shape on the surface of the rail 400. At this time, a technology used for writing data to a recording medium such as an optical drive such as a CD-ROM or a magnetic disk may be used.

[0370] The arm 340 of the child drone 300 is provided with a detector 901, a detector 902, a detector 903, and a detector 904. The detectors 901, 902, 903, and 904 are realized by optical sensors or the like. The number of detectors is not limited to four. The data 900 recorded on the rail 400 is read from different angles relative to the rail 400 by the multiple detectors 901, 902, 903, and 904. By reading the data 900 by the multiple detectors 901, 902, 903, and 904, the child drone 300 can read the necessary data 900 even if there is a missing part in the data 900 recorded on the rail 400. On the other hand, even if any of the multiple detectors 901, 902, 903, and 904 is damaged, the child drone 300 can read the data 900 from the rail 400.

[0371] As shown in FIG. 22(b), when the rail 400 is viewed in cross section, data 900 is recorded on the contour portion. The detection units 901, 902, 903, and 904 are each configured as an optical detection device 905. The optical detection device 905 includes an optical sensor 906. The optical detection device 905 reads the data 900 by the optical sensor 906. The data 900 includes, for example, an address indicating the position information of the rail 400 and navigation data for the child drone 300. The relative position of the parent drone 200 with respect to the child drone 300 can be determined by radio waves, and by comparing the address information indicating the absolute position recorded on the rail 400, the position information indicating the absolute position of the parent drone 200 in three dimensions can be identified. The child drone 300 intermittently transmits to the management unit 100 the data read from the rail 400 or information on the position of the child drone 300 or the position of the parent drone 200 determined using the data read from the rail 400 or the information on the position of the child drone 300 specified using the information.

[0372] FIG. 23 is a diagram illustrating the contents of the data 900 written on the rail 400 in the first embodiment. The rail 400 is defined to have a forward direction and a reverse direction. The data 900 recorded on the rail 400 includes an address, forward track information, reverse track information, radio location information acquisition information, GPS information, and the like. The address includes clock and position data. The forward track information or reverse track information includes obstacle information, rail 400 end information, rail 400 branch information, rail 400 diameter information, and the like. The radio location information acquisition information includes frequency and channel modulation method. The GPS information includes the presence or absence of GPS and the accuracy of GPS. The data 900 may include geographic coordinate information indicating the location of the rail 400 or altitude information indicating the altitude of the rail 400.

[0373] FIG. 24 is a flowchart illustrating control regarding the acquisition of rail position information by child drone 300 in embodiment 1.

[0374] First, before the flight of the child drone 300, the management unit 100 downloads rail information within the area from the database (S4001) and transmits rail information within the route to the child drone 300 (S4002).

[0375] The child drone 300 receives the intra-route rail information and stores (memorizes) it in memory (S4003).

[0376] Note that information such as numbers, letters, or symbols is converted into one-dimensional codes according to certain rules and expressed as striped lines on the upper and lower surfaces of the rail 400. The rail information here refers to information describing where the multiple rails 400 are installed in the map data, and what position information the codes at each point on the rail 400 correspond to.

[0377] In addition, the start point 402k and the end point 403 at each end of the rail 400 are determined according to a certain rule. Each code written on the rail 400 is set according to a rule that allows information to be calculated by utilizing the difference from the previous code, and different information can be obtained when flying from the start point 402k to the end point 403 and when flying in the opposite direction.

[0378] When the child drone 300 begins flying (S4004), the child drone 300 detects the striped pattern of the rail 400 near itself with the infrared laser sensor 336 (S4005), and searches its memory based on the code it reads (S4006) to determine its location information (S4007).

[0379] Then, the child drone 300 transmits its location information to the management unit 100 (S4008), and the management unit 100 receives it (S4009).

[0380] A light-emitting unit such as an LED may be provided on the rail 400, and a signal may be transmitted to the child drone 300 by changing the brightness of the light-emitting unit. That is, a signal may be transmitted from the rail 400 to the child drone 300 by visible light communication. The light-emitting unit may be provided in a shape that penetrates one rail 400. By adopting such a method, the wider the light-emitting area, the more communication errors can be reduced. The light-emitting unit may be provided in a predetermined range of the rail 400. At night, it is difficult to recognize the rail position, and the accuracy of detection of the striped pattern is low, but by performing visible light communication between the rail 400 and the child drone 300, it is possible to recognize the rail position with high accuracy.

[0381] During visible light communication, the child drone 300 captures the luminance change of the light-emitting part provided on the rail 400 using an imaging element to obtain a visible light communication image. A CMOS sensor having multiple exposure lines may be used as the imaging element. By setting the exposure time of each exposure line of the CMOS sensor shorter than a predetermined time and capturing the light-emitting part, it becomes possible to capture the luminance change of the light-emitting part for each exposure line. Here, an image due to the luminance change corresponding to an exposure line is called a bright line. A visible light communication image includes multiple bright lines corresponding to multiple exposure lines in one frame, and a signal can be decoded from the multiple bright lines on the striped pattern.

[0382] Visible light communication using a CMOS sensor includes the following steps: the first step is to set the exposure time shorter than a predetermined time so that bright lines appear in the visible light communication image, the second step is to capture the light emitting part by sequentially exposing multiple exposure lines using the set exposure time to obtain a visible light communication image, and the third step is to decode a signal from the bright lines in the visible light communication image. Note that the exposure time only needs to be set shorter than the exposure time during normal shooting, and by setting it to 1 / 2000 seconds or less, it is possible to obtain clear bright lines.

[0383] 25A and 25B are flowcharts illustrating control regarding the acquisition of position information of the parent drone 200 in embodiment 1.

[0384] First, the child drone 300 and the parent drone 200 start flying after receiving instructions from the management unit 100 (S2001, S2000). The child drone 300 reads the address of the rail 400 in its vicinity with the laser sensor 336 (S2002), and transmits the determined position information of the child drone 300 to the management unit 100 (S2003). The management unit 100 receives the position information of the child drone 300 (S2007) and compares it with the flight plan of the child drone 300 created in advance (S2009). The management unit 100 determines whether the flight route is consistent with the originally planned flight route (S2010). If the original flight route and the current position are not consistent (No in S2010), the management unit 100 creates correction information to correct the route to the regular route (S2011) and transmits a flight instruction to the child drone 300 (S2012).

[0385] If it is consistent with the initial route (Yes in S2010), the management unit 100 instructs the child drone 300 to continue flying without creating correction information (S2012).

[0386] Meanwhile, the parent drone 200 determines whether it can receive a GPS signal during flight (S2004), and if it can receive the signal and measure its own position information (Yes in S2004), it transmits the information to the management unit 100 (S2005). If it cannot receive the signal (No in S2004), the parent drone 200 creates information to the effect that GPS detection is not possible and transmits it to the management unit 100 (S2008). The child drone 300 uses the tension sensor 333 for the wire 600 connected to the parent drone 200 to detect the relative direction, speed, distance, etc. of the parent drone 200 to the child drone 300 (S2013), and uses the information to calculate the relative position and speed information of the parent drone 200 to the child drone 300 (S2015). In this case, since it is sufficient for the child drone 300 to be able to calculate the relative position and speed information of the parent drone using some kind of sensor, the child drone 300 may measure the relative position and speed information using, for example, optical information of the parent drone using the camera sensor 334, or the strength and direction information of the radio signal sent from the parent drone using the receiver 321, or an electrical signal transmitted via wire 600.

[0387] Once the child drone 300 has calculated the relative position and speed information of the parent drone 200, the child drone 300 transmits it to the management unit 100 (S2018), as shown in Fig. 25B. The management unit 100 determines whether or not it has received GPS information from the parent drone 200 (S2014), and if it has received it (Yes in S2014), after receiving the relative position and speed information of the parent drone 200 from the child drone 300 (S2006), it calculates the difference from the position information of the parent drone 200 by GPS (S2016), and transmits information to the parent drone 200 to correct the measurement error of the GPS based on that (S2019).

[0388] If the GPS information of the parent drone cannot be received (No in S2014), the management unit 100 receives the relative position information of the parent drone 200 from the child drone 300 (S2017), then refers to the information in map data to calculate the absolute position information of the parent drone 200 (S2020) and compares it with the original flight plan of the parent drone 200 (S2021).

[0389] Then, the management unit 100 determines whether it is consistent with the original flight plan (S2022), and if any deviation has occurred (No in S2022), it creates information for correcting the flight plan to correct the error and sends a flight instruction to the parent drone 200 (S2025). If it is consistent (Yes in S2022), the management unit 100 instructs the parent drone 200 to continue flying without creating correction information (S2025).

[0390] The parent drone 200 receives the flight instructions (S2027) and revises its flight plan in accordance with the instructions and flies (S2028).

[0391] On the other hand, the child drone 300 determines whether it has received a flight instruction from the management unit 100 (S2023), and if so, uses that information to determine whether it is necessary to adjust the length, direction, etc., of the wire 600 for connecting with the parent drone 200 (S2026). If adjustment is necessary, the child drone 300 adjusts the wire 600 (S2029) and flies by modifying its own flight plan (S2030). If adjustment is not necessary, the child drone 300 does not make any adjustment (No in S2026), but flies by modifying its flight plan as necessary.

[0392] FIG. 26 is a schematic diagram illustrating flight control between rails in the first embodiment. When the child drone 300 flies along the rail 400a, it approaches the end of the rail 400a and there is a starting end of the rail 400b away from the rail 400a. The child drone 300 moves from the periphery of the rail 400a to the periphery of the rail 400b. At this time, the child drone 300 may temporarily increase its altitude when it moves away from the rail 400a to 400b. The child drone 300 may fly at an altitude higher than the rail 400a and the rail 400b when it moves away from the rail 400a to 400b. By doing this, if the child drone 300 has a sufficient height while it moves away from the rail 400a to 400b, even if an abnormality in flight occurs, it can reach the rail 400b by falling from the point where the abnormality in flight occurs. Even if a flight abnormality occurs while moving from rail 400a to rail 400b, the child drone 300 may be flown by calculating an altitude and course that enables it to reach rail 400b by falling from the point where the flight abnormality occurred.

[0393] FIG. 27 is a flowchart illustrating flight control between rails in the first embodiment.

[0394] The child drone 300 flies (S3000). The parent drone 200 also flies (S3001). Next, the child drone 300 detects the relative position of the parent drone 200 with respect to the child drone using a sensor or the like (S3002). Next, the child drone 300 detects the position of the rail 400 using a sensor or the like (S3003). Here, the child drone 300 determines whether it is close to the end of the rail 400 (S3004). If the position where the child drone 300 is present is not close to the end of the rail 400 (No in S3004), the child drone 300 continues flying (return to step S3000). If the position where the child drone 300 is present is close to the end of the rail 400 (Yes in S3004), the child drone 300 transmits a flight signal to the management unit 100 (S3005). The management unit 100 receives a flight signal transmitted from the child drone 300 (S3006). Next, the management unit 100 calculates flight routes for the child drone 300 and the parent drone 200 (S3007). The management unit 100 transmits flight instructions to the child drone 300 and the parent drone 200 (S3008). The child drone 300 determines whether or not it has received a flight instruction (S3009). If the child drone 300 has not received a flight instruction (No in S3009), it returns to step S3009. The parent drone 200 determines whether or not it has received a flight instruction (S3010). If the parent drone 200 has not received a flight instruction (No in S3010), it returns to step S3010. If the child drone 300 has received a flight instruction (Yes in S3009), the child drone 300 flies (S3011). If the parent drone 200 receives a flight command (Yes in S3010), the parent drone 200 flies (S3012). Next, the parent drone 200 determines whether the parent drone 200 has fallen (S3013). If the parent drone 200 has not fallen (No in S3013), the parent drone 200 returns to step S3013. If the parent drone 200 has fallen (Yes in S3013), the parent drone 200 transmits a fall signal to the child drone 300 (S3016). After that, the parent drone 200 is suspended in mid-air by the wire 600 relative to the child drone 300 (S3018). The child drone 300 determines whether a fall signal has been received from the parent drone 200 (S3015).If the child drone 300 has not received a drop signal from the parent drone 200 (No in S3015), the child drone 300 returns to step S3015. If the child drone 300 has received a drop signal from the parent drone 200 (Yes in S3015), the child drone 300 makes an emergency connection to the rail 400 (S3017).

[0395] The child drone 300 may acquire rail information regarding the rails 400 on the planned flight route by communicating with the management unit 100, and determine the location of the child drone 300 by comparing the rail information with identification information of the rails 400 acquired during flight.

[0396] FIG. 28 is a diagram showing an example of opening and closing of the arm 340 provided on the child drone 300 in the first embodiment. The child drone 300 has an openable and closable arm 340. Normally, the child drone 300 advances while flying along the rail 400 with the openable and closable arm 340 open. At this time, the rail 400 may be located near the center of the space surrounded by the open arm 340. When an abnormality occurs in the flight of the parent drone 200, the child drone 300 closes the open arm 340 so as to surround the rail 400. At this time, the child drone 300 is connected to the rail 400 by closing the arm 340. Therefore, even if an abnormality occurs in the flight of the parent drone 200, the child drone 300 connected to the parent drone 200 can avoid falling into an abnormal flight or crashing by connecting to the rail 400.

[0397] FIG. 29 is a diagram showing another example of opening and closing of the arm 340 provided on the child drone 300 in the first embodiment. The arm 340 of the child drone includes a first arm 341 and a second arm 342, and the first arm 341 and the second arm 342 are connected to each other to form a ring shape and connect to the rail 400. When the arm 340 is open, the distance between the ends of the first arm 341 and the second arm 342 is larger than the diameter of the rail 400. Therefore, the child drone 300 is in a state where it can be removed from the rail 400. When the arm 340 is closed, the distance between the ends of the first arm 341 and the second arm 342 is smaller than the diameter of the rail 400. Therefore, the child drone 300 does not come off the rail 400, and the child drone 300 and the rail 400 are connected to each other.

