system

Abstract

To provide a delivery device that can be further improved. [Solution] The system is for delivering packages and includes a first drone including a housing, a second drone including a plurality of wings, a wire connecting the first drone and the second drone, and a wire control module configured to pay out and reel in the wire, wherein the second drone is configured to be at least partially housed in the bottom of the housing of the first drone when the wire control module reels in the wire, and is configured to adjust the attitude of the second drone to align it in a predetermined direction by operating the plurality of wings.

Description

[Technical Field]

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

[0002] A control method has been proposed to improve safety during flight of drones, which are unmanned aerial vehicles (see, for example, Patent Document 1).

[0003] Patent Document 1 discloses a technology for detecting abnormalities in drone flight using various means and recovering drones that are flying abnormally using recovery means attached to electric wires or utility poles, etc. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2018-12477 Summary of the Invention [Problem to be solved by the invention]

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

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

[0007] A system according to one aspect of the present disclosure is a system for delivering packages, comprising: a first drone including a housing; a second drone including a plurality of wings; a wire connecting the first drone and the second drone; and a wire control module configured to reel in and reel in the wire, wherein the second drone is configured to be at least partially housed in a bottom portion of the housing of the first drone when the wire control module reels in the wire, and is configured to adjust the attitude of the second drone to align it in a predetermined direction by actuation of the plurality of wings.

[0008] 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 a system, a method, an integrated circuit, a computer program, and a recording medium. [Effects of the Invention]

