Recovering method and recovering system

Abstract

To provide a recovering method that is able to recover an object even if a falling path of the object is changed.SOLUTION: A method for recovering an object falling in the air, by means of an unmanned aerial vehicle, comprises: an information transmission step of transmitting state information of the object from the object falling in the air; a recovering step of causing the unmanned aerial vehicle to fly in accordance with a command information generated based on the state information and to capture the object.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a method for recovering an object falling through the air using an Unmanned Aerial Vehicle (UAV). [Background technology]

[0002] In order to recover objects such as cargo or structures that are dropped from the sky without destroying them, various methods have been considered and realized, such as attaching a parachute to the falling object or attaching interference materials to absorb the impact when it falls. Or, like a recovery rocket, a method of recovering the object by firing an engine just before it lands.

[0003] Regarding a UAV, which is an example of a target object, Patent Document 1 proposes the following recovery method. That is, Patent Document 1 includes a step of providing a recovery net stretched horizontally on the ground and circling the UAV above the recovery net, and a step of descending the aircraft from the downwind direction at a high angle of attack and landing it on the recovery net. According to the recovery method of Patent Document 1, the aircraft can be made to descend at a steep angle with its nose raised at a high angle of attack without being subjected to crosswinds, and land stably on a recovery net stretched horizontally. In other words, since Patent Document 1 does not land from horizontal flight, the area in which the recovery net is installed can be narrowed. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2010-173401 A Summary of the Invention [Problem to be solved by the invention]

[0005] The UAV, which is the object to be recovered in Patent Document 1, is assumed to have a propulsive force, and Patent Document 1 is not suitable for recovering objects that do not have a propulsive force. In other words, since an object falling through the air is affected by, for example, air currents, the falling path of the object, including its final falling position, can change from moment to moment depending on weather conditions. In view of the above, an object of the present disclosure is to provide a recovery method that can recover an object even if the falling path of the object changes, and a recovery system that can realize such a recovery method. [Means for solving the problem]

[0006] The present disclosure relates to a method for retrieving an object falling through the air using an unmanned aerial vehicle. The recovery method of the present disclosure includes: an information transmission step of transmitting state information of the object from the object falling through the air; and a recovery step in which the unmanned aerial vehicle flies and captures the target object according to command information generated based on the status information.

[0007] The present disclosure also relates to a system for recovering objects falling through the air using an unmanned aerial vehicle. The recovery system of the present disclosure comprises: a status information generating unit provided in the object and configured to generate and transmit status information of the object; The unmanned aerial vehicle is provided with a controller that generates command information based on the status information and controls the flight of the unmanned aerial vehicle. Effect of the Invention

[0008] According to the present disclosure, the object to be collected transmits status information of the object, and the unmanned aerial vehicle flies and captures the object according to command information generated based on the status information. Therefore, according to the collection method of the present disclosure, the object can be collected even if the falling path of the object changes. [Brief description of the drawings]

[0009] [Figure 1]1 is a diagram showing an overview of an article transport method including a recovery method according to an embodiment. [Diagram 2] 1 is a diagram showing the gist of a recovery method according to an embodiment; [Diagram 3] 1 is a diagram showing the gist of a recovery method according to an embodiment; [Figure 4] A diagram showing a control unit of a UAV in a recovery method according to an embodiment. [Diagram 5] 11 is a diagram illustrating a procedure for generating command information in the collection method according to the embodiment. FIG. [Figure 6] FIG. 13 is a diagram showing the gist of a recovery method according to another embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an object recovery method and a recovery system according to an embodiment will be described with reference to the accompanying drawings.

[0011] [Outline of recovery method: See Figure 1] The collection method according to the embodiment is executed as one step in the process of transporting an object. As shown in Fig. 1, the transport method according to the embodiment transports an object 100 to be transported from a source P1 to a destination P2. That is, the object 100 is transported along a transport path TR from the source P1 to the destination P2. Note that the transport path TR shown in Fig. 1 is shown as a line diagram for convenience of explanation, but the object 100 may be transported while deviating from the planned transport path TR by an allowable range.