[0398] 30 is a flowchart illustrating a control method of an unmanned aerial vehicle according to one embodiment of the present disclosure. First, the parent drone 200 and the child drone 300, which are linked to each other, are moved forward (S7000). Next, it is determined whether an abnormality has occurred in the parent drone 200 (S7001). If an abnormality has occurred in the parent drone (Yes in S7001), the child drone 300 is stopped from moving forward (S7002). If no abnormality has occurred in the parent drone (No in S7001), the parent drone 200 and the child drone 300, which are linked to each other, are moved forward (return to step S7000).

[0399] (Embodiment 2) In the following, since the control method of the flying object and the basic configuration of the flying object and flight system 2a in this embodiment are the same as the basic configurations of embodiment 1, etc., the description of the control method of the flying object and the basic configuration of the flying object and flight system 2a in this embodiment will be omitted as appropriate, and mainly the parts that are different from embodiment 1 will be described.

[0400] Fig. 31 is a schematic diagram illustrating a flight system 2a in the embodiment 2. Fig. 32 is a block diagram illustrating the configuration of the flight system 2a in the embodiment 2.

[0401] As shown in Figs. 31 and 32, the flight system 2a in this embodiment is a system capable of delivering cargo from a delivery source to a delivery destination using a parent drone 200 and a child drone 300. The delivery source is the side that sends out the object, and the delivery destination is the side that receives the object. Each of the parent drone 200 and the child drone 300 is an example of an air vehicle. The parent drone 200 is an example of a second air vehicle, and the child drone 300 is an example of a first air vehicle. The air vehicle is, for example, an unmanned aerial vehicle. The cargo referred to here is an example of an object.

[0402] The parent drone 200 and the child drone 300 do not simply fly in the air, but move along rails 400 that are stretched across the ground. The parent drone 200 flies along the rails 400 so as to follow the child drone 300 while being connected to the child drone 300 by a wire 600. The parent drone 200 is loaded with cargo.

[0403] Specifically, the child drone 300 flies from the delivery source to the delivery destination while moving along the rail 400 with the arm 340 having the ring 3401 gripping the rail 400. More specifically, the child drone 300 flies from the delivery source to the delivery destination with the ring 3401 of the arm 340 connected to the rail 400 (hereinafter, the arm 340 may be referred to as being connected to the rail 400). Here, moving along the rail 400 does not necessarily mean that the arm 340 of the child drone 300 slides directly on the rail 400. If the arm 340 slides directly on the rail 400, the arm 340 and the rail 400 may be worn, so the rail 400 and the arm 340 of the child drone 300 may fly in a non-contact state.

[0404] When the child drone 300 approaches the vicinity of the delivery destination, the processing unit 337 of the control unit 330 of the child drone 300 compares the first position indicated in the image information captured by the camera sensor 334 with the second position indicated in the position information acquired from the GPS sensor 332a. The camera sensor 334 is an example of an image sensor. If the first position and the second position do not match, the processing unit 337 controls the flight of the child drone 300 so that the first position and the second position match (i.e., controls the rotation of the propellers). Specifically, when the child drone 300 approaches the vicinity of the sky above the delivery destination, the camera sensor 334 captures an image of the coded medium 471a1 attached to the upper surface of the delivery box 470. The coded medium 471a1 includes the first position indicating the position of the delivery box 470. When the camera sensor 334 reads the coded medium 471a1, the processing unit 337 controls the flight of the child drone 300 so that the first position and the second position coincide with each other. The coded medium 471a1 is, for example, a two-dimensional barcode, but may be a simple mark that the camera sensor 334 can recognize. The GPS sensor 332a is an example of a sensor. The camera sensor 334 may be an example of a sensor. The delivery box 470 is an example of a storage base.

[0405] Thus, the child drone 300 arrives in the sky above the delivery destination.

[0406] It is sufficient that at least one of the parent drone 200 and the child drone 300 has the camera sensor 334. In this embodiment, the child drone 300 has the camera sensor 334.

[0407] Instead of the GPS sensor 332a, the camera sensor 334 may be used to measure the relative position from the delivery box 470 to the child drone 300. The position of the child drone 300 may be measured from an image of the surroundings acquired using an image sensor.

[0408] When the child drone 300 arrives in the air above the delivery destination, the processing unit 337 controls the driving unit 310 so that the arm 340 grabs the rail 400. In this way, the child drone 300 is fixed to the rail 400 at a predetermined position. For example, if an electromagnet is mounted on the arm 340, the processing unit 337 may cause the driving unit 310 to pass a current through the coil of the electromagnet, thereby fixing the arm 340 to the rail 400. In this way, when the child drone 300 arrives in the air above the delivery destination, the arm 340 is fixed to the rail 400, so that positional deviation due to the influence of the ground effect can be suppressed. In this embodiment, the air above the delivery destination is the air above the delivery box 470.

[0409] When the child drone 300 arrives above the delivery destination and is secured to the rail 400, the processing unit 337 sends a descent command to the parent drone 200 via the communication unit 320 to prepare for descent.

[0410] When the parent drone 200 receives a descent command from the child drone 300, it descends toward the delivery box 470 installed at the destination point. Specifically, the control unit 230 of the parent drone 200 controls the drive unit 210 to rotate the propellers, thereby controlling the parent drone 200 to move directly below the child drone 300. The control unit 230 of the parent drone 200 determines whether it has moved directly below the child drone 300.

[0411] When the parent drone 200 moves below the child drone 300, the control unit 230 of the parent drone 200 causes the drive unit 210 to stop the rotation of the propellers. The control unit 230 of the parent drone 200 controls the wire control module 212 of the drive unit 210 to start unwinding the wire 600. This causes the parent drone 200 to descend from the child drone 300. In this way, the parent drone 200 enters through the opening of the delivery box 470 and lands on the delivery box 470, which is the destination point. Here, the destination point is the point for the parent drone 200 to land.

[0412] The parent drone 200 may be equipped with a distance measurement sensor, an air pressure sensor, etc. This allows the parent drone 200 to properly land on the delivery box 470 by inspecting the surrounding environment using the distance measurement sensor, the air pressure sensor, etc. when descending.

[0413] The rails 400 are stretched, for example, at a height of several meters to several tens of meters above the ground, and are fixed by supports, facilities, etc. installed on the ground. The rails 400 may be stretched over the entire surface of the ground, or may be stretched at least around the delivery destination. The rails 400 are stretched, for example, along a road.

[0414] The rail 400 has a connection point P. The connection point P is a portion where one rail is connected to another rail. Directly below the connection point P, a mounting structure 450 is disposed.

[0415] The mounting structure 450 is capable of mounting the child drone 300 at least between the ground surface directly below the connection point P and the connection point P. The mounting structure 450 may be placed directly on the ground, or may be connected to the rail 400. When placed directly on the ground, the mounting structure 450 may be, for example, a mounting platform. When connected to the rail 400, the mounting structure 450 may be a box-shaped structure having an opening perpendicular to the rail 400. The opening is large enough to allow the parent drone 200 and the child drone 300 to pass through. The mounting structure 450 may be, for example, a cushioned mesh-like structure.

[0416] The delivery box 470 is placed at the destination point of delivery. The configuration of the delivery box 470 may be any. The delivery box 470 of this embodiment has an opening large enough for at least the parent drone 200 to enter inside, and a storage space.

[0417] In this embodiment, coded medium 471a1 is provided in delivery box 470 at a position where the child drone can be detected by a camera sensor from the sky.

[0418] In this embodiment, delivery box 470 is placed directly below rail 400. Note that delivery box 470 may be placed at a position away from directly below rail 400. Delivery box 470 only needs to be located at a distance that allows parent drone 200 to enter the storage space of delivery box 470 when child drone 300 is holding rail 400.

[0419] [Operation] Next, a method for controlling the flying object, and the operation of the flying object and flight system 2a in this embodiment will be described.

[0420] FIG. 33 is a flowchart illustrating the operation of flight system 2a in embodiment 2 from the delivery source to the delivery destination.

[0421] As shown in FIG. 33, first, the management unit 100 selects a flight route from the delivery origin to the delivery destination based on map data. The management unit 100 transmits the selected flight route to the child drone 300. Then, after the cargo is loaded onto the parent drone 200 at the delivery origin, the child drone 300 starts flying by the user's operation. For example, the child drone 300 detects the position of the rail 400 by the detection units 901, 902, 903, and 904 in FIG. 22, etc. The arm 340 is coupled to the rail 400 by driving the first arm 341 and the second arm 342 so as to grasp the rail 400 (S8001).

[0422] This causes the parent drone 200 and the child drone 300 to move along the rail 400 (S8002).

[0423] The parent drone 200 and the child drone 300 continue to transmit position information (for example, geospatial information such as the above-mentioned latitude and longitude information) indicating their respective current positions detected by the GPS sensors 233a, 332a to the management unit 100 at a predetermined time interval. At this time, the management unit 100 sequentially receives the position information of the parent drone 200 and the child drone 300, so that the current positions of the parent drone 200 and the child drone 300 can be obtained instantly.

[0424] Next, the processing unit 337 of the child drone 300 judges whether or not it has arrived in the sky above the delivery destination (S8003). The processing unit 337 compares the current position obtained from the GPS sensor 332a with the sky above the delivery destination obtained from the management unit, and judges whether or not they match. If the current position and the destination point match, the processing unit 337 judges that it has arrived in the sky above the delivery destination, and controls the driving unit 310 so that the arm 340 grabs the rail 400. In this way, the child drone 300 is fixed to the rail 400 (S8004).

[0425] Next, the processing unit 337 transmits a descending command to the parent drone 200 via the communication unit 320 (S8005). The processing unit 337 stops the propellers (S8006). In this case, the child drone 300 is suspended in mid-air by the arm connected to the rail 400. When the child drone 300 arrives in the air above the delivery destination, the child drone 300 may hover with the arm connected to the rail 400 without grabbing the rail 400 with the arm 340.

[0426] Next, when the parent drone 200 receives the descent command (S8011), it prepares to land based on the descent command. Specifically, the control unit 230 of the parent drone 200 controls the drive unit 210 to rotate the propellers, and moves directly below the child drone 300 (S8012).

[0427] The control unit 230 of the parent drone 200 determines whether the parent drone 200 has moved directly below the child drone 300 (S8013). For example, this may be determined based on whether the position information obtained by the GPS sensor 233a of the parent drone 200 matches the position information obtained by the GPS sensor 332a of the child drone 300, or based on a signal detected by the camera sensor 334 of the child drone 300.

[0428] Next, if the parent drone 200 has moved below the child drone 300 (Yes in S8013), the control unit 230 of the parent drone 200 causes the drive unit 210 to stop the rotation of the propellers (S8014). If the parent drone 200 has not moved below the child drone 300 (No in S8013), the control unit 230 of the parent drone 200 returns the process to S8012.

[0429] The control unit 230 of the parent drone 200 controls the wire control module 212 of the drive unit 210 to start unwinding the wire 600 (S8015). This causes the parent drone 200 to descend from the child drone 300. In this way, the parent drone 200 enters through the opening of the delivery box 470 and lands on the delivery box 470, which is the destination point.

[0430] When the parent drone 200 lands on the delivery box 470, the control unit 230 of the parent drone 200 controls the wire control module 212 to stop unwinding the wire 600. The parent drone 200 removes the cargo. Specifically, the control unit 230 of the parent drone 200 controls the drive unit 210 to remove the cargo loaded on the parent drone 200. In this way, the cargo is stored in the storage space of the delivery box 470.

[0431] When the parent drone 200 removes the cargo, the parent drone 200 exits through the opening of the delivery box 470. Specifically, the control unit 230 of the parent drone 200 controls the wire control module 212 of the drive unit 210 to start winding the wire 600. Then, when the wire 600 reaches a predetermined length, the propellers of the parent drone 200 and the child drone 300 rotate, and the parent drone 200 and the child drone 300 become flyable. The processing unit 337 controls the drive unit 310 to separate the arm 340 of the child drone 300 from the rail 400. Then, the parent drone 200 and the child drone 300 return to the delivery source by following the flight route from the delivery source to the delivery destination. Note that if there is a next delivery destination, the cargo is delivered to the next delivery destination by the same process as described above.

[0432] [Effects] Next, the effects of the flying object control method and flight system in this embodiment will be described.

[0433] As described above, the method for controlling an aircraft in this embodiment is a method for controlling an aircraft that controls a first aircraft and a second aircraft connected by a connecting line, wherein the first aircraft is equipped with an arm having a ring through which a fixed rail passes, and a sensor that measures the position of the first aircraft, and uses the sensor to measure the position of the first aircraft and determine whether the position is a first predetermined position (an example of a delivery destination), and if the position is the first predetermined position, stops the flight of the first aircraft, connects the ring and the rail, and controls the length of the connecting line to be extended, thereby landing the second aircraft at a second predetermined position (an example of a destination point).

[0434] For example, in a conventional method for controlling an aircraft, when the aircraft lands, the wind, known as the ground effect, may cause an error of about 1m radius from the destination point, which is the second predetermined position, and the aircraft may land. When landing, the aircraft may lose momentum and crash, or may come into contact with an object. For this reason, there is a demand for a method for safely moving the aircraft from the delivery source to the delivery destination.

[0435] According to this method for controlling an aircraft, since the first aircraft moves while being connected to the rail, even if a ground effect occurs, the first aircraft can move safely along the rail to the first predetermined position. Since the second aircraft is connected to the first aircraft by a connecting line, it does not move far away from the first aircraft. When the first aircraft reaches the delivery destination, since the first aircraft is in contact with the rail, even if a ground effect occurs, both the first aircraft and the second aircraft are unlikely to move away from the destination. Therefore, the second aircraft can easily deliver the package to the destination based on the instruction.

[0436] Thus, the flight system allows a second air vehicle to deliver the package to the destination.

