Flight vehicle including loading unit with moving means, and loading unit

Abstract

To provide a flight vehicle capable of improving the accuracy of an arrival position of a cargo.SOLUTION: A flight vehicle: includes a loading unit 10 holding a loaded object 11; holds the loading unit via a string-like member 20; and has moving means each containing a rotor blade provided between an upper end and a lower end of the loading unit when viewed from the lateral side. Further, Rotary shafts of the four or more rotor blades partially extend in mutually different direction. Further, an angle formed between at least one of the rotary shafts of the four or more rotor blades and a horizontal axis is smaller than an angle formed between the one of the rotary shafts and a vertical axis.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to an aircraft including a mounting unit having a moving means and the mounting unit.

Background Art

[0002] In recent years, the practical application of delivery services using aircraft (hereinafter collectively referred to as "aircraft") such as drones and unmanned aerial vehicles (UAVs) has been promoted. An aircraft equipped with a plurality of propellers, generally called a multicopter (hereinafter collectively referred to as a multicopter), does not require a runway for takeoff and landing like a general fixed-wing aircraft, so it can be operated on relatively narrow land and is suitable for performing transportation services such as delivery.

[0003] In transportation by a multicopter, various methods have been studied for the loading method and separation method of the cargo to be transported. A method is well known in which the cargo is connected to the main body of the aircraft and separated by releasing the connection after landing.

[0004] In existing multicopters, the connection and disconnection of the cargo are often performed manually by a person. In this case, it is necessary to arrange a person at the delivery destination of the cargo, which increases the operation cost. In addition, there is a possibility that a person approaches or touches the aircraft. Since a multicopter is a precision device and the propellers rotate at high speed during operation, there may be risks such as injury or aircraft failure, so it is desirable to reduce the opportunity for a person to disconnect the cargo. In view of such a situation, Patent Document 1 discloses a cargo separation mechanism capable of connecting an aircraft and a cargo with a string-like member and releasing the connection between the cargo and the string-like member without human intervention (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

SUMMARY OF THE INVENTION

PROBLEMS TO BE SOLVED BY THE INVENTION

[0006] In Patent Document 1, a delivery system has been developed in which an aircraft and a load are connected by a cable, and the load can be lowered by paying out the cable, and only the load can be dropped to the ground.

[0007] While the load is being lowered, it is preferable for the aircraft to hover at a high position in order to reduce the influence of ground effect and reduce the possibility of contact with people or structures on the ground. However, outdoors, there are areas and seasons where the wind blows strongly. Depending on the length of the cable being paid out, it is also assumed that the landing position of the load may shift significantly, making it difficult to land the load pinpointedly on a narrow site or port.

[0008] Therefore, an object of the present invention is to provide an aircraft that can improve the arrival position accuracy of a load with a small increase in weight by providing a mounting portion between the load and the cable, and the mounting portion being provided with moving means capable of moving horizontally in the air.

MEANS FOR SOLVING THE PROBLEMS

[0009] According to the present invention, an aircraft and a mounting portion can be provided, which include a mounting portion for holding a load, the mounting portion is held via a string-like member, and when the mounting portion is viewed from the side, it has moving means including a rotor provided between the upper end and the lower end of the mounting portion.

EFFECTS OF THE INVENTION

[0010] According to the present invention, an aircraft and a mounting portion that can improve the arrival position accuracy of a load can be provided.

BRIEF DESCRIPTION OF THE DRAWINGS

[0011]

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Embodiments for Carrying Out the Invention