[0009] The system of the present disclosure can be further improved. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a schematic diagram of a flight system according to the first embodiment. [Figure 2] FIG. 2 is a block diagram illustrating the configuration of the flight system according to the first embodiment. [Figure 3] FIG. 3 is a diagram showing rails installed on a building within a flight area in the first embodiment. [Figure 4] FIG. 4 is a diagram showing 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 the first embodiment. [Figure 5] FIG. 5 is a flowchart showing a first example of control for preventing a fall in the flight system according to the first embodiment. [Figure 6]FIG. 6 is a flowchart showing a second example of control for preventing a fall in the flight system according to the first embodiment. [Figure 7A] FIG. 7A is a flowchart showing a third example of control for preventing a fall in the flight system according to the first embodiment. [Figure 7B] FIG. 7B is a flowchart showing a third example of fall prevention control in the flight system according to the first embodiment. [Figure 8] FIG. 8 is a diagram showing a schematic external view of a parent drone connected to a child drone by a wire in the first embodiment. [Figure 9] Figure 9 shows top and side views of the parent drone with a rotating ring to which wires are connected. [Figure 10] FIG. 10 shows a top and side view of a parent drone with a rotating ring to which wires are connected, with the wire connections on the underside. [Figure 11] FIG. 11 shows the movement of a rotating ring connected to a wire. [Figure 12] FIG. 12 is a schematic diagram illustrating the role of the rotating ring when the parent drone falls in the first embodiment. [Figure 13] FIG. 13 is a diagram schematically showing a procedure for retrieving a child drone by a parent drone in the first embodiment. [Figure 14] Figure 14 shows how cargo is loaded onto the parent drone from the side. [Figure 15] FIG. 15 is a diagram showing two rails installed on a building within a flight area in the first embodiment. [Figure 16] FIG. 16 is a diagram showing how one of two child drones overtakes the other on a two-lane rail in the first embodiment. [Figure 17] FIG. 17 is a diagram showing an example of a two-lane rail layout in the first embodiment. [Figure 18] FIG. 18 is a diagram showing an example of a two-lane rail layout in the first embodiment. [Figure 19] Figure 19 is a schematic diagram showing the arrangement of parent and child drones when two rails are installed. [Figure 20] FIG. 20 is a diagram showing two child drones linked to one parent drone in the first embodiment. [Figure 21] FIG. 21 is a diagram showing how one parent drone connected to two child drones overtakes another parent drone and child drone ahead in embodiment 1. [Figure 22] Figure 22 is a diagram showing the configuration 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. [Figure 23] FIG. 23 is a diagram showing the contents of data written on the rail in the first embodiment. [Figure 24] FIG. 24 is a flowchart showing control regarding acquisition of rail position information by a child drone in the first embodiment. [Figure 25A] FIG. 25A is a flowchart showing control relating to acquisition of position information of the parent drone in embodiment 1. [Figure 25B] FIG. 25B is a flowchart showing control relating to acquisition of position information of the parent drone in embodiment 1. [Figure 26] FIG. 26 is a schematic diagram showing flight control between rails in the first embodiment. [Figure 27] FIG. 27 is a flowchart showing flight control between rails in the first embodiment. [Figure 28] FIG. 28 is a diagram schematically illustrating an example of opening and closing of an arm provided on a child drone in the first embodiment. [Figure 29] FIG. 29 is a diagram schematically showing another example of opening and closing of the arm provided on the child drone in the first embodiment. [Figure 30] FIG. 30 is a flowchart showing a method for controlling an unmanned aerial vehicle according to one embodiment of the present disclosure. [Figure 31]FIG. 31 is a schematic diagram of a flight system according to the second embodiment. [Figure 32] FIG. 32 is a block diagram illustrating the configuration of a flight system according to the second embodiment. [Figure 33] FIG. 33 is a flowchart showing an example of the operation of the flight system in the second embodiment from the delivery source to the destination point of the delivery destination. [Figure 34A] FIG. 34A is a schematic diagram illustrating a state in which the arm of the child drone in embodiment 3 is fixed to a rail. [Figure 34B] FIG. 34B is a schematic diagram illustrating a child drone in embodiment 3 descending with its arm fixed to a rail. [Figure 35] FIG. 35 is a schematic diagram illustrating a child drone of the flight system in the fourth embodiment. [Figure 36] FIG. 36 is a block diagram illustrating the configuration of a flight system according to the fourth embodiment. [Figure 37] FIG. 37 is a schematic diagram illustrating an arm of a child drone in a flight system according to the fourth embodiment. [Figure 38] FIG. 38 is a schematic diagram illustrating another arm of the child drone in the flight system according to the fourth embodiment. [Figure 39] FIG. 39 is a block diagram illustrating the configuration of a flight system according to the fourth embodiment. [Figure 40] Figure 40 is a schematic diagram illustrating another arm of a child drone in a flight system according to embodiment 4 in a retracted state and an extended state. [Figure 41] FIG. 41 is a block diagram illustrating the configuration of a flight system according to the fourth embodiment. [Figure 42] FIG. 42 is a schematic diagram illustrating a child drone in a flight system according to the fourth embodiment. [Figure 43A] FIG. 43A is a schematic diagram illustrating a state in which a child drone in a flight system according to embodiment 4 has retracted its arm. [Figure 43B]FIG. 43B is a schematic diagram illustrating a state in which a child drone in a flight system according to embodiment 4 has its arm extended. [Figure 44] FIG. 44 is a schematic diagram illustrating yet another arm of the child drone in the flight system according to the fourth embodiment. [Figure 45] FIG. 45 is a schematic diagram illustrating a child drone in a flight system in a first variant of the fourth embodiment. [Figure 46] FIG. 46 is a schematic diagram illustrating a child drone in a flight system in Variation 1 of Embodiment 4. [Figure 47] Figure 47 is a schematic diagram of a child drone in a flight system in variant example 2 of embodiment 4, viewed from the front and from the side. [Figure 48] Figure 48 is a schematic diagram of 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] FIG. 50 is a schematic diagram illustrating another child drone in a flight system in Variation 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 showing an example of the operation of the flight system in the fifth embodiment from the delivery source to the destination point of the delivery destination. [Figure 53] FIG. 53 is a schematic diagram showing an example of the operation of the flight system in embodiment 5 from the delivery source to the destination point of delivery. [Figure 54] FIG. 54 is a flowchart showing an example of the operation of the flight system in the sixth embodiment from the delivery source to the destination point of the delivery destination. [Figure 55] FIG. 55 is a block diagram illustrating the configuration of a delivery system according to the seventh embodiment. [Figure 56]FIG. 56 is an image diagram illustrating a state in which a drone of the delivery system in embodiment 7 delivers a package from a delivery source to a delivery destination. [Figure 57] FIG. 57 is a front view and a side view showing a drone of a delivery system in embodiment 7. [Figure 58] FIG. 58 is a flowchart showing an example of the operation of the delivery system in the seventh embodiment. [Figure 59] FIG. 59 is a schematic diagram illustrating how the positions of the opening of the delivery locker 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 example of correcting the positions of the opening of the delivery locker and the package when the package is blown in the third direction by wind. [Figure 61] FIG. 61 is an image diagram illustrating a state in which a drone of the delivery system in embodiment 7 delivers a package from a delivery source to a relay point at a delivery destination. [Figure 62A] FIG. 62A is a schematic diagram illustrating the height from the ground when a drone of the delivery system in the seventh embodiment 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 state in which a drone of a delivery system in the seventh embodiment stores a package in a delivery box via a lead-in support and a lead-in wire. [Figure 64] FIG. 64 is a perspective view illustrating a state in which a drone of a delivery system in the seventh embodiment stores a package in a delivery box via a pull-in support and a pull-in wire. [Figure 65] Figure 65 is a schematic diagram illustrating the state in which the body of a drone in a delivery system in embodiment 7 assumes a posture approximately parallel to the vertical direction and stores a package in a delivery box via a retraction support and retraction wire. [Figure 66]FIG. 66 is a schematic diagram illustrating a case where the delivery system according to 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 according to 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 modification of the seventh embodiment. [Figure 69] FIG. 69 is a schematic diagram illustrating a case where the support poles of the delivery system according to the second modification of the seventh embodiment are street lights. [Figure 70] Figure 70 is a schematic diagram illustrating the position of the drone highway when the support pillars of the delivery system in Variation 2 of Embodiment 7 are street lights. [Figure 71] FIG. 71 is a perspective view showing a drone of a delivery system in a third variant of the seventh embodiment. [Figure 72] FIG. 72 is a perspective view showing how the attitude of the drone body of the delivery system in the third modification of the seventh embodiment is changed. [Figure 73] FIG. 73 is a block diagram illustrating the configuration of a delivery system according to the eighth embodiment. [Figure 74] FIG. 74 is a front view showing a drone of the delivery system in the eighth embodiment. [Figure 75] FIG. 75 is a top view illustrating the manner in which 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 showing an example of the operation of switching the connected body of the drone in the delivery system in the eighth embodiment 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] FIG. 78 is a flowchart showing in detail an example of the operation of switching the connected body of the drones in 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 showing a thruster device and a cargo attached to the thruster device in a delivery system according to the ninth embodiment. [Figure 81] FIG. 81 is a block diagram illustrating the configuration of a delivery system according to the ninth embodiment. [Figure 82] FIG. 82 is a schematic diagram illustrating a state in which the thruster device of the 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 state in which a thruster device of a delivery system in the ninth embodiment delivers a package to an apartment complex by a drone. DETAILED DESCRIPTION OF THE INVENTION