[0437] The flight system of this embodiment is a flight system for delivering luggage from a delivery destination to a delivery source, and comprises a first flying body that moves while connected to a rail fixed at a position away from the ground, and a second flying body connected to the first flying body by a connecting line, and the first flying body has an arm with a ring through which the fixed rail passes, a control unit that determines whether the first flying body has reached the delivery destination, and a communication unit that sends delivery instructions to the second flying body for delivering the luggage to the destination point of the delivery destination, and when the first flying body has reached the delivery destination, the control unit, with the ring connected to the rail, sends delivery instructions to the second flying body via the communication unit for delivering the luggage to the destination point of the delivery destination.

[0438] In the flying object control method according to the present embodiment, after the flight of the first flying object is stopped, the flight of the second flying object is stopped.

[0439] This allows the second flying object to move in a manner that follows the first flying object.

[0440] In the method for controlling an aircraft according to this embodiment, the sensor is an image sensor, and the position of the first aircraft is measured from an image of the surroundings acquired using the image sensor.

[0441] Therefore, the position of the first flying object can be accurately grasped based on the image of the surroundings. If the image of the second predetermined position is captured by the image sensor, the second predetermined position can be accurately grasped.

[0442] In the method for controlling an aircraft according to this embodiment, the sensor is a GPS sensor, and the position of the first aircraft is measured by the GPS sensor.

[0443] This makes it possible to accurately grasp the position of the first flying object.

[0444] In the method for controlling an aircraft according to this embodiment, the second predetermined position is a position where a storage base for storing the second aircraft is installed.

[0445] This makes it possible to accurately grasp the position of the first flying object.

[0446] In the method for controlling an aircraft according to this embodiment, after the second aircraft lands at the storage base, the second aircraft stores the luggage carried by the second aircraft in the storage base.

[0447] Therefore, the second flying object can reliably store the luggage at the destination point.

[0448] The flight system of this embodiment further has one rail fixed at a position away from the ground and another rail different from the one rail, and the one rail is connected to the other rail at a connection point P.

[0449] This makes it possible to create multiple flight routes for the first and second aircraft to fly.

[0450] The flight system of this embodiment further includes a mounting structure capable of placing the first flying body, at least between the ground surface directly below the connection point connecting the rails and the connection point.

[0451] According to this, even if the first flying object suddenly falls off the rail when the first flying object connected to one rail is connected to another rail at the connection point, the mounting structure can receive it, and therefore damage to at least the first flying object can be suppressed.

[0452] In the flight system of this embodiment, a coded medium indicating the destination point for landing of the second air vehicle is provided at the destination delivery point, and at least one of the first air vehicle and the second air vehicle further has a camera sensor, and the second air vehicle lands at the destination point based on image information obtained by the camera sensor capturing an image of the medium.

[0453] According to this, the first and second aircraft that arrive at the delivery destination can easily recognize the location where the package should be stored based on the image information, which makes it easier for the second aircraft to land accurately at the destination.

[0454] In the flight system of this embodiment, the system further includes a GPS sensor that acquires position information of the first flying object, and the control unit compares a first position shown in the image information with a second position indicated in the position information acquired from the GPS sensor, and if the first position and the second position do not match, controls the flight of the first flying object so that the first position and the second position match.

[0455] According to this, even if the second aircraft deviates from the vertical line of the destination point, the positional deviation of the second aircraft can be corrected by reading the image information, so that the second aircraft can land at the destination point more accurately.

[0456] The flight system according to this embodiment further includes a drive unit that drives and controls the arm so that the arm grips the rail when the first flight body arrives at a delivery destination.

[0457] According to this, when the first aircraft arrives at the delivery destination, the arm is fixed to the rail, thereby suppressing positional deviation of the first aircraft and the second aircraft due to ground effect.

[0458] (Embodiment 3) In the following, since the control method of the flying object and the basic configuration of the flying object in this embodiment are the same as the basic configuration of the embodiment 1, etc., the description of the control method of the flying object and the basic configuration of the flying object in this embodiment will be omitted as appropriate. In this embodiment, there is no parent drone as in the above-mentioned embodiment 1.

[0459] Fig. 34A is a schematic diagram illustrating a child drone 300a in embodiment 3. Fig. 34B is a schematic diagram illustrating a state in which the arm 340a of the child drone 300a in embodiment 3 is fixed to the rail 400 and descends.

[0460] 34A and 34B, the child drone 300a further has a wire 611 that connects the arm 340a and the child drone body 301a. The arm 340a is connected to the child drone body 301a via the wire 611, and can be separated from the child drone body 301a.

[0461] The wire control module winds up the wire 611 and unwinds the wire 611.

[0462] In flight system 2a of this embodiment, when child drone 300a arrives at the delivery destination, processing unit 337 controls driving unit 310 to have arm 340a grab rail 400 and fix arm 340a to rail 400. Processing unit 337 controls wire control module to reel out wire 611. Thus, as shown in FIG. 34B, child drone body 301a descends from rail 400 and lands in the storage space of the delivery box. This allows child drone 300a to store the cargo in the delivery box.

[0463] (Embodiment 4) In the following, since the control method of the flying object and the basic configuration of the flying object and flight system 2b in this embodiment are the same as the basic configurations of embodiment 1 etc., the description of the control method of the flying object and the basic configuration of the flying object and flight system 2b in this embodiment will be omitted as appropriate, and mainly the parts that differ from embodiment 1 will be described.

[0464] Fig. 35 is a schematic diagram illustrating a child drone 300c of a flight system 2b in the fourth embodiment. Fig. 36 is a block diagram explaining the configuration of a flight system 2b in the fourth embodiment. Fig. 37 is a schematic diagram illustrating an arm 340c of a child drone 300c in a flight system 2b in the fourth embodiment. Fig. 37 illustrates a state in which the second arm 3421 opens or closes the opening 3411k of the first arm 3411.

[0465] 35 to 37, the arm of child drone 300c constituting flight system 2b in this embodiment has, in addition to first arm 3411 and second arm 3421, spring 349, supporting portion 344, first electric motor 315, and first sensor 391. First arm 3411 and second arm 3421 are examples of rings.

[0466] The first arm 3411 is integrally formed with the support part 344. The first arm 3411 is a hook-like C-shape with a ring-like part missing when viewed from the traveling direction of the child drone 300c. The first arm 3411 has an outer shell part cut out to provide an opening 3411k that allows the rail 400 to enter.

[0467] Since the opening 3411k allows the rail 400 to enter, the length of the opening 3411k (the length from the end a on one side of the first arm 3411 to the end b on the other side in FIG. 37) is greater than the diameter of the rail 400. One end of the first arm 3411 abuts against the second arm 3421, and the other end of the first arm 3411 forms a storage portion 341a in which the second arm 3421 is stored. The storage portion 341a is in an arc shape that follows the shape of the first arm 3411.

[0468] A recess 341b into which one end of the second arm 3421 is inserted is formed at one end of the first arm 3411. As a result, when the second arm 3421 closes the opening 3411k of the first arm 3411, even if a force is applied to the second arm 3421 from the rail 400 side, the second arm 3421 fits into the recess 341b, making it difficult for the second arm 3421 to separate from the first arm 3411.

[0469] The second arm 3421 is accommodated in the accommodation section 341a by sliding movement. The accommodation section 341a may accommodate all or a part of the second arm 3421. A spring 349 is provided inside the accommodation section 341a to apply a biasing force to the second arm 3421 so that the opening 3411k of the first arm 3411 is closed by the second arm 3421. One end of the spring 349 is connected to the other end of the second arm 3421, and the other end of the spring 349 is connected to the bottom part on the far side of the accommodation section 341a. The spring 349 is, for example, an elastic body such as a coil spring or rubber.

[0470] When the first arm 3411 and the second arm 3421 are viewed from the traveling direction of the child drone 300c, they appear to be circular, but when the arm 340c is upright, the opening 3411k of the first arm 3411 is formed below the horizontal line passing through the central axis of this circle. Therefore, even if the opening 3411k of the first arm 3411 is open, the first arm 3411 acts as a hook, so that the first arm 3411 connected to the rail 400 is unlikely to separate.

[0471] The second arm 3421 is slid by the first electric motor 315 to open or close the opening 3411k of the first arm 3411. When the second arm 3421 closes the opening 3411k, the first arm 3411 and the second arm 3421 are ring-shaped, and when the second arm 3421 opens the opening 3411k, the arm 340c is C-shaped (arc-shaped). The second arm 3421 is arc-shaped to match the shape of the storage section 341a.

[0472] The support part 344 is a support that supports the first arm 3411 and the second arm 3421 on the child drone main body 301a. The first arm 3411 is connected to one end of the support part 344, and the child drone main body 301a is connected to the other end of the support part 344. The first electric motor 315 is attached near the connection part between the one end of the support part 344 and the first arm 3411. The support part 344 is provided so as to rise from the center part when the child drone main body 301a is viewed from above.

[0473] The first electric motor 315 is a motor whose driving is controlled by the processing unit 337 of the control unit 330. The first electric motor 315 slides the second arm 3421 so as to accommodate it in the accommodation unit 341a. Specifically, a gear or the like provided on the rotating shaft of the first electric motor 315 meshes with teeth formed on the outer circumferential surface of the second arm 3421, thereby causing the second arm 3421 to slide. Naturally, the driving force of the first electric motor 315 is stronger than the spring force of the spring 349.

[0474] The first electric motor 315 is installed at a position where the second arm 3421 can be slidably moved, that is, at the connection portion between the support portion 344 and the first arm 3411. The connection portion is near the opening 3411k of the first arm 3411 and on the outer periphery side of the storage portion 341a.

[0475] The first sensor 391 measures a first distance between the rail 400 and the arm 340c. The first sensor 391 is installed at least on an upper portion or a lower portion of a ring of the arm 340c. The first sensor 391 outputs first distance information indicating the measured first distance to the processing unit 337 of the control unit 330.

[0476] The processing unit 337 controls the arm 340c to move up and down according to the first distance indicated by the first distance information. Specifically, the processing unit 337 determines whether the first distance is greater than a predetermined value. When the first sensor 391 is installed on the upper part of the ring of the arm 340c, the processing unit 337 controls the driving unit 310 to move the arm 340c upward when the first distance is greater than a predetermined value. When the first distance is equal to or less than the predetermined value, the processing unit 337 controls the driving unit 310 to move the arm 340c downward. When the first sensor 391 is installed on the lower part of the ring of the arm 340c, the processing unit 337 controls the driving unit 310 to move the arm 340c downward when the first distance is greater than a predetermined value, and controls the driving unit 310 to move the arm 340c upward when the first distance is equal to or less than the predetermined value.

[0477] The processing section 337 drives the first electric motor 315 to slide the second arm 3421 and accommodate it in the accommodation section 341a only when opening the opening 3411k of the first arm 3411. When closing the opening 3411k of the first arm 3411, the processing section 337 does not drive the first electric motor 315, that is, stops driving the first electric motor 315. At this time, the second arm 3421 closes the opening 3411k of the first arm 3411 by the biasing force of the spring 349.

[0478] In this embodiment, the spring 349 does not have to be used, and the opening 3411k of the first arm 3411 may be opened and closed by sliding the second arm 3421 with the first electric motor 315.

[0479] When connecting the arm 340c of such a child drone 300c to the rail 400, the arm 340c is positioned diagonally above the rail 400 with the opening 3411k of the first arm 3411 open, or the arm 340c is moved horizontally with the opening 3411k of the first arm 3411 open to connect to the rail 400.

[0480] The shape of the ring portion of the arm is not limited to that described above.

[0481] FIG. 38 is a schematic diagram illustrating another arm 340d of the child drone in the flight system in embodiment 4.

[0482] 38, the first arm 3411a may be U-shaped. In this case, an opening 3411k of the first arm 3411a that allows the rail 400 to enter is formed on a lateral side of the first arm 3411a. The first arm 3411a has a shape that bulges out horizontally from the opening 3411k.

[0483] The second arm 3421a is a linear columnar member. The second arm 3421a is supported by the support portion 344 so as to be slidable in the vertical direction by the spring 349. The second arm 3421a is biased by the spring 349 in the vertically upward direction.

[0484] In FIG. 38, the support portion 344 is formed with an accommodating portion 344d for accommodating the second arm 3421a.

[0485] In this way, when the child drone connects to the rail 400, the child drone moves horizontally with the opening 3411k of the first arm 3411a open, and connects to the rail 400. Therefore, the rail 400 and the arm 340d are unlikely to come into contact with each other, and the rail 400 and the arm 340d can be easily connected to each other.

[0486] The functions of the arm 340d are not limited to those described above.

[0487] Fig. 39 is a block diagram illustrating the configuration of flight system 2b in embodiment 4. Fig. 40 is a schematic diagram illustrating yet another arm 340e of child drone 300e in flight system 2b in embodiment 4 in a retracted state and an extended state.

[0488] For example, as shown in Figures 39 and 40, the arm 340e (i.e., the first arm 3411 and the second arm 3421) may be slid. Specifically, the child drone 300e further has a tubular guide portion 344b connected to the child drone main body 301a, a second electric motor 316, and a spring 348. The guide portion 344b is formed with a storage portion 344d that stores the support portion 344a.

[0489] One end of the support portion 344a is connected to the first arm 3411, and the other end of the support portion 344a is connected to the spring 348. The end of the spring 348 opposite the support portion 344a is connected to the guide portion 344b or the child drone body 301a. The spring 348 applies a biasing force so that the support portion 344a is accommodated in the accommodation portion 344d of the guide portion 344b. In other words, the biasing force of the spring 348 applies a biasing force in a vertically downward direction to the support portion 344a.

[0490] The second electric motor 316 is a motor whose driving is controlled by the processing unit 337 of the control unit 330. The second electric motor 316 slides the support portion 344a so as to extend it from the guide portion 344b. Specifically, a gear or the like provided on the rotating shaft of the second electric motor 316 meshes with teeth formed on the outer circumferential surface of the support portion 344a, causing the support portion 344a to slide vertically upward.

[0491] The second electric motor 316 is installed at a position where the support portion 344a can be slidably moved, that is, on the tip side of the guide portion 344b.