[0012] The contents of the embodiments of the present invention will be listed and described. The flying object and the mounting part having a moving means according to the embodiments of the present invention have the following configurations. [Item 1] A flying object, comprising a mounting part for holding a load, holding the mounting part via a string-like member, when the mounting part is viewed from the side, having moving means including a rotor provided between the upper end and the lower end of the mounting part, A flying object characterized by the above. [Item 2] A part of the rotation axis of the rotor extends in mutually different directions, The flying object according to Item 1, characterized by the above. [Item 3] The angle formed by the rotation axis of at least one of the rotors and the horizontal axis is smaller than the angle formed by the rotation axis and the vertical axis, The flying object according to item 1 or 2, characterized in that... [Item 4] The rotary wings are provided in an even number of 4 or more, The rotation axes of two rotary wings arranged diagonally with respect to the mounting part extend in the same direction as each other, The rotation axes of adjacent rotary wings around the mounting part extend in different directions from each other. The flying object according to any one of items 1 to 3, characterized in that... [Item 5] The string-like member branches into two or more from a predetermined position and is connected to the mounting part at two or more points. The flying object according to any one of items 1 to 4, characterized in that... [Item 6] The mounting part is suspended by the string-like member connected to the suspension mechanism. The flying object according to any one of items 1 to 5, characterized in that... [Item 7] The suspension mechanism is mounted at a position offset at least in the front-rear direction of the flying object from the center of gravity of the flying object or directly above the string-like member extending from the mounting part. The flying object according to item 6, characterized in that... [Item 8] The string-like member extends from the offset position to the mounting part via a pulley. The flying object according to item 7, characterized in that... [Item 9] The mounting part is separated from the airframe together with the load. The flying object according to any one of items 1 to 8, characterized in that... [Item 10] A mounting part for holding a load, When the mounting part is viewed from the side, it has moving means including a rotary wing provided between the upper end and the lower end of the mounting part. A part of the rotation axes of the rotary wings extends in different directions from each other. The mounting part, characterized in that... [Item 11] The angle formed between the rotation axis of at least one of the rotary wings and the horizontal axis is smaller than the angle formed between the rotation axis and the vertical axis. The mounting part according to item 10, characterized in that. [Item 12] Four rotary wings are provided. The rotation axes of two rotary wings arranged diagonally with respect to the mounting part extend in the same direction as each other. The rotation axes of adjacent rotary wings around the mounting part extend in different directions from each other. The mounting part according to item 10 or 11, characterized in that.

[0013] <Details of Embodiments According to the Present Invention> Hereinafter, a flying object including a mounting part having a moving means according to an embodiment of the present invention and the mounting part will be described with reference to the drawings.

[0014] <Details of the First Embodiment>

[0015] As shown in FIG. 1, a flying object according to an embodiment of the present invention includes a flying object 100 that performs flight, a mounting part 10 that can hold a load 11 to be delivered, and a string-like member 20 that is connected to the flying object 100 and the mounting part 10 and can be paid out and wound up.

[0016] The flying object 100 carrying the load to be delivered takes off from the takeoff point and flies to the destination (for example, port 30, etc.). The flying object 100 that has reached the destination hovers for unloading. Thereafter, as shown in FIGS. 3 and 4, the flying object 100 pays out the string-like member 20 to lower the mounting part 10 and the load 11. When the mounting part 10 has descended to a predetermined position, the mounting part 10 disconnects the load 11, and the delivery is completed. The mounting part 10 from which the load 11 has been disconnected rises again near the flying object 100 by winding up the string-like member 20. When the string-like member 20 has risen to a predetermined position, the flying object 100 starts moving toward the next destination.

[0017] As shown in FIG. 5, the flying object 100 according to the embodiment of the present invention includes at least a main body, a plurality of rotor parts including a propeller 110 and a motor 111, and a flight part including elements such as a motor mount and a frame that support the rotor parts, and it is desirable to mount energy (for example, a secondary battery, a fuel cell, fossil fuel, etc.) for operating them.

[0018] Note that the illustrated flying object 100 is drawn in a simplified manner for ease of explaining the structure of the present invention. For example, detailed configurations such as a control unit are not shown.

[0019] The flying object 100 has the direction of arrow D in the figure (-Y direction) as the forward direction (details will be described later).

[0020] In the following description, terms may be used according to the following definitions. Front-rear direction: +Y direction and -Y direction, vertical direction (or up-down direction): +Z direction and -Z direction, left-right direction (or horizontal direction): +X direction and -X direction, traveling direction (forward): -Y direction, backward direction (rear): +Y direction, ascending direction (upward): +Z direction, descending direction (downward): -Z direction

[0021] The propeller 110 rotates in response to the output from the motor 111. When the propeller 110 rotates, a propulsive force is generated to lift off the flying object 100 from the departure point, move it, and land it at the destination. Note that the propeller 110 can rotate to the right, stop, and rotate to the left.

[0022] The propeller 110 included in the flying object of the present invention has one or more blades. The number of any blades (rotors) may be any number (for example, 1, 2, 3, 4, or more blades). Also, the shape of the blades can be any shape such as a flat shape, a bent shape, a twisted shape, a tapered shape, or a combination thereof. Note that the shape of the blades can be changed (for example, expanded and contracted, folded, bent, etc.). The blades may be symmetric (having the same upper and lower surfaces) or asymmetric (having upper and lower surfaces of different shapes). The blades can be formed into a geometric shape suitable for generating dynamic aerodynamic forces (for example, lift, thrust) when the blades are moved through the air. The geometric shape of the blades can be appropriately selected to optimize the dynamic aerodynamic characteristics of the blades, such as increasing lift and thrust and reducing drag.

[0023] Also, the propeller included in the flying object of the present invention may be a fixed pitch, a variable pitch, or a mixture of a fixed pitch and a variable pitch, but is not limited thereto.