[0012] The target object 100 departs from the origin P1 while being suspended from the aircraft 200. However, during the transportation route TR, the target object 100 is detached from the aircraft 200 and falls in the air. In the recovery method according to the embodiment, the target object 100 falling in the air is recovered by a recovery system 1 including a plurality of UAVs 10, and the recovered recovery system 1 delivers the target object 100 to the destination P2. In this manner, in the transportation method according to the embodiment, the transportation means is changed from the aircraft 200 to the recovery system 1 between the origin P1 and the destination P2. The aircraft 200 that has detached the target object 100 returns to the origin P1, for example, and takes on the transportation of the next target object 100. The recovery system 1 waits, for example, at the destination P2, and takes off from the destination P2 at the necessary timing, flying toward the area where the target object 100 is to be recovered, in other words, toward the vicinity of the point where the target object 100 is to be detached from the aircraft 200. In this embodiment, the aircraft 200 suspends the object 100 via the parachute 101, and when in position, the object 100 is detached from the aircraft 200 together with the parachute 101 and falls. The object 100 is attached with a parachute, which reduces the speed of the fall and makes it easier for the object 100 to be captured by the capture device 15. The transportation method according to the embodiment is effective when there is a reason such as a lack of space at the destination P2 for the aircraft 200 to land. In addition, a UAV in this disclosure refers to an aircraft that is structurally incapable of carrying humans and that can fly autonomously, and is sometimes referred to as a drone. Furthermore, the object 100 in the present disclosure is not limited, and not only solids that can be transported, but also gases and liquids can become the object 100 when contained in a container.

[0013] [Specific collection method: See Figures 1 and 2] Next, a specific example of a method for collecting the target objects 100 by the collection system 1 will be described. In a specific example of the recovery method, the object 100 is transported partway from the origin P1 by an aircraft 200, for example a rotorcraft (helicopter), and the recovery system 1 recovers the object 100 that has been detached from the aircraft 200 and transports it to the destination P2. Note that, although an example is shown in which the object 100 is suspended from the aircraft 200 via a parachute 101, the object 100 can also be supported without the parachute 101 or other members. Also, in this example, the object 100 is suspended outside the aircraft 200, but the object 100 stored inside the aircraft 200 may be dropped outside the aircraft 200.

[0014] The object 100 separated from the aircraft 200 falls in the air. Since the object 100 is suspended by a parachute 101, the falling speed is kept low compared to when the object 100 falls by itself. On the other hand, since the object 100 is subjected to air currents, it is difficult to specify the fall path FR in advance. Therefore, the object 100 is provided with a status information generating unit 30 capable of generating status information SI of the object 100. The object 100 falls in the air while transmitting its own status information SI (status information transmission step). The status information SI will be described in detail later.

[0015] The status information SI of the object 100 transmitted from the object 100 is received by each of the three UAVs 10 via the base station 40, for example. Each UAV 10 generates command information CI for itself based on the received status information SI of the object 100. Each UAV 10 flies based on the generated command information CI. The UAV 10 is equipped with a rotor 11, and specifically, the operation of the rotor 11 is controlled according to the command information CI so that the falling object 100 can be captured and recovered by the capture tool 15 supported by the three UAVs 10 (recovery step). After capturing the object, the object 100 recovered by the capture tool 15 is transported to the destination P2 while being towed by the three UAVs 10. The specific content of the command information CI will be described later.

[0016] [Configuration of collection system 1: see Figures 2 to 5] To realize this recovery method, the recovery system 1 includes a status information generating unit 30 provided in the target object 100, and a base station (BCS) 40 that receives the status information SI transmitted from the status information generating unit 30. The base station 40 transmits the received status information SI to each of a plurality of UAVs, three UAVs 10 as an example here, and the flight of the three UAVs 10 is controlled so as to recover the target object 100 based on the received status information SI.

[0017] [State information generating unit 30 included in object 100: see FIG. 3] For the object 100, the status information SI includes information about the position of the object 100 (position status information PS) and information about the speed of the object 100 (speed status information VS). The position state information PS and the speed state information VS are generated using a global positioning system (GPS) as an example of a satellite positioning system. The state information generating unit 30 includes a communication unit 31 that receives radio waves from a GPS satellite and transmits the calculated state information SI, a GPS receiving unit 33 that calculates the position state information based on the radio waves received from the GPS satellite, and a speed information generating unit 35 that calculates and obtains speed information of the target object 100 based on the position state information calculated by the GPS receiving unit 33.