[0492] The processing unit 337 drives the second electric motor 316 only when the arm 340e is extended from the child drone 300e, and slides the support portion 344a so that it extends from the guide portion 344b. When the arm 340e is retracted, the processing unit 337 does not drive the second electric motor 316, that is, stops driving the second electric motor 316. At this time, the support portion 344a is accommodated in the guide portion 344b by the biasing force of the spring 348, and the arm 340e is retracted.

[0493] A plurality of arms may be provided.

[0494] Fig. 41 is a block diagram illustrating the configuration of the flight system 2b in the fourth embodiment. Fig. 42 is a schematic diagram illustrating another arm 340f of the child drone 300f in the flight system 2b in the fourth embodiment. Fig. 43A is a schematic diagram illustrating a state in which the child drone 300f in the flight system 2b in the fourth embodiment has retracted the arm 340f. Fig. 43B is a schematic diagram illustrating a state in which the child drone 300f in the flight system 2b in the fourth embodiment has extended the arm 340f.

[0495] For example, as shown in Figures 41, 42, 43A and 43B, the child drone body 301a has an arm 340f (hereinafter sometimes referred to as one arm 340f) extending vertically upward, an arm 340f (hereinafter sometimes referred to as the other arm 340f) extending vertically downward from the child drone body 301a, a counterbalance 3441, and a first electric motor 315.

[0496] Each of the one arm 340f and the other arm 340f has the same configuration as described above. The one arm 340f is disposed symmetrically with the other arm 340f with respect to the child drone body 301a.

[0497] The counterbalance 3441 is a balancer for balancing the center of gravity of the child drone 300f. The counterbalance 3441 is tubular. Inside the counterbalance 3441, a housing portion 344d is formed into which the support portion 344 of one arm 340f and the support portion 344 of the other arm 340f are inserted, and the third electric motor 317 is housed.

[0498] The third electric motor 317 is disposed between the support portion 344 of one arm 340f and the support portion 344 of the other arm 340f. The third electric motor 317 slides the support portion 344 of one arm 340f and the support portion 344 of the other arm 340f so as to extend them from the counterbalance 3441, and slides the support portion 344 of one arm 340f and the support portion 344 of the other arm 340f so as to accommodate them in the counterbalance 3441. In other words, the third electric motor 317 moves the one arm 340f and the other arm 340f so that the position of the center of gravity of the child drone 300f does not change.

[0499] The third electric motor 317 is fixed to either the support portion 344 of one arm 340f, the support portion 344 of the other arm 340f, or the counterbalance 3441.

[0500] In this embodiment, the one arm 340f and the other arm 340f are provided in the central part of the child drone body 301a, but for example, the one arm 340f and the other arm 340f may be arranged on the edge side of the child drone body 301a. In this case, a counterbalance may be further arranged at a position diagonally opposite the one arm 340f and the other arm 340f with respect to the center of gravity of the child drone 300f to make the center of gravity of the child drone 300f even.

[0501] It should be noted that another counterbalance may be used instead of the other arm 340. Therefore, it is not an essential component to provide two arms 340f.

[0502] FIG. 44 is a schematic diagram illustrating yet another arm 340g of a child drone 300g in a flight system 2b in embodiment 4.

[0503] For example, as shown in Fig. 44, a through hole to which a wire 600 can be tied is formed at the tip of the counterbalance. The wire 600 is inserted through the through hole and tied. The wire 600 is connected to the parent drone 200.

[0504] The child drone 300g may have a gimbal instead of a counterbalance.

[0505] For example, a gimbal is disposed at the portion where the child drone body 301a and the arm 340f are connected. In other words, the child drone body 301a is connected to the arm 340f via a gimbal. In this case, even if the child drone body 301a tilts when the child drone 300g flies, the arm 340f is less likely to tilt relative to the vertical direction. This allows the child drone 300g to fly stably.

[0506] [Effects] Next, a method for controlling the flying object in this embodiment and the effects of the flying object will be described.

[0507] As described above, the method for controlling an aircraft in this embodiment is a method for controlling an aircraft connected to another aircraft by a connecting line, wherein the aircraft is equipped with an arm having a ring through which a fixed rail passes, and a first sensor for measuring a first distance between the rail and the ring, and the first sensor is used to measure the first distance and to control the arm to move up and down according to the first distance.

[0508] Therefore, when the arm of the aircraft moves while connected to the rail, the aircraft can move appropriately along the rail without contacting the arm with the rail.

[0509] The aircraft of this embodiment is an aircraft connected to another aircraft by a connecting line, and is equipped with an arm having a ring through which a fixed rail passes, and a first sensor installed on an upper or lower part of the ring and measuring a first distance between the rail and the ring.

[0510] In the control method of the flying object of this embodiment, the first sensor is installed in an upper part of the ring, and when the first distance is greater than a predetermined value, the arm is moved upward, and when the first distance is equal to or less than the predetermined value, the arm is moved downward.

[0511] Therefore, if the upper or lower side of the ring on the arm of the flying object gets too close to the rail, the distance between the ring and the rail can be maintained so that the ring and the rail do not come into contact with each other. Therefore, the ring and the rail are less likely to come into contact with each other while the flying object is flying.

[0512] In the control method of the flying object of this embodiment, the first sensor is installed in a lower part of the ring, and when the first distance is greater than a predetermined value, the arm is moved downward, and when the first distance is equal to or less than the predetermined value, the arm is moved upward.

[0513] In the aircraft of this embodiment, the arm includes a first arm having a generally arc-shaped opening, a second arm having a generally arc-shaped opening that forms a ring with the first arm, and a first electric motor that slides the second arm to at least open the opening, and when the opening is open, a rail is allowed to enter, thereby connecting the arm to the rail.

[0514] According to this, the arm and the rail can be easily connected by opening the opening of the first arm and inserting the rail through this opening.

[0515] In the aircraft of this embodiment, the arm further has a spring that applies a biasing force to the second arm so as to close the opening of the first arm, and when the rail is positioned on the inner circumference side of the first arm, the first electric motor stops driving to slide the second arm to open the opening.

[0516] With this, the first electric motor only needs to be driven when connecting the arm to the rail, and when the first electric motor is stopped, the second arm automatically closes the opening of the first arm due to the spring force, thereby suppressing an increase in the power consumption of the aircraft.

[0517] (First modification of the fourth embodiment) In the following, since the basic configurations of the control method of the aircraft, and the aircraft and flight system in this modified example are the same as those in embodiment 1, etc., descriptions of the control method of the aircraft, and the basic configurations of the aircraft and flight system in this modified example will be omitted as appropriate.

[0518] Figure 45 is a schematic diagram illustrating a child drone in a flight system in variant example 1 of embodiment 4.

[0519] As shown in FIG. 45, the child drone of this modified example further has wheels 390 and an axle 390a.

[0520] The wheel 390 is a wheel for rotatably contacting the rail 400, and is rotatably provided on the upper end of the first arm 3411. Specifically, the wheel 390 is supported by an axle 390a provided on the upper end of the first arm 3411, and rotates about the axle 390a. Here, the axis of the axle 390a is a direction perpendicular to the direction in which the rail 400 extends and is approximately parallel to the horizontal direction when the arm 340h is connected to the rail 400 and the child drone flies. The axle 390a constitutes a part of the first arm 3411, and both ends are fixed.

[0521] A spherical ball may be provided instead of the wheel 390. A plurality of wheels 390, balls, etc. may be provided on the inner periphery of the ring of the arm 340h.

[0522] A concave cutout 3411h is formed on the inner circumference of the upper end side of the first arm 3411 to prevent contact between the rail 400 and the first arm 3411. The axle 390a of the wheel 390 is disposed on the outer circumferential surface side of the first arm 3411 rather than the inner circumferential surface. The outer circumferential surface of the wheel 390 is disposed between the inner circumferential surface and the outer circumferential surface of the first arm 3411.

[0523] FIG. 46 is a schematic diagram illustrating a case in which the child drone body 301a assumes an upright position while the child drone 300h in the flight system in the first variant of the fourth embodiment is traveling along the rail 400.

[0524] As shown in FIG. 46, the rotation shaft 350 is provided at a connection portion that connects the child drone main body 301a and the arm 340h. Specifically, when the arm 340h is connected to the rail 400 and the child drone 300h flies, the rotation shaft 350 makes the child drone main body 301a take an upright position while maintaining the position of the arm 340h. Specifically, when the arm 340h is connected to the rail 400 and the child drone 300h flies, the position of the arm 340h is such that the longitudinal direction of the arm 340h is approximately parallel to the vertical direction. Since the child drone main body 301a is flat, the upright position of the child drone main body 301a is such that the child drone main body 301a is approximately parallel to the vertical direction. In this way, the rotation shaft 350 mainly rotates the child drone main body 301a between a horizontal position and an upright position.

[0525] When arm 340h is connected to rail 400 and child drone 300h flies, processing unit 337 of control unit 330 controls child drone body 301a to assume an upright posture. Specifically, processing unit 337 rotates child drone body 301a around the axis of rotation shaft 350 by driving rotation shaft 350 using drive unit 310. In this modification, drive unit 310 is capable of rotating rotation shaft 350 by 180°.

[0526] In such a child drone 300h, when the arm 340h is connected to the rail 400 and flies, the wheels 390 can fly with the wheels 390 in contact with the rail 400. Since the wheels 390 start to rotate due to friction with the rail 400, the child drone 300h can travel on the rail 400 using only the propulsive force in the forward direction caused by the rotation of the propeller. Therefore, the child drone 300h does not need to use the rotational force of the propeller for lifting itself.

[0527] In this child drone 300h, the processing unit 337 controls the drive unit 310, causing the child drone body 301a to rotate around the axis of the rotation shaft 350, thereby changing the attitude of the child drone body 301a.

[0528] When the child drone 300h flies with the arm 340h connected to the rail 400, the rotation shaft 350 holds the child drone body 301a in an upright position, so that the rotational force of the propeller can be directly converted into propulsive force in the traveling direction. This allows the child drone 300h to run smoothly on the rail 400.

[0529] Furthermore, because the rail 400 is disposed in the cutout portion 3411h, even if the child drone 300h sways while traveling on the rail 400, the rail 400 is less likely to separate from the wheel 390. Therefore, the child drone 300h can travel on the rail 400 stably.

[0530] (Modification 2 of the fourth embodiment) In the following, since the basic configurations of the control method of the aircraft, and the aircraft and flight system in this modified example are the same as those in embodiment 1, etc., descriptions of the control method of the aircraft, and the basic configurations of the aircraft and flight system in this modified example will be omitted as appropriate.

[0531] FIG. 47 is a schematic diagram illustrating a child drone 300i in a flight system in variant example 2 of embodiment 4 when viewed from the front and from the side.

[0532] As shown in Fig. 47, the child drone body 301i of this modification is ring-shaped. The child drone body 301i is connected to the rail 400. Therefore, the shape of the body of the child drone 300i also functions as an arm. Propellers 801 are arranged on the four sides of the child drone body 301i.

[0533] The child drone body 301i further includes a pair of yaw wings 371, a pair of pitch wings 372, and a rudder control unit (not shown).

[0534] The pair of yaw wings 371 are provided on the outer periphery of the child drone body 301i. When the child drone body 301i is in an upright position, the pair of yaw wings 371 are arranged symmetrically in the vertical direction with respect to the center of gravity of the child drone body 301i. Each of the pair of yaw wings 371 has a first shaft portion 371a with the vertical direction as its axis and a first wing portion 371b rotatably supported by the first shaft portion 371a. The first wing portion 371b rotates with the vertical direction as its axis. The rotation of the first wing portion 371b controls the wind force in the left-right direction. When viewed from the direction of travel, if the first wing portion 371b is rotated to the left, the rudder is made to move leftward, and if the first wing portion 371b is rotated to the right, the rudder is made to move rightward.

[0535] The pair of pitch wings 372 are provided on the outer periphery of the child drone body 301i. When the child drone body 301i is in an upright position, the pair of pitch wings 372 are arranged symmetrically in the horizontal direction with respect to the center of gravity of the child drone body 301i. Each of the pair of pitch wings 372 has a second shaft portion 372a with the horizontal direction as its axis and a second wing portion 372b rotatably supported by the second shaft portion 372a. The second wing portion 372b rotates with the horizontal direction as its axis. The rotation of the second wing portion 372b controls the wind force in the vertical direction. When viewed from the direction of travel, if the second wing portion 372b is rotated upward, the steering is performed upward, and if the second wing portion 372b is rotated downward, the steering is performed downward.

[0536] The rudder control unit controls the rotation of the first blade portion 371b of each of the pair of yaw blades 371 and the second blade portion 372b of each of the pair of pitch blades 372.

[0537] The processing unit 337 of the control unit 330 controls the child drone body 301i to assume an inclined attitude when the child drone body 301i is connected to the rail 400 and flies. Specifically, the processing unit 337 controls the rotation of the second wing portion 372b of each of the pair of pitch wings 372 by driving the rudder control unit.

[0538] In such a child drone 300i, the yaw wing 371 can rotate horizontally by rotating the first wing portion 371b, and the pitch wing 372 can rotate vertically by rotating the second wing portion 372b. When flying while connected to the rail 400, the child drone 300i flies in a tilted state with respect to the horizontal plane.

[0539] FIG. 48 is a schematic diagram illustrating another child drone 300i in a flight system in the second modification of the fourth embodiment, viewed from the front. In this modification, as shown in FIG. 48, the child drone main body 301i may have a function and configuration such as the first arm 3411 and the second arm 3421. The child drone main body 301i has a hook-shaped first body 301i1 and an arc-shaped second body 301i2. The second body 301i2 slides relative to the storage section 341a2 of the first body 301i1 to close and open the opening 3411k1 on the outer periphery side of the first body 301i1.

[0540] Such an aircraft according to this modified example has first wings on the upper and lower parts of the aircraft, and second wings on the left and right sides of the aircraft relative to the direction of travel.

[0541] This allows the first flying object to move more appropriately using the four wings.