[0024] The motor 111 causes the propeller 110 to rotate. For example, the drive unit can include an electric motor or an engine, etc. The blades can be driven by the motor and rotate around the rotation axis of the motor (for example, the long axis of the motor).

[0025] The blades can all rotate in the same direction or can rotate independently. Some of the blades rotate in one direction and the other blades rotate in the other direction. The blades can all rotate at the same rotational speed or can rotate at different rotational speeds respectively. The rotational speed can be determined automatically or manually based on the dimensions of the moving object (for example, size, weight) and the control state (speed, moving direction, etc.).

[0026] The flying object 100 determines the rotational speed of each motor and the flying angle according to the wind speed and wind direction by a flight controller, a prop, etc. Thereby, the flying object can perform movements such as ascending and descending, accelerating and decelerating, and changing direction.

[0027] The aircraft 100 can perform autonomous flight according to routes and rules set in advance or during flight, or flight by operation using a propeller.

[0028] The above-described aircraft 100 has a functional block shown in FIG. 8. Note that the functional block in FIG. 8 is a minimum reference configuration. The flight controller is a so-called processing unit. The processing unit can have one or more processors such as a programmable processor (e.g., a central processing unit (CPU)). The processing unit has a memory (not shown) and can access the memory. The memory stores logic, code, and / or program instructions executable by the processing unit to perform one or more steps. The memory may include a separable medium such as an SD card or a random access memory (RAM) or an external storage device. Data acquired from cameras and sensors may be directly transmitted to and stored in the memory. For example, still image / moving image data captured by a camera or the like is recorded in an internal memory or an external memory.

[0029] The processing unit includes a control module configured to control the state of the rotary-wing aircraft. For example, the control module controls the propulsion mechanism (such as a motor) of the rotary-wing aircraft to adjust the spatial arrangement, speed, and / or acceleration of the rotary-wing aircraft having six degrees of freedom (translational motions x, y, and z, and rotational motions θ x , θ y and θ z ). The control module can control one or more of the mounting part and the state of the sensors.

[0030] The processing unit is communicable with a transceiver configured to transmit and / or receive data from one or more external devices (e.g., a terminal, a display device, or another remote controller). The transceiver can use any suitable communication means such as wired communication or wireless communication. For example, the transceiver can utilize one or more of a local area network (LAN), a wide area network (WAN), infrared, wireless, WiFi, a point-to-point (P2P) network, a telecommunication network, cloud communication, etc. The transceiver can transmit and / or receive one or more of the data acquired by the sensors, the processing results generated by the processing unit, predetermined control data, user commands from the terminal or the remote controller, etc.

[0031] The sensors according to this embodiment may include inertial sensors (acceleration sensors, gyro sensors), GPS sensors, proximity sensors (e.g., lidar), or vision / image sensors (e.g., cameras).

[0032] As shown in FIGS. 5 and 6, the rotation plane of the propeller 110 included in the flying object 100 in the embodiment of the present invention is inclined forward at an angle facing the traveling direction during traveling. The rotation plane of the inclined propeller 110 generates lift upward and thrust in the traveling direction, whereby the flying object 100 moves forward.

[0033] The flying object 100 includes a main body portion that can contain the mounted processing unit, battery, payload, etc. The main body portion is fixedly connected to the flying portion, and the posture of the main body portion changes as the posture of the flying portion changes. During the movement of the flying object 100, by optimizing the shape of the main body portion and improving the speed in the posture of the flying object 100 during cruising, which is expected to be maintained for a long time, the flight time is efficiently shortened.

[0034] The main body preferably has a skin that can withstand flight, takeoff, and landing. For example, plastics, FRP, etc. are suitable as the skin material because of their rigidity and waterproofness. These materials may be the same as or different from the material of the frame 120 (including the arms) included in the flight unit.

[0035] Also, the motor mount, frame 120, and main body of the flight unit may be configured by connecting their respective components, or may be formed integrally using a monocoque structure or integral molding (for example, molding the motor mount and frame 120 integrally, molding the motor mount, frame 120, and the entire main body integrally, etc.). By integrating the components, it becomes possible to smooth the joints between the components, so it is expected to reduce drag and improve fuel efficiency of flying bodies such as blended wing bodies and lifting bodies.

[0036] The shape of the flying body 100 may have directivity. For example, as shown in FIGS. 6, 21, and 22, there are shapes that improve flight efficiency when the nose of the flying body faces the wind, such as a streamlined main body with less drag in the attitude of the flying body 100 during cruise in still air.