[0018] Since GPS is well known, detailed description will be omitted here, but GPS comprises three elements: GPS satellites (space segment), ground control (control segment) that performs regular maintenance of the GPS satellites, and a GPS receiver (user segment) that receives radio waves from the GPS satellites and calculates the position. The status information generating unit 30 comprises a GPS receiver and generates position status information PS that identifies the position of the object 100. This position status information PS includes three elements: latitude, longitude, and altitude. The status information generating unit 30 continuously calculates the position status information by continuously receiving radio waves from the GPS satellites. In addition, satellites of the Global Navigation Satellite System (GNSS) include QZSS (Japan), GLONASS (Russia), Galileo (EU), and the like in addition to GPS, and any of them can be used.

[0019] The speed status information VS is a ground speed, and as an example, the status information generating unit 30 calculates the ground speed of the object 100 by the speed information generating unit 35 based on the speed status information VS calculated by the GPS receiving unit 33. The displacement of the object 100 is calculated based on the position status information of the object 100 calculated by the GPS receiving unit 33, the speed of the object 100 is calculated by differentiating this displacement with respect to time, and the acceleration of the object 100 is calculated by differentiating the calculated speed with respect to time. The calculated speed is expressed as (v x ,v y ,v z ) The same is true for acceleration, (a x ,a y ,a z ) is written as

[0020] The position status information obtained by the GPS receiver 33 and the speed information obtained by the speed information generator 35 are transmitted from the communication unit 31 to each of the UAVs 10 .

[0021] [Base station 40: Fig. 1, Fig. 3] The base station 40 is provided at a fixed position on the ground, for example, and receives the status information SI of the object 100 generated by the status information generating unit 30 provided in the object 100. The base station 40 transfers the received status information SI to each of the three UAVs 10. The base station 40 is not limited to transferring the status information SI, and can provide other information to the UAVs 10. There may be a single base station 40, but there may also be multiple base stations 40 due to reasons such as a long distance from the transport source P1 to the transport destination P2. The status information SI generated by the object 100 can be directly transmitted to the UAV 10. In the present disclosure, the presence of the base station 40 is optional. Therefore, if the base station 40 does not exist, the status information SI from the target object 100 is transmitted directly from the status information generating unit 30 to the UAV 10.

[0022] [UAV10: See Figures 2, 3, and 4] The UAV 10 receives status information SI transmitted from the base station 40 and flies based on command information CI generated based on the received status information SI. Note that the UAV 10 flies based on the command information CI at least when the UAV 10 is involved in retrieving the target object 100, and may fly based on information different from the command information CI at other times. For example, the UAV 10 may fly by collating information related to a predetermined transport route TR with position status information calculated by the GPS receiver 29 of the UAV 10 until the UAV 10 is involved in retrieving the target object 100. The same applies when the UAV 10 is transported to the destination P2 after the retrieval of the target object 100 is completed. As one example, the three UAVs 10 are waiting at the destination P2, and when the aircraft 200 reaches a predetermined separation area, they can take off to recover the target 100. As another example, the three UAVs 10 are waiting near the predetermined separation area, and when the aircraft 200 reaches the predetermined separation area, they can take off to recover the target 100.

[0023] As an example, three UAVs 10 support a capture tool 15 for capturing an object 100. In the embodiment, a capture net is used as the capture tool 15. As an example, three UAVs 10 fly while supporting a capture net as the capture tool 15 in a spread state at equal intervals in the horizontal direction H. The number of UAVs 10 supporting the capture tool 15 is not limited to three, and is selected from one or more than two. The weight of the object 100 to be collected and transported is one of the factors that affect the number of UAVs 10. It is difficult for one UAV 10 to hold the illustrated net by itself, but if it is, for example, a landing net that has a handle and can maintain the shape of the net part, one UAV 10 can hold the handle part and capture the object 100.

[0024] The UAV 10 may have any shape as long as it can fly autonomously by the generated command information CI. Typically, a UAV 10 equipped with rotors 11 at multiple locations is used. Specifically, a tricopter with three rotors, a quadcopter with four rotors, a hexacopter with six rotors, etc. may be used. The more rotors there are, the higher the stability during flight tends to be, but the weight of the UAV 10 will increase accordingly, and the number of maintenance points will also increase. The UAV 10 to be used can be selected taking into consideration these factors and the weight of the object 100 to be collected and transported.