[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 comprising: (A) moving the first and second unmanned aerial vehicles forward; and (B) stopping the forward movement of the first unmanned aerial vehicle when an abnormality occurs in the flight of the second unmanned aerial vehicle.

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

[0013] In (B), the movement of the first unmanned aerial vehicle may be changed from forward movement 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 be made to monitor the tension on the connecting line, and in (B), the first unmanned aerial vehicle may detect abnormalities in the flight of the second unmanned aerial vehicle based on changes in the tension.

[0016] This allows the first unmanned aerial vehicle to immediately 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 reaches or exceeds a predetermined value.

[0018] This allows the first unmanned aerial vehicle to quantitatively determine whether or not an abnormality has occurred in the flight of the second unmanned aerial vehicle, and the first unmanned aerial vehicle to immediately detect the abnormality in the flight of 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 made 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 any flight abnormality occurring in the second unmanned aerial vehicle. The first unmanned aerial vehicle can receive signals via wireless communication or wired communication. The first unmanned aerial vehicle can immediately detect any flight abnormality occurring in the second unmanned aerial vehicle.

[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 abnormalities that may occur 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 aircraft, the first unmanned aircraft 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 allows the range of the second unmanned aerial vehicle's fall or flight abnormality to be reduced 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 take up a portion of the connecting line.

[0028] This allows the length of the connecting line to be shortened efficiently 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, allowing it to fly with greater spatial precision.

[0031] In (A), 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 coupled to the first rail.

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

[0035] In (B) above, 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, which is 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 case (A), it is possible to avoid contact between the first unmanned aerial vehicle and the rail while the first unmanned aerial vehicle is flying, and in case (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 the width of the first rail, and when the arms are in a closed state, the distance between the 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 flight.

[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 the body of the second unmanned aerial vehicle and is rotatable relative to the body, and the outer surface of the ring may cross the underside, first side, upper side, and second side of the 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 even 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 continuously or intermittently transmit first position information indicating its own position to the management server via wireless communication.