[0037] The mounting unit 10 has at least the function of holding the load 11 (the method of holding and detaching the load will be described later). Also, in order to make the load 11 take a predetermined attitude, the mounting unit 10 and the flight unit may be provided with one or more rotation axes. Thereby, the load 11 can displace its attitude independently of the attitude of the flying body 100.

[0038] As shown in FIG. 9, the mounting part 10 is connected to the string-like member 20. The string-like member 20 is a flexible long material such as a wire, an electric wire, a fishing line, a rope, a tape, etc. The material is not limited to the exemplified ones, and it may have a strength capable of lifting the mounting part and the mounted object, and can smoothly perform operations such as being wound around a spool and unwound. For example, when an electric wire cable is used, power can be supplied from the flying object 100 to the mounting part 10.

[0039] During flight, the string-like member 20 is wound up so that the mounting part 10 is in a predetermined position (for example, a position stored inside the cover as shown in FIG. 5), and the mounting part 10 can move up and down by paying out and winding up the string-like member 20.

[0040] In addition to the string-like member 20, the flying object 100 may have a function of holding the mounting part 10. For example, as shown in FIG. 5, in the case of a configuration where the mounting part 10 during flight is located inside the cover of the flying object 100, there is a method of providing a door opening and closing mechanism at the lower part of the cover. According to a control signal from the flight controller, the door is opened while the mounting part 10 moves up and down, and the door is closed after the mounting part 10 reaches the inside of the cover, so that the mounting part 10 is supported from below by the door, and thus the mounting part 10 is held even when no tension is applied to the string-like member 20. Thereby, the load on the string-like member 20 and the winch etc. to which the string-like member 20 is connected is reduced. Also, the flying object 100 and the mounting part 10 may be connected so as to be rotatable in one or more axial directions, and the mounting part 10 may be capable of attitude control independently of the attitude of the flying object 100. In this case, by deflecting the string-like member 20, it is possible to provide a margin for rotation.

[0041] As shown in FIGS. 12 to 16, the mounting portion 10 is provided with a load holding mechanism 12 for holding the load 11 so that it does not accidentally fall during the flight of the aircraft 100 to which it is connected. Further, the load holding mechanism 12 has a function of detaching the load 11 at the delivery destination. For example, there is a method of providing claws that support the bottom surface of the load on all four sides and, when detaching, knocking the claws downward or pulling them inward to remove the support of the load 11 and detach it.

[0042] In addition, examples of the method of holding and detaching the load by the mounting portion 10 will be listed and described below. However, the following examples do not limit the method, and any method capable of holding and detaching the load 11 may be used. Also, when the entire mounting portion 10 is detached at the destination, the mounting portion 10 does not necessarily need to be provided with a detachment mechanism. For example, it may have a configuration that releases the connection with the string-like member 20 in the mounting portion 10. (1) Holding by magnetic attachment or suction. For example, in the case of magnetic attachment, a magnetic force generating device may be provided in the mounting portion 10, and a magnetizable object (e.g., metal, etc.) may be provided on the load 11 to perform magnetic attachment and release. In the case of suction, suction and release may be performed by sucking air or using a suction cup, etc. in the mounting portion 10. (2) Holding by pressure of a fastener or the like. For example, the mounting portion 10 may be provided with a fastener composed of a band, a balloon, or the like, and holding and detachment may be performed by increasing or decreasing the pressure of the fastener. (3) Holding by a door. For example, a door that can be opened and closed may be provided at the lower part of the mounting portion 10, and holding and detachment may be performed by opening and closing the door.

[0043] It is desirable that the article can be inserted into the mounting portion 10 from at least one of the lower surface, upper surface, and side surface of the mounting portion. Also, when detaching the load at the destination, it is desirable that it be detached below the mounting portion. For example, when loading an article with the mounting portion 10 stored in the aircraft 100, by making it possible to insert from the side surface, it is possible to insert without peeking from a position lower than the aircraft or installing the aircraft at a high place, so that the insertion of the article into the mounting portion becomes simple.

[0044] The mounting part 10 is provided with moving means 13 that can move at least in the XY directions in the air. As shown in FIGS. 9 and 10, by providing a plurality of rotary wings, the mounting part 10 is prevented from being carried away by wind or the like and leaving a designated location, and the loading position accuracy of the mounted object 11 is improved. Further, by the mounting part controlling its own position and staying within a predetermined range, it is also possible to prevent a decrease in the stability of the flying object due to large swinging of the mounting part 10 suspended by the string-like member 20.