[0025] Each UAV 10 includes a controller 20 for generating command information CI based on the transmitted status information SI. As shown in FIG. 4, the controller 20 includes a communication unit 21, a storage unit 23, a processing unit 25, and an instruction unit 27. The controller 20 may also include a GPS receiver 29. The GPS receiver 29 has the same function as the GPS receiver 33, and can identify the status information of the UAV 10. The controller 20 is configured as a computer device, and is configured, for example, of a CPU (Central Processing Unit), RAM (Random Access Memory), ROM (Read Only Memory), and a computer-readable storage medium, etc. A series of processes for realizing various functions is stored in the storage unit 23 in the form of a program, for example, and the CPU reads out this program into the processing unit 25 configured by the RAM, etc., and executes information processing and arithmetic processing, thereby realizing various functions. The program may be pre-installed in a ROM or other storage medium, provided in a state stored in a computer-readable storage medium, or distributed via wired or wireless communication means. The computer-readable storage medium includes a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, and the like.

[0026] The communication unit 21 receives the state information SI transmitted from the state information generating unit 30 of the target object 100, and the received state information SI is transferred to and stored in the storage unit 23. The processing unit 25 reads out the state information SI stored in the storage unit 23 and generates command information CI. The storage unit 23 stores information such as a state estimation filter required to generate command information CI from the state information SI, and the processing unit 25 reads out the state estimation filter and the like from the storage unit 23 and generates command information CI. The generated command information CI is sent to the instruction unit 27, and the instruction unit 27 supports an operation command to the drive source of the UAV 10 based on the command information CI. An example of a procedure in which the command information CI is generated in the controller 20, particularly in the processing unit 25, will be described with reference to FIG. 5. In part of FIG. 5, the target object 100, which is the target object, is written as a target.

[0027] To generate the command information CI, position status information PS and speed status information VS, which are status information SI on the object 100, are provided. This status information SI is transmitted from the base station 40. The position status information PS corresponds to latitude, longitude, and altitude. The speed status information VS corresponds to ground speed. The command information CI is obtained by processing the position status information PS and the speed status information VS. Command information CI is ground position command information xyz CI , ground speed command information v CI and ground acceleration command information a CI The command information CI is sent to the instruction unit 27, and the instruction unit 27 drives the drive source of the rotor 11 based on the command information CI.

[0028] Given the state information SI, the state of the object 100 is estimated via a state estimation filter as follows: ·Ground position status information (x SI ,y SI ,z SI ) Ground speed information (v xSI ,v ySI ,vzSI ) Ground condition acceleration information (a xSI ,a ySI ,a zSI )

[0029] In order to generate the command information CI, in addition to the status information SI, two parameter values ​​related to the object 100 are also referenced. Target_distance: Distance from UAV 10 to target 100 (LA to LD; see Figure 6) Target_angle: Angle between UAV 10 and target object 100 (θA to θD; see Figure 6) Status information determined by the GPS receiver 29 of the controller 20 may also be used to generate the command information CI.

[0030] The command information CI, which is the guidance law of the UAV 10 as a recovery vehicle, is calculated based on the estimated information of the target object 100, the parameter values, and the status information of the UAV 10. The command information CI includes the following three elements. The status information of the UAV 10 includes position status information and speed information, similar to the status information SI. Ground position command information xyz CI :(x CI ,y CI ,z CI ) Ground speed command information CI :(v xCI ,v yCI ,v zCI ) Ground acceleration command information a CI :(a xCI ,a yCI ,a zCI )

[0031] The three UAVs 10 fly by controlling the rotors 11 according to the generated command information CI, and the capturing device 15 spread by the three UAVs 10 is placed directly under the target object 100 to capture the target object 100. After that, the target object 100 is transported to the destination P2 by any flight method. This control is feedback control (for example, PID control (Proportional-Integral-Derivative Controller)) with the command information CI as a target value.

[0032] In the above example, the object 100 to be transported is transported from the source P1 to the destination P2, but the present disclosure is not limited to this. The recovery method of the present disclosure is widely applicable to objects that fall through the air other than those transported along a predetermined route. For example, the object to be recovered may be a fairing after separation from a rocket, a UAV without a landing gear, or a UAV that falls using a parachute after completing a mission.