[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 location information indicating the relative location 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 location of the second unmanned aerial vehicle based on the first and second location information.

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

[0051] Before (A), rail information regarding a plurality of rails placed on the 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 location by comparing 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 rail and fly with greater spatial precision.

[0057] The recording surface may be disposed on the 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 have altitude information indicating the altitude of the first rail recorded thereon.

[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 that shares 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 colliding with each other 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 to bring it closer to 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 it.

[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 overtakes 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 coming into contact with the rail, 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 from 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 caused to move forward along the first rail while being movably connected to the first rail, and the control method further includes (E) a step of controlling a flight path when the first and third unmanned aerial vehicles are flying behind the fourth unmanned aerial vehicle and the second unmanned aerial vehicle is flying behind the fifth unmanned aerial vehicle. In this case, when the second unmanned aerial vehicle overtakes the fifth unmanned aerial vehicle, the first unmanned aerial vehicle may be caused to uncouple from the first rail, move the first unmanned aerial vehicle ahead of the fourth unmanned aerial vehicle, and recouple the first unmanned aerial vehicle to the first rail; after the first unmanned aerial vehicle has been recoupled to the first rail, the second unmanned aerial vehicle may be caused to move ahead of the fifth unmanned aerial vehicle; after the first unmanned aerial vehicle has been recoupled to the first rail, the third unmanned aerial vehicle may be caused to uncouple from the first rail, move the third unmanned aerial vehicle ahead of the fourth unmanned aerial vehicle, and recouple the third unmanned aerial vehicle to the first rail.

[0082] This allows the second unmanned aerial vehicle to overtake the fifth unmanned aerial vehicle without the connecting lines becoming tangled.

[0083] The system may further include a second rail fixed at a position spaced apart from the ground and adjacent to 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), when the first unmanned aerial vehicle leaves the first rail, the altitude of the first unmanned aerial vehicle may be temporarily increased.

[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 either the first or second rail.

[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, causing the second unmanned aerial vehicle to reel in the connecting line, and securing 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 first unmanned aerial vehicle and 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 unmanned aerial vehicle and the second unmanned aerial vehicle to fly together in places where there are no rails.

[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-described 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] This allows the first unmanned aerial vehicle to be controlled by the first controller to move forward or stop moving forward, and therefore 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, wherein the first unmanned aerial vehicle includes a first controller and the second unmanned aerial vehicle includes a second controller, and the first controller causes the first unmanned aerial vehicle to move forward and stops the forward movement of the first unmanned aerial vehicle when an abnormality occurs in the flight of the second unmanned aerial vehicle.

[0100] This allows the first unmanned aerial vehicle and the second unmanned aerial vehicle to be controlled by the first controller and the second controller to move forward or stop moving forward, and therefore 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 in a suspended state to a rail located at a position away from the ground, 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, and the connector has a first end connected to the main body and a second end slidably connected to the rail. 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 plurality of 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 between the normal direction of the virtual plane and the support direction of the connecting body using 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 be lower than the minimum rotation speed for keeping the unmanned aerial vehicle aloft and higher than the minimum rotation speed for propelling the unmanned aerial vehicle, allowing the unmanned aerial vehicle to move along the rail at an appropriate speed. In the case of (ii), the control circuit controls the actuator to change the inclination of an imaginary 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 support poles, and the rail stretched between two adjacent ones of the plurality of support poles.

[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 connecting body relative to the main body.

[0106] For example, if the connecting member is located at or near the center of gravity of the main body, the movable part will also be located at or near the center of gravity of the main body, thereby achieving balance of the center of gravity of the unmanned aerial vehicle.

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

[0108] 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, allowing the unmanned aircraft to 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 is detached from the rail, and may control the rotation speed of the multiple first motors so that it is greater than the minimum rotation speed required to keep the unmanned aerial vehicle aloft.

[0112] According to this, when the connector comes off the rail, the angle can be reduced to allow the unmanned aerial vehicle to float to a predetermined height above the ground, thereby reducing contact with objects and improving the safety of the unmanned aerial vehicle.

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

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

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

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

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

[0118] The connecting body may have a support part pivotally connected to the main body, and a first arm connected to one end of the support part.

[0119] This allows the first arm to swing together with the swing of the support part, making 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] This allows the first arm to hang from the rail when the unmanned aerial vehicle is stopped, allowing the package to be placed at the delivery destination while the unmanned aerial vehicle is hanging from the rail.