[0542] The aircraft in this modified example has a main body (e.g., a child drone main body 301i) having a ring with a fixed rail passing through it, four propellers arranged on the main body so as to be symmetrical on either side of the main body, and four wings (e.g., a pair of yaw wings and a pair of pitch wings) arranged on the main body, one between each of the propellers so as to be symmetrical on either side of the main body, and the two wings (e.g., a pair of pitch wings) arranged in a first specified direction steer the main body in the vertical direction, and the two wings (e.g., a pair of yaw wings) arranged in a second specified direction different from the first specified direction steer the main body in the horizontal direction.

[0543] According to this, by steering the four wings, the direction of travel of the first aircraft can be freely steered, thereby enabling the first aircraft to achieve stable movement.

[0544] (Third Modification of Fourth Embodiment) In the following, since the basic configuration of the control method of the aircraft and the aircraft and flight system 2c in this modified example is the same as that of modified example 2 of embodiment 4, etc., the description of the control method of the aircraft and the basic configuration of the aircraft and flight system 2c in this modified example will be omitted as appropriate.

[0545] Fig. 49 is a schematic diagram illustrating another child drone 300j in a flight system 2c in Modification 3 of Embodiment 4. Fig. 50 is a schematic diagram illustrating another child drone 300j in a flight system 2c in Modification 3 of Embodiment 4.

[0546] 49 and 50, in this modification, the child drone 300j further has a first sensor 391, a distance detection unit 392, a ring position control unit 393, and a ring position change unit 394. The arm 340j of the child drone 300j is provided with a pair of yaw wings 371, a pair of pitch wings 372, the first sensor 391, the distance detection unit 392, the ring position control unit 393, and the ring position change unit 394.

[0547] The pair of yaw wings 371 are provided on the outer periphery of the arm 340j. The pair of yaw wings 371 are arranged symmetrically in the vertical direction of the arm 340j. Each of the pair of yaw wings 371 has a first shaft portion 371a1 with the vertical direction as its axis, and a first wing portion 371b1 rotatably supported by the first shaft portion 371a1. The first wing portion 371b1 rotates with the vertical direction as its axis.

[0548] The pair of pitch wings 372 are provided on the outer periphery of the arm 340j. The pair of pitch wings 372 are arranged symmetrically in the horizontal direction of the arm 340j. Each of the pair of pitch wings 372 has a second shaft portion 372a1 with the horizontal direction as its axis, and a second wing portion 372b1 rotatably supported by the second shaft portion 372a1. The second wing portion 372b1 rotates with the horizontal direction as its axis.

[0549] For example, when the rail 400 and the ring are connected, the first sensor 391 captures an image of the rail 400 and the ring. The first sensor 391 outputs captured image information to the interval detection unit 392. In this modification, the first sensor 391 is a camera sensor and does not directly measure distance. Note that the position of the first sensor 391 in FIG. 50 is an example. The first sensor 391 may be disposed on the lower side, left side, right side, etc. of the ring. The number of first sensors 391 is not limited to one, and multiple sensors may be provided. For example, the first sensor 391 may be provided at least in four places on the upper side, lower side, left side, and right side of the ring.

[0550] The gap detection unit 392 calculates a first distance between the rail 400 and the ring based on image information captured by the first sensor 391. The gap detection unit 392 outputs distance information indicating the calculated first distance to the ring position control unit 393.

[0551] The ring position control unit 393 controls the ring position changing unit 394 based on the first distance so that the rail 400 and the ring are appropriately connected. The ring position changing unit 394 is, for example, an electric motor.

[0552] The ring position changer 394 changes the attitude of the arm 340j so that the rail 400 and the ring are appropriately connected. When the child drone body 301j is connected to the rail 400 and the child drone 300j flies, the ring position changer 394 controls the pitch wings 372 and the like so that the child drone body 301j is inclined with respect to the horizontal direction. Specifically, the ring position controller 393 drives the ring position changer 394 to control the rotation of the second wing portion 372b1 of each of the pair of pitch wings 372. The ring position controller 393 drives the ring position changer 394 to control the yaw wings 371 and the like so that the child drone body 301j is inclined with respect to the vertical direction. Specifically, the ring position controller 393 drives the ring position changer 394 to control the rotation of the second wing portion 372b1 of each of the pair of pitch wings 372.

[0553] In addition, the ring position change unit 394 may be able to extend or retract the arm 340j from the child drone main body 301j. In other words, the ring position change unit 394 may adjust the length of the support portion 344.

[0554] According to this, by steering the four wings, the direction of travel of the aircraft can be freely steered, thereby enabling the aircraft to achieve stable movement.

[0555] (Fourth Modification of Fourth Embodiment) In the following, since the control method of the aircraft and the basic configuration of the aircraft and flight system 2d in this modified example are the same as the basic configurations of embodiment 1, etc., the description of the control method of the aircraft and the basic configuration of the aircraft and flight system 2d in this modified example will be omitted as appropriate.

[0556] FIG. 51 is a block diagram illustrating the configuration of a flight system 2d in the fourth variation of the fourth embodiment.

[0557] 51, in this modification, the arm 340m of the child drone 300m does not have the first sensor, and instead the parent drone 200m may have the second sensor 291. The first sensor and the second sensor 291 may have the same configuration.

[0558] The second sensor 291 measures a second distance between the rail 400 and the ring of the arm 340m. The second sensor 291 is installed at least on the left or right side of the ring of the arm 340m with respect to the traveling direction of the child drone 300m. The second sensor 291 transmits second distance information indicating the measured second distance to the child drone 300m via the communication unit 220. The second sensor 291 may be the same as the interval detection unit.

[0559] The ring position control unit 393 acquires the received second distance information. The ring position control unit 393 controls the parent drone 200 m to move left and right with respect to the traveling direction according to the second distance indicated by the second distance information. At this time, the ring position control unit 393 determines whether the second distance is greater than a predetermined value.

[0560] Specifically, when the second sensor 291 is installed on the left side of the ring with respect to the traveling direction and the second distance is greater than a predetermined value, or when the second sensor 291 is installed on the right side of the ring with respect to the traveling direction and the second distance is equal to or less than a predetermined value, the ring position control unit 393 controls the ring position change unit 394 to move the child drone 300m to the right with respect to the traveling direction. Specifically, the ring position change unit 394 rotates the first wing portion 371b1 of the yaw wing 371 to the right, so that the arm 340m of the child drone 300m moves to the right with respect to the traveling direction.

[0561] Specifically, when the second sensor 291 is installed on the left side of the ring with respect to the traveling direction and the second distance is equal to or less than a predetermined value, or when the second sensor 291 is installed on the right side of the ring with respect to the traveling direction and the second distance is greater than a predetermined value, the ring position control unit 393 controls the ring position change unit 394 to move the child drone 300m to the left with respect to the traveling direction. Specifically, the ring position change unit 394 rotates the second wing portion 372b1 of the pitch wing 372 to the left, so that the arm 340m of the child drone 300m moves to the left with respect to the traveling direction.

[0562] Although not shown in the figure, arm 340m of child drone 300m may have the above-mentioned first arm and second arm, and the opening of the first arm may be opened and closed by the sliding movement of the second arm.

[0563] In the control method of an aircraft according to this modified example, the other aircraft is equipped with a second sensor that measures a second distance between the rail and the ring, and moves the aircraft to the left or right in the direction of travel depending on the second distance.

[0564] Therefore, when the arm of the aircraft moves while connected to the rail, the aircraft can move appropriately along the rail without contacting the arm with the rail.

[0565] The aircraft of this modified example further includes a second sensor installed on the left or right side of the ring in the direction of travel of the aircraft, measuring a second distance between the rail and the ring.

[0566] In the control method of the flying object of this modified example, the second sensor is installed on the left side of the ring in the direction of travel of the flying object, and when the second distance is greater than a predetermined value, the flying object is moved to the right in the direction of travel, and when the second distance is equal to or less than the predetermined value, the flying object is moved to the left in the direction of travel.

[0567] Therefore, if the right or left side of the ring on the arm of the aircraft gets too close to the rail, the flight of the aircraft can be controlled to increase the distance between the ring and the rail so that the ring does not come into contact with the rail. Therefore, the ring is less likely to come into contact with the rail while the aircraft is flying.

[0568] In the method for controlling an aircraft according to this modification, the second sensor may be installed on a right side of the ring in a traveling direction of the aircraft. In this case, the method for controlling an aircraft may move the aircraft leftward in the traveling direction when the second distance is greater than a predetermined value, and move the aircraft rightward in the traveling direction when the second distance is equal to or less than the predetermined value.

[0569] (Embodiment 5) In the following, since the basic configurations of the control method of the aircraft, and the aircraft and flight system in this embodiment are the same as those in embodiment 1, etc., a description of the control method of the aircraft, and the basic configurations of the aircraft and flight system in this embodiment will be omitted.

[0570] In the flight system of this embodiment, there is no parent drone. The description will be given using the symbols in Fig. 53, which will be described later. The child drone 3000 has a first extension arm 5340a and a second extension arm 5340b.

[0571] The first extension arm 5340a and the second extension arm 5340b have the same configuration. The first extension arm 5340a and the second extension arm 5340b are connected to the child drone body by wires 611a and 611b, and the wires 611a and 611b can be wound or unwound. The child drone 3000 has the wires 611a and 611b that connect the first extension arm 5340a and the second extension arm 5340b to the child drone body, respectively, and each wire drive control unit that controls the length of the wires 611a and 611b by winding or unwinding the wires 611a and 611b.

[0572] The wire drive control unit has the same configuration as the wire control module. The wire drive control unit adjusts the length of the wires 611a and 611b according to the distance between the child drone 3000 and the rail under the control of the processing unit.

[0573] [Operation] Next, a method for controlling an aircraft, and operations of the aircraft and flight system in this embodiment will be described.

[0574] Figure 52 is a flowchart illustrating the operation of the flight system in embodiment 5 from the delivery origin to the delivery destination. Figure 53 is a schematic diagram illustrating the operation of the flight system in embodiment 5 from the delivery origin to the delivery destination.

[0575] In this embodiment, it is assumed that cargo is delivered from a delivery source to a delivery destination via a first rail 400a installed in a building.

[0576] As shown in Fig. 52 and Fig. 53(a), first, the child drone 3000 flies toward the first rail 400a installed on the building. When the child drone 3000 approaches the first rail 400a, the child drone 3000 connects the first extension arm 5340a to the first rail 400a (S8021).

[0577] As shown in FIG. 52 and FIG. 53 (b), the child drone 3000 then flies toward the second rail 400b of another building located near the building having the first rail 400a to which the first extension arm 5340a is connected (S8022). At this time, the child drone 3000 rises once so that the wire 611a does not hang down, and then flies toward the second rail 400b of the other building. The child drone 3000 flies toward the second rail 400b of the other building with the first extension arm 5340a and the first rail 400a connected. At this time, the processing unit of the child drone 3000 controls the wire control module to pay out the wire 611a connecting the first extension arm 5340a and the child drone body, and adjusts the length of the wire 611a. Then, when the child drone 3000 approaches the second rail 400b of another building, it connects the second extension arm 5340b to the second rail 400b (S8023).

[0578] Specifically, the processor drives the electric motor to slide the second arm of the second extension arm 5340b and open the opening of the first arm. In this way, the child drone 3000 connects the arm to the second rail 400b. When the arm is connected to the second rail 400b, the processor stops the power supplied to the electric motor. In this way, the second arm closes the opening of the first arm by the biasing force of the spring.

[0579] In addition, before the child drone 3000 flies toward another building, the processing unit of the control unit may recognize the distance from the building currently grasped by the first extension arm 5340a to the other building that the child drone 3000 is attempting to grasp with the second extension arm 5340b using a camera sensor or the like, and compare the sum of the lengths of the wires 611b of the first extension arm 5340a and the second extension arm 5340b with the distance to the other building to determine whether the child drone 3000 will be able to reach the other building.

[0580] As shown in FIG. 52 and FIG. 53 (c), next, when the child drone 3000 connects the second extension arm 5340b to the second rail 400b (for example, when the connection is detected by the first sensor or the like), the child drone 3000 rises at one end so that the wire 611b does not hang down, and then releases the connection between the first extension arm 5340a and the first rail 400a. The processing unit drives the electric motor of the first extension arm 5340a to slide the second arm and open the opening of the first arm (S8024). Thus, the first extension arm 5340a of the child drone 3000 moves away from the first rail 400a. When the first extension arm 5340a moves away from the first rail 400a, the processing unit stops the driving force applied to the second arm of the second extension arm 5340b by the electric motor. The second arm then closes the opening of the first arm due to the biasing force of the spring.

[0581] In this manner, the child drone 3000 repeats steps S8021 to S8024, moving from the delivery source to the delivery destination following the flight route, as if climbing a ladder.

[0582] [Effects] Next, a method for controlling the flying object in this embodiment and the effects of the flying object will be described.

[0583] As described above, the method for controlling an aircraft in this embodiment is a method for controlling a first aircraft that flies according to a flight route, the first aircraft having a flying body, a first extension arm having a ring through which a fixed first rail passes, a second extension arm having a ring through which a fixed second rail passes, a first wire connected to the body and the first extension arm, and a second wire connected to the body and the second extension arm, the method including connecting the first extension arm to the first rail, while the first extension arm is connected to the first rail, the first aircraft flies toward the second rail while extending the length of the first wire, connecting the second rail to the second extension arm, and disconnecting the first extension arm from the first rail after the second rail and the second extension arm are connected.

[0584] Therefore, since the first flying object is connected to the first rail or the second rail, it is unlikely to fall to the ground even if it malfunctions. Therefore, this flying object control method has a high level of safety.

[0585] (Embodiment 6) In the following, since the basic configurations of the control method of the aircraft, and the aircraft and flight system in this embodiment are similar to the basic configurations of embodiment 1, the explanation of the control method of the aircraft, and the basic configurations of the aircraft and flight system in this embodiment will be omitted as appropriate.

[0586] In addition, the parent drone 200 in this embodiment has a similar configuration to the child drone 300. In other words, the parent drone 200 also has an arm, a processing unit that controls the arm, and the like.

[0587] [Operation] Next, a method for controlling an aircraft, and operations of the aircraft and flight system in this embodiment will be described.