[0033] In the above example, the command information CI is generated in the controller 20 of the UAV 10, but the present disclosure is not limited to this. For example, the base station 40 that receives the status information SI may have the function described with reference to FIG. 5 and may generate the command information CI. In this case, the status information acquired by the GPS receiver 29 of the UAV 10 is transmitted to the base station 40.

[0034] [Effects of Recovery System 1] The collection system 1 according to the embodiment and the collection method executed by the collection system 1 provide the following advantages. Since command information CI is generated based on status information SI of the object 100 falling through the air and the UAV 10 is caused to fly, the object 100 can be retrieved even if the falling path of the object 100 changes due to air currents, for example.

[0035] The status information SI in the embodiment includes two types of information: position status information PS regarding the ground of the target 100, and speed status information VS regarding the ground of the target 100. Therefore, the flight of the UAV 10 is controlled based on these two types of information, so that the accuracy with which the falling target 100 can be recovered is high.

[0036] In the embodiment, the status information SI is generated based on radio waves received from a GPS satellite, so that the fallen object 100 can be collected without providing any special equipment.

[0037] In this embodiment, the command information CI is position command information (xyz CI ) and the speed command information of UAV10 relative to the ground (v CI ) and the acceleration command information of the UAV10 relative to the ground (a CI Since the operation of each of the UAVs 10 is controlled based on these three types of information, the UAVs 10 can quickly track the target object 100 even if the target object 100 is displaced.

[0038] In this embodiment, the target object 100 is allowed to be captured by the capturing tool 15 supported by the UAV 10. This makes it easier to capture the target object 100. A net-like capturing tool 15 is suitable as the capturing tool 15, and the net-like capturing tool 15 can capture the target object 100 while reducing the impact on the target object 100.

[0039] [Another example of command information CI: Figure 6] The embodiment described above illustrates the command information CI for the ground, but the command information CI in the present disclosure is not limited to this. 6, it is possible to generate command information CI so that the relative positions of the multiple UAVs 10 with respect to the target 100 are constant, and control the flight of the multiple UAVs, here four UAVs 10A, 10B, 10C, and 10D, for example. This is equivalent to the relative positions of the multiple UAVs 10A, 10B, 10C, and 10D with respect to the capture device 15 being constant, and the target 100 can be captured.

[0040] The position status information of object 100 is (x SI ,y SI ,z SI), if the flight of the UAVs 10A, 10B, 10C, and 10D is controlled by the position command information shown below, the relative positions of the UAVs 10A, 10B, 10C, and 10D with respect to the target 100 can be kept constant, and preferably the capturing tool 15 can be placed directly below the target 100. SI -z n ) ensures that the capture tool 15 is positioned below the object 100, but in order to capture the object 100, n Set x to zero. n and y n can be fixed, but z n It is necessary to vary x n and y n does not necessarily have to be a fixed value, and for UAV10A, 10B, 10C, and 10D, x n and y n Assuming that each of x is the same value, n and y n can be responded to.

[0041] UAV10A:(x SI +x n ,y SI +y n ,z SI -z n ) UAV10B:(x SI +x n ,y SI -y n ,z SI -z n ) UAV10C:(x SI -x n ,y SI +y n ,z SI -z n ) UAV10D:(x SI -x n ,y SI -y n ,z SI -z n )

[0042] In this case, group control may be further added to maintain the mutual distances between the four UAVs 10A, 10B, 10C, and 10D as D1=D2, D3=D4 as shown in Fig. 6. In this control, D1 and D2 may be varied or D3 and D4 may be varied, on the premise that D1=D2, D3=D4 is maintained.

[0043] [Additional Note]: This disclosure is understood as follows. [Appendix 1] The recovery method disclosed herein recovers an object (100) falling through the air using an unmanned aerial vehicle (10). The recovery method of the present disclosure includes an information transmission step of transmitting status information (SI) of an object (100) falling through the air; The method includes a recovery step in which the unmanned aerial vehicle (10) flies and captures the target object (100) based on command information (CI) generated based on the status information (SI).

[0044] [Appendix 2] In the information dissemination step in Appendix 1, The status information (SI) preferably comprises: Position status information (PS) of the object relative to the ground; and velocity status information (VS) of the object relative to the ground.

[0045] [Appendix 3] In the information dissemination step in Appendix 1 or Appendix 2, A state information generating unit (30) included in the target object (100) can generate position state information (PS) and speed state information (VS) based on radio waves received from GPS satellites.