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

[0123] This allows the unmanned aerial vehicle to move with its wheels in contact with the rails when connected to the rails. Because the wheels begin to rotate due to friction with the rails, the unmanned aerial vehicle can travel on the rails using only the thrust in the direction of travel generated 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 savings can be achieved for unmanned aerial vehicles.

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

[0125] This allows not only the first arm but also the second arm to 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 suspending the unmanned aerial vehicle from the rail, and the second arm may be a second hanger for suspending the unmanned aerial vehicle from 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 aircraft to be securely suspended from the rail, preventing the unmanned aircraft from falling off the rail, thereby further improving the safety of systems using unmanned aircraft.

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

[0129] This allows the height of the first arm and the height of the second arm relative to the main body to be changed simply by changing the angle of the base. This means that the heights of the first arm and the second arm can be changed without tilting the main body, allowing the stability of the unmanned aerial vehicle to 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 that bends in a first direction from the first connection end to the first open end, and the second hook may have a second bent portion that bends in a second direction opposite to the first direction from the second connection end to the second open end.

[0131] This allows the main body to be kept in a horizontal position when the first hook is hung from the rail, and the main body to be kept in a horizontal position when the second hook is hung from the rail, so the first hook and the second hook can hold the unmanned aerial vehicle in an appropriate position.

[0132] The first and second hooks 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, by connecting the second hook to the second rail and then disconnecting the first hook from the first rail, the unmanned aerial vehicle can switch its connection from the first rail to another rail, the second rail, and move. This allows the unmanned aerial vehicle to reliably switch rails at a branch point between the rails, which prevents the unmanned aerial vehicle from falling and further improves the safety of systems using unmanned aerial vehicles.

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

[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 second hook of the unmanned aerial vehicle are connected to the first rail, the second hook can be detached from the first rail and connected to the second rail, and then the first hook can be detached from the first rail and connected to the second rail, allowing the unmanned aerial vehicle to switch connection from the first rail to another rail, the second rail, and move. This allows the unmanned aerial vehicle to reliably switch rails at a branch point between the rails, thereby preventing the unmanned aerial vehicle from falling and further improving the safety of systems using unmanned aerial vehicles.

[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] With 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 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 may position the unmanned aerial vehicle vertically above a storage device for accommodating the cargo while the connecting body is connected to the rail, and drive the lift motor to unwind 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, thereby lowering the cargo and storing it in the storage device, allowing the unmanned aerial vehicle to deliver the cargo to the destination.

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

[0143] With this, even if the unmanned aerial vehicle becomes misaligned with respect to 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 the storage device. This allows the unmanned aerial vehicle to reliably lower the package and store it in the storage device, thereby ensuring reliable delivery of the package to the 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 the like, the main body can be aligned with the storage device.

[0145] The control circuit may also 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, which is opposite to the third direction. Therefore, the unmanned aerial vehicle can reliably lower the cargo and store it in the storage device, thereby more reliably delivering the cargo to the destination.

[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, thereby 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 cargo 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 cargo in the sixth direction, which is the opposite direction to the fifth direction. As a result, the unmanned aerial vehicle can reliably lower the cargo and store it in the storage device, thereby more reliably delivering the cargo to the destination.

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

[0150] With this, even if the unmanned aerial vehicle is misaligned with respect to the position directly above the storage device, the thruster device can guide the cargo into the storage device. Therefore, the unmanned aerial vehicle can reliably lower the cargo and store it in the storage device, thereby more reliably delivering the cargo to the destination. Even in situations where the opening of the storage device is narrow and it is difficult to insert the cargo, the unmanned aerial vehicle can reliably insert the cargo into the storage device. This eliminates the need for a large space 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 surface of the support body, and a second propeller disposed on a second side surface of the support body that is different from the first side surface.

[0153] This allows the position and orientation of the thruster device relative to the storage device to be adjusted, 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 let out.

[0155] This allows the position and orientation of the thruster device relative to the storage device to be adjusted when lowering the cargo from the unmanned aerial vehicle, thereby allowing the unmanned aerial vehicle to smoothly store the cargo in the storage device.

[0156] The delivery 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 stretching the rails, and therefore helps prevent the rise in installation costs.

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

[0159] According to this, the rail is positioned higher than the first connection point, so the unmanned aerial vehicle can travel at a higher altitude. Since the unmanned aerial vehicle travels at a position that is difficult for people to see, the privacy of users at delivery destinations and the privacy of people in facilities such as homes that face the rail can be protected.