[0045] When the moving means 13 is a rotary wing, it is desirable that the connection position of the rotary wing be provided such that at least a part of the rotary wing exists between the upper end and the lower end of the mounted object when the mounting part 10 is viewed from the side. For example, when there are two rotary wings, the rotary wings are arranged so as to sandwich the mounted object when viewed from above. When there are three or more rotary wings, as shown in FIGS. 19 and 20, the rotary wings are arranged so as to surround the mounted object. By providing the rotary wings within the range of the upper and lower ends of the mounted object, the place pushed and pulled by the rotary wings becomes near the center of gravity of the mounting part 10, so that it is possible to prevent the mounting part 10 from wobbling. For example, when the rotary wing is provided further above the upper end of the mounted object, the mounting part 10 is pushed and pulled at a location away from the center of gravity upward, and there is a possibility that the mounting part 10 may swing. Preferably, the connection position of the rotary wing is provided at a position that coincides with the center of gravity or substantially the center of gravity of the mounted object when viewed from the side.

[0046] In addition, when the output of the moving means 13 provided in the mounting part 10 is increased, the mounting part 10 can move away from directly below the flying object. In the case where the destination (such as a receiving port) is located on the side of a house or a condominium, etc., when the mounting part 10 only moves directly below the flying object 100, the flying object 100 needs to approach the building. The closer the flying object approaches the building, the higher the possibility of collision with obstacles, and the flying object may enter an area where the air flow is disturbed by updrafts or downdrafts, etc., increasing the possibility of the flying object becoming unstable. Collisions and a decrease in the stability of the airframe may lead to accidents such as malfunctions and crashes, so it is preferable to avoid them. When the mounting part 10 can move away from directly below the flying object, as shown in FIGS. 1-4, only the mounting part 10 can approach the destination while keeping the flying object 100 on standby at a location away from obstacles and areas with disturbed air flow.

[0047] Generally, when a rotary-wing aircraft with a fixed pitch enters an updraft, it is known that phenomena such as hunting occur. Due to this phenomenon, the flying object becomes unstable. However, in the mounting part 10 according to the present invention, since at least a part or all of the weight of the mounting part 10 is supported by the flying object 100, the same phenomenon does not occur. Furthermore, since the mounting part 10 is lighter than the flying object 100, even if it contacts a building or the like, the damage is smaller compared to the case where the flying object 100 contacts.

[0048] When the moving means included in the mounting part 10 is a rotary wing, as shown in FIG. 19, the rotation axis 22 of the rotary wing may extend in a direction including a vertical component, or as shown in FIG. 20, it may extend in a direction including a horizontal component. When the rotation axis 22 extends in a direction including a large vertical component (that is, when the angle formed by the rotation axis 22 and the vertical Z-axis is smaller than the angle formed by the rotation axis 22 and the horizontal X-axis or Y-axis), the mounting part 10 is supported by its own weight on the flying object, and at the same time, generates a force to lift its own weight. Therefore, the load on the flying object 100 is reduced. On the other hand, when the rotation axis 22 extends in a direction including a large horizontal component (that is, when the angle formed by the rotation axis 22 and the horizontal X-axis or Y-axis is smaller than the angle formed by the rotation axis 22 and the vertical Z-axis), the mounting part hardly generates a force to lift its own weight. Therefore, most of the force generated by the rotary wing is used as a force (propulsive force) for moving, and the movement of the mounting part 10 is accelerated.

[0049] Regarding the detailed configuration of the rotary wing included in the mounting part 10, since the components overlapping with the rotary wing included in the above-described flying object 100 perform the same operations, the description will not be repeated.

[0050] The rotation axis 22 of the rotary wing included in the mounting part 10 may be provided rotatably. For example, when storing in the flying object 100 and during normal lowering of the mounting part, the rotation axis 22 is set in a posture extending in the horizontal direction, and the force generated by the rotary wing is used for movement in the XY direction. When an abnormality occurs in the flying object 100 and the mounting part is separated from the flying object, the rotation axis 22 is set in a posture extending in a direction including a vertical component, and the force generated by the rotary wing can be used for the mounting part 10 to fly.

[0051] Also, when the rotation axis 22 of the rotary wing included in the mounting part 10 extends in the horizontal direction, the rotary wing included in the mounting part 10 may be used as part of the thrust of the flying object during propulsion of the flying object 100. Thereby, the rotary wing and the motor included in the mounting part 10 do not become dead weight, and an increase in the traveling speed of the flying object can also be expected.

[0052] The rotary wings provided in the mounting unit 10 may use variable pitch propellers. Compared with performing position control by controlling the rotational speed of a motor or the like for a fixed pitch propeller, position control by changing the pitch of the propeller has higher response performance, so that more precise position adjustment is possible.