[0588] Figure 54 is a flowchart illustrating the operation of the flight system in embodiment 6 from the delivery source to the delivery destination. Figure 54 is also a schematic diagram similar to Figure 53, so illustration is omitted.

[0589] In this embodiment, it is assumed that cargo is delivered from a delivery source to a delivery destination via rails 400 installed in a building.

[0590] As shown in Fig. 54, first, the child drone 300 and the parent drone 200 fly toward the rail 400 installed on a building. When the child drone 300 approaches the rail 400, the child drone 300 couples its arm to the rail 400 (S8031). The child drone 300 transmits a flight coupling instruction to the parent drone 200 (S8032).

[0591] Next, when the parent drone 200 receives the flight connection instruction, it flies toward the rail 400 of another building located near the building having the rail 400 to which the child drone 300 is connected (S8041). While the child drone 300 is holding onto the rail 400 of the building, the parent drone 200 separates from the child drone 300 and flies toward the other building. At this time, the processing unit of the child drone 300 controls the wire control module to let out the wire. Then, when the parent drone 200 approaches the rail 400, it connects the arm to the rail 400 (S8042).

[0592] Specifically, the processor drives the electric motor to slide the second arm and open the opening of the first arm. In this way, the child drone 300 connects the arm to the rail 400. When the arm is connected to the rail 400, the processor stops the power supplied to the electric motor. Then, the second arm closes the opening of the first arm by the biasing force of the spring.

[0593] In addition, before the parent drone 200 flies toward another building, the processing unit of the control unit may recognize the distance from the currently grasped building to the other building that the parent drone 200 is attempting to grasp using a camera sensor or the like, compare the length of the rail 400 with the distance to the other building, and determine whether the parent drone 200 will be able to reach the other building.

[0594] Next, the parent drone 200 connects the arm to the rail 400 and transmits information indicating the completion of the connection to the child drone 300 (S8043).

[0595] Next, when the child drone 300 receives information indicating completion of connection, the processing unit of the child drone 300 releases the connection between the arm and the rail 400 (S8033). The processing unit drives the electric motor to slide the second arm and open the opening of the first arm. In this way, the child drone 300 moves away from the rail 400. When the arm moves away from the rail 400, the processing unit stops the driving force applied by the electric motor to the second arm of the arm. In this way, the second arm closes the opening of the first arm by the biasing force of the spring.

[0596] In this way, the parent drone 200 and the child drone 300 move from the delivery source to the delivery destination by repeating steps S8031 to S8033 and steps S8041 to S8043.

[0597] [Effects] Next, a method for controlling the flying object in this embodiment and the effects of the flying object will be described.

[0598] As described above, the method for controlling an aircraft in this embodiment is a method for controlling a first aircraft and a second aircraft connected by a connecting line, which fly along a flight route, each of the first aircraft and the second aircraft having an arm with a ring through which a fixed rail passes, the method including: connecting the first aircraft to the rail; after the first aircraft is connected to the rail, the second aircraft flies toward another rail while extending the length of the connecting line, connecting the other rail to the arm of the second aircraft; and after the other rail is connected to the arm of the second aircraft, disconnecting the arm of the first aircraft from the rail.

[0599] Therefore, at least one of the first and second aircraft is connected to the rail, so that even if one of them breaks down, it is difficult for it to fall to the ground. The first and second aircraft move along the flight route as if they were climbing a ladder. Therefore, this method of controlling aircraft is very safe.

[0600] (Embodiment 7) In the following, since the basic configuration of the drone 701 and delivery system 3a in this embodiment is the same as the basic configuration of the drone and flight system in embodiment 1, etc., the explanation of the basic configuration of the drone 701 and delivery system 3a in this embodiment will be omitted as appropriate, and mainly the parts that differ from embodiment 1, etc. will be described.

[0601] Fig. 55 is a block diagram illustrating the configuration of a delivery system 3a in the seventh embodiment. Fig. 56 is an image diagram illustrating a state in which a drone 701 of the delivery system 3a in the seventh embodiment delivers a package from a delivery source to a delivery destination.

[0602] As shown in Figures 55 and 56, the delivery system 3a includes a drone 701, a management unit 100, a plurality of pillars 791a, and a rail 400.

[0603] The delivery system 3a is a system capable of delivering cargo from a delivery source to a delivery destination by using a drone 701. The drone 701 is an example of an unmanned aerial vehicle.

[0604] In this embodiment, the delivery source is a delivery center, which is a facility of a delivery company, a convenience store, etc. that serves as a relay point. The delivery destination is the party that receives the package, i.e., the delivery destination, which is, for example, a house, a convenience store, etc. that serves as a relay point. The relay point is a convenience store or a facility that is attached to a convenience store, but is not limited to this.

[0605] As an example, when the delivery origin is a delivery center, a medium-sized drone 701 is used to carry many packages to a relay point, and a small-sized drone 701 is used from the relay point to the delivery destination house. In this case, the medium-sized drone 701 is used to carry many packages from the delivery center to the relay point, and the small drone 701 is used to deliver the packages individually from the relay point to each house.

[0606] In the delivery system 3a in this embodiment, delivery may be mainly performed over short distances. For example, a short distance is a distance of about several hundred meters from a delivery source to a delivery destination. The drone 701 moves within a range of a radius of several hundred meters centered on the delivery source. In this embodiment, the radius is within about 500 m to 1000 m. In this embodiment, a radius of about 400 m is assumed.

[0607] [Drone 701 Configuration] The drone 701 of this delivery system 3a acquires route information indicating a flight route from the delivery origin to the delivery destination shown in the map data from the management unit 100 of the delivery origin. The drone 701 moves the loaded luggage from the delivery origin to the delivery destination based on the route information acquired from the management unit 100.

[0608] Fig. 57 is a front view and a side view illustrating a drone 701 of a delivery system 3a in embodiment 7. Specifically, Fig. 57 is a front view and a side view showing a drone 701 in a posture that is approximately perpendicular to the extension direction of a connector 730 and the normal direction of a virtual plane.

[0609] As shown in Figures 55 and 57, the drone 701 includes a plurality of propellers 709a, a plurality of first motors 711, a main body 712, a pair of wings 713, a connecting body 730, a movable part 740, and a control unit 330.

[0610] The multiple propellers 709a correspond one-to-one to the multiple first motors 711, and rotate around the rotation axis of the first motor 711 by the rotational drive of each first motor 711, thereby providing thrust to the drone 701 main body 712. The propellers 709a are an example of a rotor. The multiple propellers 709a are fixed to the main body 712. In this embodiment, since the main body 712 is rectangular in a plan view, the propellers 709a are disposed at each corner of the main body 712.

[0611] The first motors 711 are electric motors that rotate the respective propellers 709a. The first motors 711 are each controlled by a processing unit 734 of the control unit 330.

[0612] The main body 712 is the airframe body of the drone 701 that supports a plurality of first motors 711, a plurality of propellers 709a, a pair of wings 713, a connector 730, etc. The main body 712 houses the control unit 330, the communication unit 320, the drive unit 310, etc.

[0613] The pair of wings 713 are provided on the outer periphery of the main body 712. The pair of wings 713 function as the pair of yaw wings or the pair of pitch wings described above. Note that the pair of yaw wings and the pair of pitch wings described above may be provided on the outer periphery of the main body 712.

[0614] The connecting body 730 can connect to the rail 400 located at a position away from the ground while the main body 712 is suspended. The connecting body 730 is an elongated supporting connection member that extends in a direction away from the main body 712 (vertically upward).

[0615] The connecting body 730 has a first end 730a and a second end 730b.

[0616] The first end 730a is an end of the connecting body 730 on the main body 712 side, is pivotally supported relative to the main body 712, and is connected to the main body 712. The second end 730b is an end opposite to the first end 730a, and is connected to the rail 400 so as to be able to slide freely.

[0617] The connecting body 730 has a first arm 731 , a support portion 732 , a base 733 , an angle driving portion 743 , and a first actuator 741 .

[0618] The first arm 731 is connected to one end of the support portion 732. The first arm 731 of the present embodiment is connected to the support portion 732 via a base 733. The first arm 731 is a hanger for suspending the drone 701 from the rail 400.

[0619] The first arm 731 has a first hook 731a.

[0620] The first hook 731a extends from a first connection end 731a1 connected to the first actuator 741 to a first open end 731b1 on the other end side, and has a first bent portion 731c that bends in a first direction from the first connection end 731a1 to the first open end 731b1. The first hook 731a has a substantially C-shape, a substantially F-shape, a substantially J-shape, or a substantially U-shape, etc., with a part of the ring-shaped outer shell portion missing when viewed from the traveling direction of the drone 701. The first hook 731a has an opening 731d that allows the rail 400 to enter by cutting out the outer shell portion. The opening 731d is between the first open end 731b1 and the first connection end 731a1. The first hook 731a corresponds to the second end 730b of the connection body 730. In addition, the first hook 731a may be provided with a wheel for rotatably contacting the rail 400, as described above.

[0621] One end of support portion 732 is connected to main body 712 so as to be able to swing freely, and the other end is connected to first arm 731 via base 733, thereby supporting first arm 731 on main body 712. In this embodiment, support portion 732 swings ±90° from an upright position relative to main body 712. Support portion 732 is an elongated pillar extending in a direction away from main body 712. The portion where support portion 732 is connected to main body 712 corresponds to first end 730a.

[0622] The base 733 is a portion that connects the support portion 732 and the first arm 731, and is disposed between the support portion 732 and the first arm 731, serving as a support that supports the first arm 731. The base 733 is connected to the first connection end 731a1 of the first arm 731 and the other end of the support portion 732. The angle drive portion 743 is provided on the base 733.

[0623] The angle driving section 743 can swing the base 733 relative to the support section 732 by changing the angle of the base 733 relative to the extension direction of the support section 732 (or the main body 712). The angle driving section 743 is an example of a third actuator.

[0624] The first actuator 741 sets the angle of the first hook 731a relative to the support portion 732. The first actuator 741 is disposed between the support portion 732 and the first hook 731a, and pivotally supports the first connection end 731a1 of the first hook 731a so as to be able to swing. In the present embodiment, the first actuator 741 is disposed on the base 733.

[0625] In addition, the connector 730 may be an arm according to the above-mentioned embodiments 1 to 6 and their modified examples, and it goes without saying that it is applied to the drone 701 of this embodiment. For example, the first arm 731 may have an opening / closing part that opens and closes the opening 731d. Thereby, after the rail 400 is connected to the first arm 731, the opening 731d may be closed so that the first arm 731 does not move away from the rail 400.

[0626] The movable part 740 sets the inclination of a virtual plane including the multiple propellers 709a with respect to the support direction when the connecting body 730 is supported by the rail 400. The movable part 740 may be an actuator capable of actively changing the inclination upon receiving an instruction from the processing unit 734. Alternatively, the movable part 740 may be a rotatable member capable of passively changing the inclination by utilizing a rotational force that the main body 712 receives due to a difference in the rotation speed of each of the multiple first motors 711. The movable part 740 is disposed between the main body 712 and the connecting body 730, but may be housed in the main body 712. The support direction is a direction from the first end 730a to the second end 730b of the connecting body 730, and is also a direction in which the supporting part 732 extends.

[0627] Movable section 740 can control the attitude of support section 732 relative to main body 712 by swinging one end of support section 732, which is pivotally supported by main body 712, about the axis. Here, the imaginary plane is a plane that is approximately parallel to the horizontal direction when main body 712 is in a horizontal position, and is approximately parallel to the vertical direction when main body 712 is in an upright position.

[0628] The control unit 330 further includes a wind speed sensor 735 in addition to the camera sensor 334, the processing unit 734, and the like.

[0629] The wind speed sensor 735 is a sensor that detects the wind speed around the drone 701, and mainly detects the wind speed around the drone 701 in a hovering state. More specifically, when the processing unit 734 controls the wire control module 311 to reel out the suspending wire 792 for suspending a load, the wind speed sensor 735 detects the wind speed around the drone 701. The wind speed sensor 735 outputs wind speed information that is information indicating the wind speed around the drone 701 to the processing unit 734. The wire control module 311 is an example of a lift motor.

[0630] The control unit 330 has a camera sensor 334. The camera sensor 334 is provided in the main body 712 and is capable of capturing images of the luggage and the delivery box from above. The camera sensor 334 captures images of the luggage and the delivery box, and outputs image information, which is the captured image, to the processing unit 734. For example, the image information includes information indicating the relative position (distance) between the luggage and the delivery box, the distance from the main body 712 to the luggage, the distance from the main body 712 to the delivery box, the height from the ground to the opening of the delivery box, and the like. The camera sensor 334 may be, for example, a Time-of-Flight (TOF) camera, a distance measuring sensor, or the like. The delivery box is an example of a storage device.

[0631] The control unit 330 has a processing unit 734. The processing unit 734 is a control device that controls the multiple first motors 711, the movable unit 740, the first actuator 741, and the like, and is provided in the control unit 330. Note that the processing unit 734 may be a device separate from the control unit 330, and is not limited to this embodiment. The processing unit 734 is an example of a control circuit.

[0632] When connecting the connector 730 to the rail 400, the processing unit 734 recognizes the rail 400 shown in the image information acquired from the camera sensor 334 or the like, and connects the connector 730 to the rail 400.

[0633] When removing the connector 730 from the rail 400, the processing unit 734 drives the first actuator 741 to tilt the connector 730 with respect to the normal direction of the virtual plane. The processing unit 734 controls the first actuator 741 to increase the angle of the extension direction of the connector 730 with respect to the normal direction, so that the connector 730 is removed from the rail 400. The processing unit 734 controls the angle driving unit 743 to change the angle of the base 733 with respect to the extension direction of the support unit 732, so that the first hook 731a is raised, and the first hook 731a can be swung to remove the first hook 731a from the rail 400. The processing unit 734 may remove the connector 730 from the rail 400 by controlling the first actuator 741 and the movable unit 740, etc. The processing unit 734 may remove the connector 730 from the rail 400 by swinging the drone 701 or changing the flight altitude.