[0046] [Appendix 4] In the recovery step in any one of Supplementary Note 1 to Supplementary Note 3, preferably, Command Information (CI) is Position command information (xyz) of the unmanned aerial vehicle (10) relative to the ground CI )and, Speed ​​command information (vxyz) of the unmanned aerial vehicle (10) relative to the ground CI )and, Acceleration command information (axyz CI ) and.

[0047] [Appendix 5] In any one of the recovery steps in Supplementary Note 1 to Supplementary Note 4, preferably, An object (100) is captured by a capture device (15) supported by an unmanned aerial vehicle (10).

[0048] [Appendix 6] In the recovery step according to appendix 5, preferably, An object (100) is captured by a net-like capturing device (15) supported by a plurality of unmanned aerial vehicles (10).

[0049] [Appendix 7] In the recovery step according to appendix 1, preferably The flight of the multiple unmanned aerial vehicles (10) is controlled so that the relative positions of the multiple unmanned aerial vehicles (10) with respect to the capture device (15) are kept constant.

[0050] [Appendix 8] In the recovery step according to appendix 7, preferably The flight of the multiple unmanned aerial vehicles (10) holding the capture devices (15) is controlled so that the distance between each of the multiple unmanned aerial vehicles (10) is constant.

[0051] [Appendix 9] In the recovering step according to any one of Supplementary Note 1 to Supplementary Note 7, the object dropping through the air is preferably supported by a parachute.

[0052] [Appendix 10] A system for recovering an object falling through the air by an unmanned aerial vehicle (10), comprising: a status information generating unit provided in the object for generating and transmitting status information SI of the object; An object recovery system comprising: a controller provided in an unmanned aerial vehicle, which generates command information based on status information SI and controls the flight of the unmanned aerial vehicle.

[0053] In addition to the above, it is possible to select and discard the configurations given in the above embodiment, or to change them to other configurations as appropriate. [Explanation of symbols]

[0054] 1 Collection System 10 UAV 11 Rotor 15 Grasping Device 20 Controller 21 Communications Department 23 Memory section 25 Processing section 27 Instruction section 29 GPS receiver 30 Status information generation unit 31 Communications Department 33 GPS receiver (position information generator) 35 Speed ​​information generation section 40 base station 100 Objects 101 Parachute 200 aircraft P1 Origin P2 Destination TR Transport Route FR Fall Path SI Status Information PS location status information VS Speed ​​Status Information CI directive information PC position command information VC speed command information

Claims

1. A method for recovering an object falling through the air by an unmanned aerial vehicle, comprising: an information transmission step of transmitting status information of the object from the object falling through the air; A recovery method comprising: a recovery step in which the unmanned aerial vehicle flies and captures the target object according to command information generated based on the status information.

2. In the information transmission step, The status information is position status information of the object relative to the ground; and velocity status information of the object relative to the ground. The recovery method according to claim 1.

3. In the information transmission step, a state information generating unit included in the object generates the position state information and the speed state information based on radio waves received from a satellite positioning system; The recovery method according to claim 2.

4. In the recovery step, The command information is Position command information for the unmanned aerial vehicle relative to the ground; Speed ​​command information for the unmanned aerial vehicle relative to the ground; and acceleration command information of the unmanned aerial vehicle relative to the ground. The recovery method according to claim 1.

5. In the recovery step, capturing the target object with a capturing tool supported by the unmanned aerial vehicle; The recovery method according to claim 1.

6. In the recovery step, capturing the target object using the net-like capturing device supported by the plurality of unmanned aerial vehicles; The recovery method according to claim 5.

7. In the recovery step, Flight of the plurality of unmanned aerial vehicles is controlled so that the relative positions of the plurality of unmanned aerial vehicles with respect to the object are constant. The recovery method according to claim 1.

8. In the recovery step, The flight of the plurality of unmanned aerial vehicles is controlled so that the intervals between the plurality of unmanned aerial vehicles are kept constant. The recovery method according to claim 7.

9. The object falling through the air is supported by a parachute. The recovery method according to any one of claims 1 to 8.

10. A system for recovering an object falling through the air by an unmanned aerial vehicle, comprising: a status information generating unit provided in the object and configured to generate and transmit status information of the object; A recovery system comprising: a control unit provided in the unmanned aerial vehicle that generates command information based on the status information and controls the flight of the unmanned aerial vehicle.

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