[0053] From the viewpoint of weight reduction, it is desirable that the string-like member 20 connecting the mounting unit 10 and the flying object 100 is one. However, when the mounting unit is suspended at one point, the mounting unit may tilt due to the deviation of the center of gravity of the mounted object or the collapse of the load. In order to reduce the tilt of the mounting unit, as shown in FIG. 23, it is desirable to branch the string-like member into two or more from a predetermined position and suspend the mounting unit at two or more points. Further, when suspending at three or more points, even if there is a deviation of the center of gravity in the mounted object, the tilt of the mounting unit can be suppressed, so that the level of the load is easily maintained.

[0054] When connected by one (point) of the string-like member, when the mounting unit 10 rises while rotating due to wind or vibration, it may approach the flying object 100 in an unintended direction, contact the flying object, or be unable to enter the space to be stored. When the string-like member is branched into two (points) or more, when the mounting unit 10 that has once descended is raised again near the flying object, it becomes easy to correct the direction for the mounting unit 10 to be in a suitable direction.

[0055] As an example of a method for correcting the orientation of the mounting portion 10, there is a method using an angle adjustment unit 24 as shown in FIGS. 23 to 26. By providing a slit 25 on the bottom surface of the angle adjustment unit 24 provided on the aircraft 100, when the bifurcated string-like member 20 is drawn into the slit 25, if the bifurcated string-like member 20 enters at an angle close to a right angle with respect to the slit 25 in a top view, the string-like member 20 will be suppressed by the slit 25 from spreading due to the tension. As it is further drawn in, the force for the string-like member 20 to spread becomes stronger and it rotates to be parallel to the slit 25. Thereby, it becomes possible to adjust the mounting portion 10 facing in an unintended direction to a predetermined orientation. The intensity and speed of the adjustment are adjusted by the width of the slit and the attachment angle of the two bifurcated string-like members 20. Also, when the string-like member 20 is bifurcated into three or more branches, the shape of the slit 25 can be a shape adapted to the shape of the bifurcated string-like member 20 as viewed from above.

[0056] As other methods for correcting the orientation of the mounting portion 10, there are a method of controlling the self-position using the moving means 13 even while the mounting portion 10 is being hoisted, a method of monitoring the orientation of the mounting portion 10 as the aircraft 100 approaches and adjusting the orientation (yaw direction) of the aircraft, a method using a guide member that promotes position adjustment by contacting the frame or arm provided on the mounting portion 10, etc., but it is not limited to this.

[0057] As shown in FIGS. 10 and 11, one end of the string-like member 20 is connected to a mechanism such as a winch, a reel, or a hoist (hereinafter collectively referred to as a suspension mechanism 21) capable of feeding out and hoisting the string-like member 20. The other end is connected to the mounting portion 10.

[0058] The suspension mechanism 21 operates using a motor, an engine, compressed air, etc. These power sources may use the same energy (for example, a secondary battery, a fuel cell, a fossil fuel, etc.) used for the flight of the aircraft 100, or may be provided separately for the operation of the winch. Also, the vertical control of the mounting portion by the winch is performed by at least one of the aircraft 100, the mounting portion 10, and the port.

[0059] The mounting position of the suspension mechanism 21 in the aircraft 100 is generally provided above the mounting portion 10 (see, for example, FIG. 5). However, during cruising, in the case of an aircraft 100 that travels in one direction for a long time when viewed from the aircraft 100 (for example, an aircraft used for a delivery service), by providing the suspension mechanism 21 above the aircraft 100, the overall height of the main body of the aircraft 100 increases, and there is a possibility that the air resistance during cruising increases. Therefore, as shown in FIGS. 21 and 22, it is more desirable to mount the suspension mechanism 21 at a position offset at least in the front-rear direction (Y direction) from directly above the center of gravity of the aircraft 100 or the string-like member 20 extending from the mounting portion 10, where it is difficult to increase the air resistance during flight. The mounting position of the suspension mechanism 21 is determined at an appropriate position in consideration of the magnitude of aerodynamic force and drag based on the cruising attitude of the aircraft 100 to be mounted and the cover shape.

[0060] Further, the string-like member 20 extending from the suspension mechanism 21 is connected to the mounting portion 10 without contacting the components of the aircraft 100 or the like by being wound around one or more pulleys 23. In particular, in a configuration where the suspension mechanism 21 is provided below the connection position between the mounting portion 10 and the string-like member 20, using two or more pulleys 23 prevents the string-like member 20 from contacting the mounting portion 10.

[0061] The suspension mechanism 21 used in the aircraft according to the present invention may be further provided on the mounting portion 10 in addition to the aircraft 100. By connecting the mounting portion 10 and the load 11 with a string-like member and causing them to move up and down, precise lifting and lowering control can be achieved even when the distance between the aircraft 100 and the mounting portion 10 increases.