[0634] When the first hook 731a of the connecting body 730 is connected to the rail 400, the processing unit 734 (i) sets the rotation speed of the multiple first motors 711 to a rotation speed that is smaller than the minimum rotation speed for levitating the drone 701 and greater than the minimum rotation speed for propelling the drone 701 in the direction in which the rail 400 extends, and (ii) increases the angle θ, by the movable part 740, that the normal direction of the virtual plane makes with respect to the support direction of the connecting body 730.

[0635] In (i), the processing unit 734 controls the rotation speed of each of the first motors 711 while maintaining an appropriate speed so that the drone 701 can move along the rail 400. For example, the processing unit 734 controls the movement of the drone 701 while maintaining a state in which the connector 730 and the rail 400 are not in contact with each other. The processing unit 734 adjusts the angle θ to adjust the speed of the drone 701 or the distance between the rail 400 and the first hook 731a. In (ii), the processing unit 734 increases the angle θ, so that the drone 701 approaches an upright posture, and the thrust of the drone 701 increases, thereby increasing the speed of the drone 701.

[0636] For example, in (ii), the processing unit 734 controls the rotation speed of the plurality of first motors 711 so as to make the angle θ larger than 15°, 45°, 65°, or 80°.

[0637] The operation (i) may be performed before or after the operation (ii), or at least a portion of both operations may be performed in parallel.

[0638] After increasing the angle θ by the first actuator 741, if the speed of the drone 701 caused by the propulsive force exceeds a predetermined value, the processing unit 734 removes the connecting body 730 from the rail 400. In other words, if the speed of the drone 701 is to be made greater than a predetermined value, the processing unit 734 removes the connecting body 730 from the rail 400 and increases the rotation speed of the multiple first motors 711 to increase the speed of the drone 701. The processing unit 734 obtains speed information from the speed sensor 335 to determine whether the speed exceeds a predetermined value.

[0639] When the connector 730 is off the rail 400, the processing unit 734 controls the rotation speed of the multiple first motors 711 so that the angle θ is reduced by the movable unit 740 and is greater than the minimum rotation speed for levitating the drone 701. For example, the processing unit 734 increases the rotation speed of the multiple first motors 711 to increase the speed or flight altitude.

[0640] While the suspending wire 792 is being paid out, the processing unit 734 adjusts (corrects) the position of the drone 701 according to the relative position of the package with respect to the delivery box. Specifically, when the processing unit 734 acquires wind speed information and image information from the wind speed sensor 735, the processing unit 734 recognizes the relative position (distance) between the delivery box and the package shown in the image information, and the orientation of the opening of the delivery box and the package. For example, when the position of the package is displaced in the third direction from the position vertically above the delivery box, the processing unit 734 moves the drone 701 in a fourth direction opposite to the third direction along the extension direction of the rail 400. In this way, the processing unit 734 corrects the position of the drone 701.

[0641] [Operation] Next, the operation of the drone 701 and the delivery system 3a in this embodiment will be described. In this operation, from the unwinding of the suspending wire 792 when the drone 701 arrives at the destination point to the detachment of the cargo.

[0642] FIG. 58 is a flowchart illustrating the operation of the delivery system 3a in the seventh embodiment.

[0643] 55 to 58, first, when the drone 701 arrives (is positioned) vertically above the delivery box that is the delivery destination with the connector 730 connected to the rail 400, the processing unit 734 controls the wire control module 311 to start unwinding the suspending wire 792 (S8101). The package descends. At this time, the processing unit 734 acquires image information from the camera sensor 334 and calculates the distance between the package and the delivery box.

[0644] Next, processing unit 734 determines whether the distance between the package and the delivery box has reached a first specified distance (S8102). For example, the first specified distance is 1 / 2, 1 / 3, etc., of the distance from main body 712 to the delivery box. The first specified distance may be a distance that allows processing unit 734 to calculate an error in the relative position between the delivery box and the package, and is not limited to 1 / 2, 1 / 3, etc., of the distance from main body 712 to the delivery box. Processing unit 734 may control wire control module 311 to lower the package at a first speed at which suspending wire 792 is unwound at a high speed. Processing unit 734 may lower the package at the first speed from when suspending wire 792 starts to be unwound until the package reaches the first specified distance.

[0645] Whether or not the distance between the package and the delivery box has reached the first specified distance can be determined by calculating the first specified distance from image information acquired from camera sensor 334 or the length of suspension wire 792 that has been unwound, or the like.

[0646] When the processing unit 734 determines that the distance between the package and the delivery box has not reached the first specified distance (NO in S8102), the processing unit 734 returns the process to step S8101.

[0647] When the processing unit 734 determines that the distance between the package and the delivery box has reached the first specified distance (YES in S8102), it locates the package and the delivery box based on the image information acquired from the camera sensor 334, and calculates the error (positional deviation) of the package's relative position from the delivery box. Here, the processing unit 734 calculates the error between the package and the opening of the delivery box when looking down on the package and the delivery box. Here, the error means the deviation of the X-axis, Y-axis, and roll angle of the package with respect to the XY plane based on the vertical and horizontal directions of the opening of the delivery box.

[0648] If the answer is YES in step S8102, the processing unit 734 may control the wire control module 311 to lower the load at a second speed, which is a slower unwinding speed of the suspending wire 792. The processing unit 734 may lower the load at the first speed after starting to unwind the suspending wire 792, and then lower the load at the second speed after the load reaches a first specified distance. The second speed is slower than the first speed.

[0649] Next, the processing unit 734 judges whether the error is equal to or greater than a specified value. If the error is large, the package may become displaced from the delivery box and may become separated from the delivery box. If this continues, the package may not be able to be stored in the delivery box. The specified value is an index of whether the package can be inserted through the opening of the delivery box.

[0650] When processing unit 734 determines that the error is equal to or greater than the specified value (YES in S8104), it controls wire control module 311 to stop paying out suspension wire 792 (S8105).

[0651] The processing unit 734 corrects the position of the package (corrects the error) so that the package and the opening of the delivery box overlap, that is, so that the package fits into the opening of the delivery box. Specifically, the processing unit 734 controls the multiple first motors 711 based on the image information to move the drone 701 so as to correct the position of the package relative to the opening of the delivery box (S8106). Then, the processing unit 734 returns the process to step S8103. In this manner, the correction of the package position relative to the opening of the delivery box is repeated.

[0652] Here, a case where the position of a package relative to the opening of a delivery box is corrected will be illustrated.

[0653] Fig. 59 is a schematic diagram illustrating a state in which the positions of opening 471 of delivery box 470 and the package are corrected when the package is blown in the third direction by wind. Fig. 59(a) illustrates a state in which drone 701 moves vertically above delivery box 470 and lowers the package by letting out suspending wire 792. In Fig. 59(a), wind is blowing in the direction of the arrow (an example of the third direction), and drone 701 is displaced from the position vertically above delivery box 470 toward downwind. For this reason, Fig. 59(b) illustrates a state in which drone 701 moves toward upwind (an example of the fourth direction).

[0654] FIG. 60 is a schematic diagram illustrating another state in which the position of opening 471 of delivery box 470 and the luggage are corrected when the luggage is blown in the direction of the arrow (an example of the third direction) by the wind. FIG. 60 a shows a state in which there is no wind. In this case, the luggage can be stored in delivery box 470 as is. FIG. 60 b and d show a state in which the wind is blowing in the direction of the arrow, and the luggage is displaced (shifted) from vertically above opening 471 of delivery box 470 to downwind (an example of the fifth direction). FIG. 60 c and e show a state in which processing unit 734 controls multiple first motors 711 and movable unit 740 to tilt the attitude of main body 712, that is, swings main body 712 in the direction of the arrow, thereby moving the luggage connected to hanging wire 792 upwind (an example of the sixth direction). Specifically, the processing unit 734 controls the first motors 711 and the movable unit 740 to tilt the attitude of the main body 712 toward the windward side so as to displace the package toward the windward side. When the position of the package is displaced in the fifth direction from the position vertically above the delivery box 470, the processing unit 734 swings the drone 701 about the rail 400 as a fulcrum to move the center of gravity of the drone 701 in a sixth direction opposite to the fifth direction.

[0655] In this way, the processing unit 734 controls the multiple first motors 711 and the movable unit 740 based on the image information to move or swing the drone 701, thereby correcting the position between the opening 471 of the delivery box 470 and the package.

[0656] The positions of opening 471 of delivery box 470 and the package may be corrected while continuing to pay out suspending wire 792. In this case, step S8105 may be omitted. When correcting the positions of opening 471 of delivery box 470 and the package, processing unit 734 may control wire control module 311 to set the payout speed of suspending wire 792 to a third speed slower than the second speed.

[0657] When it is determined that the error is less than the specified value (NO in S8104), processing unit 734 continues to pay out suspension wire 792 (S8111).

[0658] Next, processing unit 734 determines whether the distance between the package and delivery box 470 has reached a second specified distance that is shorter than the first specified distance (S8112). For example, the second specified distance is 1 / 5, 1 / 10, or less than 1 / 10 of the distance from main body 712 to delivery box 470. Processing unit 734 may control wire control module 311 to lower the package at a second or third speed as the unwinding speed of suspending wire 792. Processing unit 734 may lower the package at the second or third speed from the start of unwinding suspending wire 792 until the package reaches the second specified distance from the first specified distance.

[0659] Whether the distance between the package and the delivery box 470 has reached the second specified distance can be determined by calculating the second specified distance from image information obtained from the camera sensor 334 or the length of the hanging wire 792 that has been unwound, etc.

[0660] When it is determined that the distance between the package and the delivery box 470 has not reached the second specified distance (NO in S8112), the processing unit 734 returns the process to step S8111.

[0661] Next, when the processing unit 734 determines that the distance between the package and delivery box 470 has reached the second specified distance (YES in S8112), it controls the wire control module 311 to stop paying out the hanging wire 792, measures the positions of the package and delivery box 470 based on the image information acquired from the camera sensor 334, and calculates the error in the relative position of the package from the delivery box 470. Here, the processing unit 734 calculates the error (positional deviation) between the package and opening 471 of delivery box 470 when the package and delivery box 470 are viewed from above.

[0662] Processing unit 734 controls multiple first motors 711 to move drone 701 so as to correct the positions of opening 471 of delivery box 470 and the package so that the package fits into opening 471 of delivery box 470. Note that, as in step S8104, processing unit 734 may determine whether the error is equal to or greater than a specified value.

[0663] Next, the processing unit 734 controls the wire control module 311 to start unwinding the suspension wire 792 (S8114).

[0664] Next, based on the image information acquired from camera sensor 334, processing unit 734 determines whether the package has passed through opening 471 of delivery box 470 and been stored in delivery box 470 (S8115). For example, processing unit 734 calculates an overlap between opening 471 of delivery box 470 and the package from the image information acquired from camera sensor 334, and detects relaxation of tension in hanging wire 792 with tension sensor 333, thereby determining that the package has been placed at the bottom of delivery box 470 based on the tension information acquired from tension sensor 333.

[0665] When the processing unit 734 determines that the package has been stored in the delivery box 470 (YES in S8115), the processing unit 734 controls the package attachment unit (not shown) at the tip of the suspending wire 792 so that the package attachment unit detaches (disconnects) the package. This causes the package to be stored in the delivery box 470 (S8116). The package attachment unit is capable of connecting and holding or grabbing the package. The processing unit 734 controls the wire control module 311 to wind up the suspending wire 792, and when winding is complete, returns to the delivery source. Then, the processing unit 734 ends the processing.

[0666] On the other hand, when processing unit 734 determines that the package is not stored in delivery box 470 (NO in S8115), it cannot calculate the overlap between opening 471 of delivery box 470 and the package from the image information acquired from camera sensor 334, and cannot detect slack in tension of hanging wire 792 based on tension information acquired from tension sensor 333. For this reason, processing unit 734 moves the package away from opening 471 of delivery box 470 by having wire control module 311 wind up hanging wire 792 by a specified amount (S8117). Here, the specified amount is, for example, several centimeters or less, or several tens of centimeters or less. Processing unit 734 then returns to step S8111.

[0667] [Configuration of distribution system 3a] Next, an example of how a package is delivered using the drone 701 and delivery system 3a in this embodiment will be described.

[0668] FIG. 61 is an image diagram illustrating a state in which a drone 701 of a delivery system 3a in embodiment 7 delivers a package from a delivery source to a relay point at a delivery destination.

[0669] As shown in FIG. 56 and FIG. 61, when a delivery destination is a relay point, when a package is delivered to the relay point, the relay point becomes a delivery source and delivers the package to the next delivery destination by a transport means. The relay point is a delivery source for individual delivery to delivery destinations such as each house, and is also a delivery destination where packages for each delivery destination within a predetermined distance from the relay point are collected. At the relay point, the collected packages are sorted and delivered to each delivery destination by using a delivery means such as a drone 701. In this case, the management unit 100 of FIG. 55 may be provided at the relay point, and the drone 701 may acquire route information from this management unit 100, or the drone 701 may acquire route information from the management unit 100 of the delivery center. Here, the transport means may be not only the drone 701 described above, but also a home delivery robot, a vehicle, a person, or the like.

[0670] At the relay point, it may be possible to determine whether to deliver the package by drone 701 or by a delivery robot or the like depending on the weight of the package to be sent to the delivery destination. If the package weight is less than a predetermined value, it may be delivered by drone 701, and if the package weight is equal to or greater than the predetermined value, it may be delivered by a delivery robot. For example, if the package weight is less than 5 kg, it may be delivered by drone 701, and if the package weight is 5 kg or more, it may be delivered by a delivery robot.

[0671] The delivery system 3a can deliver packages to multiple delivery destinations by simultaneously managing multiple drones 701. Note that a single drone 701 returns to its sender after delivering a package to one delivery destination, but it may deliver packages to two or more delivery destinations.

[0672] FIG. 62A is a schematic diagram illustrating the height from the ground when the drone 701 of the delivery system 3a in the seventh embodiment moves.

[0673] As shown in FIGS. 56 and 62A, the delivery system 3a further includes a rail support portion 793, a protective net 794 in FIG. 63 described below, a pull-in support pole 791b, a pull-in wire 795, and a delivery box 470 in FIG.

[0674] Each of the multiple support poles 791a is a utility pole or a street light. Each support pole 791a is installed on the ground. A rail 400 used in the delivery system 3a is fixed to each of the multiple support poles 791a. For example, a rail support portion 793 is fixed to each of the multiple support poles 791a. Specifically, the rail support portion 793 is a support member that supports the rail 400 of the delivery system 3a, and is fixed so as to protrude from the extension direction of the support pole 791a, and can hold the rail 400 in a state separated from the support pole 791a.

[0675] The rail 400 of the delivery system 3a is, for example, stretched across and fixed to multiple posts 791a, facilities, etc. The rail 400 guides the movement of the drone 701 so that the drone 701 moves along the rail 400 with the connector of the drone 701 connected. The rail 400 can support the drone 701 and the cargo loaded on the drone 701 even when the drone 701 is suspended from the rail 400 via the connector. For example, the rail 400 is a long, thin rod-shaped member, a wire, etc.

[0676] 62A, the rail 400 is installed at a position spaced apart from the ground between each of the multiple support posts 791a. For example, the rail 400 is stretched at a height of about 10 meters to about 13 meters so that the drone 701 can move along a drone highway that is at a height of about 10 meters to about 13 meters from the ground surface. For this reason, the rail 400 may be stretched at a height of about 12 meters to about 13 meters from the ground surface.

[0677] When the support 791a is a utility pole, a lightning rod, a power line, and the like are provided on the utility pole. Usually, a lightning rod is attached to the tip of the utility pole, a high-voltage power line is arranged below the lightning rod, and a low-voltage power line may be arranged further below the high-voltage power line at a height of about 13 meters or more. If the height of a typical house is about 10 meters, the space is considered to be at a height of about 10 meters or more and about 13 meters or less. By flying the drone 701 at a position higher than the height of the house, it is difficult for the drone 701 to come into contact with the house and the power line, and the privacy of the user at the delivery destination and the privacy of the people in the facility such as the house are protected.

[0678] However, these height values ​​are just examples and are not limited to these height values ​​as they change depending on the surrounding environment. For this reason, the drone highway may be installed below about 10 meters.

[0679] Fig. 62B is a schematic diagram illustrating the position of the drone highway of the delivery system 3a in the seventh embodiment. Fig. 62B a is a view from the direction of movement of the drone 701, and Fig. 62B b is a view from a direction perpendicular to the direction of movement of the drone 701.

[0680] 62B, for example, in the case of a pole 791a such as a utility pole that is 17 m high from the ground, the rail 400 is placed at a position that is about 15 meters to about 16 meters. The drone 701, including the baggage, is positioned in a range of about 13 meters to about 16 meters.

[0681] The drone highway has a width of about 2 meters. Therefore, when installing another rail 400 on the opposite side of the rail 400, the rail 400 is installed taking the width into consideration.

[0682] A protective net 794 is provided on the support pole 791a at a point about 13 meters from the ground. The protective net 794 is stretched vertically below the rail support portion 793 and supported by the support pole 791a. Specifically, the protective net 794 is supported by the support pole 791a in a position that is approximately parallel to a plane perpendicular to the longitudinal direction of the support pole 791a. The protective net 794 is disposed vertically below the drone highway so as to overhang from the support pole 791a. In FIG. 62B, the size of the protective net 794 overhangs from the support pole 791a by about 2.5 meters and has a length of about 6 meters or more in the moving direction in which the drone 701 moves (the direction in which the rail 400 extends). When the protective net 794 and the drone 701 are viewed in a plan view, the size of the protective net 794 is larger than the drone 701. The protective net 794 is, for example, a cushioned mesh or cloth structure, and prevents the drone 701 from colliding with the ground even if the connector 730 comes off the rail 400.

[0683] Fig. 63 is a schematic diagram illustrating a state in which the drone 701 of the delivery system 3a in the seventh embodiment stores a package in the delivery box 470 via the retraction support 791b and the retraction wire 795. Fig. 64 is a perspective view illustrating a state in which the drone 701 of the delivery system 3a in the seventh embodiment stores a package in the delivery box 470 via the retraction support 791b and the retraction wire 795.

[0684] As shown in Fig. 63 and Fig. 64, the lead-in support pole 791b is placed within a specific site, and is installed, for example, on the ground or in a facility. Fig. 63 and Fig. 64 show an example in which the lead-in support pole 791b is installed on the ground. The lead-in support pole 791b is lower in height than the support pole 791a, and has one end of the lead-in wire 795 fixed thereto. The tip of the lead-in support pole 791b is provided below the rail 400 and the power transmission line.

[0685] The retraction wire 795 is stretched across the rail 400. Specifically, one end of the retraction wire 795 is connected to and fixed to the retraction support 791b, and the other end of the retraction wire 795 is stretched across and connected to the rail 400. At the connection point (branch point) between the other end of the retraction wire 795 and the rail 400, the connector of the drone 701 has a hook, so that the retraction wire 795 can be directly connected from the rail 400 to the retraction wire 795. This connection point is provided between the adjacent first and second supports of the multiple supports 791a, but may be provided on the first or second support.

[0686] A protective net 794 is disposed vertically below the connection point and is supported by a support pole 791a. Even if the connector comes off from the connection point, the protective net 794 prevents the drone 701 from colliding with the ground.

[0687] At the connection point, the connecting body connected to the rail 400 is switched to the retraction wire 795, and the retraction wire 795 connects to the connecting body and guides the connecting body to the retraction support 791b. As a result, the drone 701 arrives at the retraction support 791b. In this case, the retraction support 791b is the actual delivery destination.

[0688] In this embodiment, the delivery system 3a includes the protective net 794, the retraction support 791b, and the retraction wire 795, but may not include the retraction support 791b and the retraction wire 795. When the drone 701 arrives at the delivery destination, it may simply unload the cargo, and the retraction support 791b and the retraction wire 795 are not essential components of the delivery system 3a.

[0689] The delivery box 470 is installed at a delivery destination such as a house. In Fig. 63 and Fig. 64, it is installed at the base of the retractable support 791b, but the installation location is not particularly limited as long as the drone 701 can store the package. The delivery box 470 becomes a destination point for storing the package delivered by the drone 701.

[0690] 63 and 64, the lead-in pole 791b is placed within a predetermined site, for example, installed on the ground. The lead-in pole 791b is shorter in height than the pole 791a, and has one end of a lead-in wire 795 fixed thereto.

[0691] The retraction wire 795 is stretched across the rail 400. Specifically, one end of the retraction wire 795 is connected to and fixed to the retraction wire 795, and the other end of the retraction wire 795 is stretched across and connected to the rail 400. At the connection point between the other end of the retraction wire 795 and the rail 400, the connector of the drone 701 has a hook, so that the rail 400 can be directly connected to the retraction wire 795. This connection point is provided between the first and second adjacent columns of the multiple columns 791a, but may be provided on the first or second column. More specifically, the height from the installation surface to the first connection point P1 at which the retraction wire 795 and the retraction column 791b are connected is lower than the height from the installation surface to the second connection point P2 at which the retraction wire 795 and the column 791a or the rail 400 are connected. In this embodiment, the installation surface is the ground. When the support pole 791a or the pull-in support pole 791b is grounded to a building, the part of the building to which it is connected becomes the installation surface.

[0692] Figure 65 is a side view illustrating the state in which the main body 712 of the drone 701 of the delivery system 3a in embodiment 7 is in a position approximately parallel to the vertical direction and stores a package in the delivery box 470 via the support 791a and the rail 400.

[0693] If the opening 471 of the delivery box 470 is small, the drone 701 may come into contact with the support 791a (which may be a retractable support), making it impossible to store the package in the delivery box 470. For this reason, as shown in Figs. 55 and 65, the processing unit 734 of the drone 701 controls the actuator to set the attitude of the main body 712 to an attitude approximately parallel to the vertical direction, thereby making the main body 712 stand upright. The processing unit 734 makes the main body 712 stand upright by controlling the actuator to increase the angle θ formed by the normal direction of a virtual plane including multiple propellers 709a as shown in Fig. 57 with respect to the support direction (vertical direction) of the connecting body.

[0694] Whether opening 471 of delivery box 470 is small or not is determined based on image information acquired from camera sensor 334 mounted on drone 701 or the like.

[0695] For example, as shown in a and b of FIG. 55 and FIG. 65, the drone 701 moves along the rail 400. The processing unit 734 of the drone 701 captures an image of the opening 471 of the delivery box 470 by the camera sensor 334 or the like, and determines from the captured image information whether the virtual plane of the main body 712 is substantially parallel to the horizontal direction and the package can be stored in the delivery box 470. If it is determined that the virtual plane of the main body 712 is substantially parallel to the horizontal direction and the package cannot be stored in the delivery box 470, the processing unit 734 controls the movable unit 740 to make the posture of the main body 712 substantially parallel to the vertical direction. As shown in c of FIG. 65, the drone 701 arrives vertically above the delivery box 470. As shown in d of FIG. 65, the processing unit 734 controls the wire control module 311 to pay out the hanging wire 792 to lower the package and store the package in the delivery box 470. In such a delivery system 3a, parcels are securely stored in the parcel box 470.

[0696] Fig. 66 is a schematic diagram illustrating a case where the drone 701 flies in a place where there is no rail 400 in the delivery system 3a in the seventh embodiment. In some cases, such as a river, the rail 400 cannot be installed depending on the width, so Fig. 66 illustrates a case where the drone 701 crosses a river.

[0697] 55 and 66a to 66c, the movable part 740 tilts the main body 712 from a substantially horizontal posture with respect to the imaginary plane of the main body 712 to an upright posture. The drone 701 accelerates in order to cross the river.

[0698] As shown in Figures 55, 66c and 66d, the connector 730 moves away from the rail 400.

[0699] As shown in Fig. 55 and Fig. 66 d and e, the drone 701 crosses the river using the propulsive force due to acceleration and a pair of wings 713. The processing unit 734 calculates the position of the rail 400 using image information and the like, and when the drone 701 approaches the rail 400, the processing unit 734 controls the movable unit 740 to tilt the main body 712 from an upright posture to a posture approximately horizontal with the virtual plane of the main body 712. This causes the drone 701 to decelerate.

[0700] As shown in Figures 55 and 66 e and f, the processing unit 734 calculates the position of the rail 400 based on image information, etc., and the connector 730 of the drone 701 connects to the rail 400 installed on the opposite bank.

[0701] As shown in Fig. 55 and Fig. 66 f, g, and h, after the drone 701 decelerates and connects the connector 730 to the rail 400, the processing unit 734 controls the movable unit 740 to tilt the main body 712 from a posture approximately horizontal to the virtual plane of the main body 712 to an upright posture. This causes the drone 701 to accelerate to a speed at which it can safely travel on the rail 400. In this way, the drone 701 crosses even places where the rail 400 cannot be installed, such as rivers.

[0702] [Effects] Next, the effects of the drone 701 and the delivery system 3a in this embodiment will be described.

[0703] The drone 701 is an unmanned aerial vehicle for delivering luggage, and includes a plurality of rotors, a plurality of first motors 711 for respectively rotating the plurality of rotors, a main body 712 for supporting the plurality of first motors 711, a connecting body 730 for connecting the main body 712 in a suspended state to a rail 400 located at a position away from the ground, a movable part 740 for setting the inclination of a virtual plane including the plurality of rotors with respect to the support direction when the connecting body 730 is supported by the rail 400, and a processing unit 734 for controlling the plurality of first motors 711 and the movable part 740. The connecting body 730 has a first end 730a connected to the main body 712 and a second end 730b connected to the rail 400. The connecting body 730 has a first end 730a and a second end 730b for slidably connecting to the rail 400, and the support direction is a direction from the first end 730a to the second end 730b of the connecting body 730, and when the second end 730b of the connecting body 730 is connected to the rail 400, the processing unit 734 (i) sets the rotation speed of the multiple first motors 711 to a rotation speed that is smaller than the minimum rotation speed for levitating the drone 701 and greater than the minimum rotation speed for propelling the drone 701 in the direction in which the rail 400 extends, and (ii) increases the angle θ that the normal direction of the virtual plane makes with respect to the support direction of the connecting body 730, using the movable part 740.

[0704] According to this, the drone 701 can move along the rail 400 with the connecting body 730 connected to the rail 400. In the case of (i), the processing unit 734 controls the rotation speed of the multiple first motors 711 to make the rotation speed smaller than the minimum rotation speed for floating the drone 701 and larger than the minimum rotation speed for propelling the drone 701, so that the drone 701 can move at an appropriate speed along the rail 400. In the case of (ii), the processing unit 734 controls the movable unit 740 to change the inclination of a virtual plane including multiple rotors with respect to the support direction of the connecting body 730, thereby adjusting the speed of the drone 701.

[0705] The delivery system 3a includes a drone 701, a plurality of posts 791a, and a rail 400 stretched between two adjacent posts 791a.

[0706] The movable portion 740 is disposed between the main body 712 and the connecting body 730 .

[0707] According to this, the movable portion 740 can easily change the angle θ of the connecting body 730 with respect to the main body 712.

[0708] For example, when the connecting body 730 is disposed at or near the center of gravity of the main body 712, the movable part 740 is also disposed at or near the center of gravity of the main body 712. Therefore, the center of gravity of the drone 701 can be balanced.

[0709] The drone 701 furth...

Claims

1. A container for storing packages delivered by an unmanned aerial vehicle, comprising: a first structure that closes a first opening located above the storage body; A mechanism for moving the first structure; When the luggage is stored inside the storage body through the first opening, the mechanism moves the first structure to open the first opening. Storage body.

2. and further comprising a second structure located above the first opening for fixing the unmanned aerial vehicle when the unmanned aerial vehicle drops off the cargo. The enclosure of claim 1 .

3. Fixing the automated guided vehicle to the second structure is performed by passing a current through a coil of an electromagnet. The enclosure of claim 2.

Images