[0062] As one of the destinations of the mounting unit 10, ports provided on the ground or rooftop, ports provided on the windows or balconies of buildings, etc. have been known as well-known technologies. In a house or facility with a garden, it is easy to install a port within the site. In the delivery system according to the present invention, it is also possible to use well-known ports. However, when delivering to a residence without a privately-owned garden (for example, a room in a condominium on the second floor or above, an office in a building, etc.), individual delivery using a window or balcony is desired.

[0063] As shown in FIGS. 1 - 4, the port 30 in the present invention includes a receiving portion 31 on which a load is placed or received by connection, and a rotating portion 33 that rotates the receiving portion 31 independently of the building 200. The port 30 is preferably provided at a position easily accessible from above outside the building, such as a balcony, veranda, window, outer wall, etc. of the building 200. The port 30 may be movable, but it is preferably fixed to the building 200 to reduce the possibility of tipping over and improve reliability. Also, when separating the distance between the receiving portion 31 and the rotating portion 33, a support portion 32 that connects to and supports the receiving portion and the rotating portion may be provided.

[0064] As shown in FIGS. 2 and 27 - 29, the port 30 has at least a standby mode in which no loading is performed and a loading mode in which a load is received from an aircraft or the like. In the standby mode, the receiving portion 31 is in a state close to the building 200. Desirably, it is at a position where a person in the building can easily lower the load placed on the receiving portion and is not easily affected when the wind blows. In the loading mode, due to the rotation of the rotating portion 33, the receiving portion 31 or the support portion 32 rotates in a substantially horizontal direction, and the receiving portion moves to a position farther from the building compared to the standby mode.

[0065] The rotation axis of the rotating part 33 extends in a direction including at least a Z-axis component, enabling the load receiving part 31 or the support part 32 to rotate. The rotation may be manually performed using a handwheel or the like, or automatically performed using an electric motor, an engine, or the like. When automated, rotation is performed at a predetermined timing based on information such as the scheduled arrival time of the aircraft or signs of approach, and loading is carried out.

[0066] Near the wall surface of the building 200, the wind colliding with the wall surface generates upward or downward airflows at the front (collision surface) and strong horizontal winds at the side. The load receiving part 31 in the load receiving mode is preferably located further away from the strong wind flow. However, if the load receiving part 31 is separated from the building 200, the support part 32 becomes longer. The optimal configuration is determined based on the strength of the support part, manufacturing cost, area of balconies and windows, etc. For example, as shown in FIG. 28, it may be provided on a member with high strength such as the frame of the building 200.

[0067] The load receiving part 31 may have a flat surface shape on which the aircraft can land or the luggage 11 can be placed, or may be provided with an arm for receiving luggage, a robot hand, etc. Also, in the case of a system where the luggage is suspended from a string-like member from an aircraft or the like and descends, by providing a connection mechanism for grasping and connecting the luggage 11 and the string, and having a function of cutting the string-like member above the connection mechanism, it is not necessary to provide a luggage separation mechanism on the aircraft or the mounting part, etc., and an increase in the weight of the aircraft can be suppressed.

[0068] When the load receiving part 31 has a shape on which luggage can be placed, it is desirable to have a function of preventing the placed luggage from moving or falling due to wind or the like. Examples of the configuration of the load receiving part are listed and described below. (1) Provide a movable wall or fence around the load receiving part. (2) Provide steps or angles on the floor surface of the load receiving part. (3) Suction by negative pressure. (4) Temporarily fix using magnetic adhesion, adhesion, surface fasteners, etc. (5) A permanent wall or fence is provided around the load receiving part. As shown in FIGS. 17 and 18, when a fall prevention member 34 such as a fence or a wall is provided, if the fall prevention member 34 is always provided high, it may become an obstacle to the landing operation of the flying object 100 or the operation of placing the luggage 11. Therefore, it is desirable to be able to adjust the length protruding above the plane by using a mechanism such as expansion and contraction or opening and closing. In addition, in the case of luggage that can be dropped over a short distance, the fall prevention member may not be moved and may be dropped into the enclosed space.

[0069] As shown in FIG. 30, after receiving the luggage 11, the port 30 may have a function of pulling the luggage 11 into a place where people can easily receive the luggage, such as the inside of the balcony 210 or the interior of the room, or a place where the luggage can be safely stored (for example, an elevator, a conveyor, etc.). Thereby, not only the loss of the received luggage is prevented, but also the access of people to the luggage becomes easier. Further, after the luggage 11 is pulled in, the load receiving part 31 can be in a state where it can receive the load again, and the efficiency of receiving the load is improved.

[0070] The support part 32 has a strength that can withstand the weight applied by placing the luggage 11 or the like and the pressure applied by the wind. Regarding the material and shape, a suitable configuration is selected from the weight of the received luggage and the conditions of the installation location. For example, when using a plate-shaped member, it is possible to reduce the pressure received by the wind by making a plurality of holes in the member to create a place for air to pass through.

[0071] Further, when configured by combining pipes (for example, a truss structure, etc.), by making the cross-sectional shape of the pipe not a perfect circle but an ellipse or a symmetric wing shape, etc., the pressure received from the wind in a certain direction can be reduced.

[0072] <Details of the Second Embodiment> In the details of the second embodiment according to the present invention, the components overlapping with the first embodiment perform the same operations, so the description will not be repeated.

[0073] The mounting part 10 may have a function of flying by itself only. For example, when an abnormality occurs in the flying object 100, by detaching the mounting part 10 and making the mounting part 10 fly, the total weight of the flying object can be reduced, and the impact during falling can be reduced.

[0074] When the rotation axis of the rotary wing provided in the mounting part 10 is rotatable, in normal times, the rotation axis is in a posture extending in the horizontal direction as shown in Fig. 20, and when the mounting part is detached from the flying object, the rotation axis is in a posture extending in the vertical direction as shown in Fig. 19. In this way, during normal times, movement in the XY-axis direction can be efficiently performed, and in an emergency, etc., flying by itself only becomes possible.

[0075] The configurations of the flying object in each embodiment can be implemented in combination of a plurality. It is desirable to appropriately consider a suitable configuration according to the cost in the manufacture of the flying object and the environment and characteristics of the place where the flying object is operated.

[0076] The above-described embodiments are merely examples for facilitating the understanding of the present invention, and are not for limiting and interpreting the present invention. The present invention can be changed and improved without departing from its gist, and it goes without saying that equivalents of the present invention are included therein.

Explanation of Reference Numerals

[0077] 10 Mounting part 11 Load (cargo) 12 Load holding mechanism 13 Mounting part moving means 20 String-like member 21 Suspension mechanism 22 Rotation axis 23 Pulley 24 Angle correction part 25 Slit 30 Port 31 Load receiving part 32 Support part 33 Rotation part 34 Fall prevention member 100 Flying object 110a~110d Propellers Motors 111a~111d Frame 120 Landing leg 130 Damper 100 Building 200 Balcony 210

Claims

1. An air vehicle, A mounting portion for holding a load is provided, The mounting portion is held via a string-like member, When the mounting portion is viewed from the side, the mounting portion has a moving means including a rotor provided between an upper end and a lower end of the mounting portion. An aircraft characterized by:

2. Parts of the rotation shafts of the rotors extend in different directions from each other.

2. The flying vehicle according to claim 1 .

3. an angle between a rotation axis of at least one of the rotors and a horizontal axis is smaller than an angle between the rotation axis and a vertical axis; 3. The flying vehicle according to claim 1 or 2.

4. The rotor blades are provided in an even number of four or more, The rotation axes of the two rotors arranged diagonally with respect to the mounting portion extend in the same direction, The rotation axes of adjacent rotors around the mounting portion extend in different directions.

4. The flying object according to claim 1,

5. The string-like member branches into two or more branches from a predetermined position and is connected to the mounting portion at two or more points.

5. The flying object according to claim 1,

6. The mounting portion is suspended by the string-like member connected to a suspension mechanism.

6. The flying object according to claim 1,

7. The suspension mechanism is mounted at a position offset at least in the front-rear direction of the aircraft from the center of gravity of the aircraft or directly above the string-like member extending from the mounting portion.

7. The flying vehicle according to claim 6.

8. The string member extends from the offset position to the mounting portion via a pulley.

8. The flying vehicle according to claim 7 .

9. The payload is separated from the vehicle together with the payload.

9. The flying object according to claim 1,

10. A mounting unit for holding a load, When the mounting portion is viewed from the side, the mounting portion has a moving means including a rotor provided between an upper end and a lower end of the mounting portion, Parts of the rotation shafts of the rotors extend in different directions from each other. A mounting section characterized by:

11. an angle between a rotation axis of at least one of the rotors and a horizontal axis is smaller than an angle between the rotation axis and a vertical axis; The mounting portion according to claim 10 .

12. The rotor blades are provided in four pieces, The rotation axes of the two rotors arranged diagonally with respect to the mounting portion extend in the same direction, The rotation axes of adjacent rotors around the mounting portion extend in different directions. The mounting portion according to claim 10 or 11.

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