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

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

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

[0163] This allows existing streetlights to be used as poles, eliminating the need to install new poles to stretch 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 proximity area between the first rail and the second rail, and the proximity 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.

[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, thereby further improving the safety of the system using the unmanned aerial vehicle.

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

[0168] According to this, when two unmanned aerial vehicles are traveling 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 between unmanned aerial vehicles.

[0169] 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 as any combination of a system, a method, an integrated circuit, a computer program, or a recording medium.

[0170] Hereinafter, the embodiments will be specifically described with reference to the drawings.

[0171] The embodiments described below are all comprehensive or specific examples. The numerical values, shapes, materials, components, component placement and connection configurations, steps, and step order 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 not described in the independent claims are described as optional components.

[0172] (Embodiment 1) FIG. 1 is a schematic diagram of a flight system 10 according to a first embodiment. The flight system 10 according to the present embodiment will be described with reference to FIG. 1. The flight system 10 according to the present embodiment includes a management unit 100 that manages information such as the position information of a rail 400 or information indicating the flight status of a drone, a parent drone 200 that is an unmanned aerial vehicle, and a child drone 300 that is also an unmanned aerial vehicle and has a smaller shape than the parent drone 200. The management unit 100 may be implemented 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 cargo 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.

[0173] The child drone 300 and parent drone 200 fly while connected to each other by a connecting line. Flying the parent drone 200 and child drone 300 while connected to each other by a connecting line is hereinafter 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 from moving forward.

[0174] 2 is a block diagram illustrating the configuration of flight system 10 in embodiment 1. Management unit 100 includes communication unit 110, display 120, and memory 130. Communication unit 110 includes transmitter 111 and receiver 112. Communication unit 110 communicates with parent drone 200 and child drone 300. Memory 130 is a recording medium for storing (memorizing) information such as identification information of rail 400.

[0175] 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.

[0176] The communication unit 220 communicates with the management unit 100 using a receiver 221 and a 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 connecting 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 this 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. The speed sensor 234 detects the speed of the parent drone 200.

[0177] 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 also include a flight controller. The arm 340 includes a first arm 341 and a second arm 342.

[0178] The communication unit 320 communicates with the management unit 100 using a receiver 321 and a transmitter 322. The battery 313 is a battery for powering the child drone 300 and is implemented by a lithium battery or the like. The wire control module 311 controls the wire 600 connecting the parent drone 200 and child drone 300. The rail control module 312 is a module that controls the child drone 300 when it connects 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 connecting the wire control module 311 of the child drone 300 and the wire control module 212 of the parent drone 200. Camera sensor 334 is a sensor that detects abnormalities in the flight of parent drone 200 from images captured by the camera. 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 parent drone 200. Arm 340 is connected to rail 400 by driving first arm 341 and second arm 342.

[0179] 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.

[0180] The rail 400 includes an address section 401j, a starting end 402k, and an ending end 403. The address section 401j stores identification information of the rail 400, etc. The starting end 402k is the point where the rail 400 begins, and the ending 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 of the rail 400 is stored in the rail 400 as the address section 401j.

[0181] FIG. 3 is a diagram showing rails 400 installed on a building 700 within a 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, with the forward direction of the drone being the X-axis positive side and the backward direction of the drone being the X-axis negative side. The Y-axis direction is perpendicular to the X-axis direction and the vertical direction, with the direction away from the building 700 or rail 400 being the Y-axis positive side and the direction toward the building 700 or rail 400 being the Y-axis negative side. The Z-axis direction is the vertical direction, with the upward vertical direction being the Z-axis positive side and the downward vertical direction being the Z-axis negative side. The rails 400 are installed horizontally on the side walls of the building 700. The rails 400 are installed away from the ground and fixed in place. In FIG. 3, the rails 400 are installed in the upper half of the building 700. Note that the rails 400 may also be installed in the lower half of the building 700. For example, in flight system 10 of this embodiment, child drone 300 is flown at a position closer to rail 400 than parent drone 200. Child drone 300 flies at a position lower than rail 400. This allows child drone 300 to be easily connected to rail 400 by arm 340 provided on the top of child drone 300. Child drone 300 flies along installed rail 400, or by connecting arm 340 provided on child drone 300 to rail 400, the child drone 300 flies while preventing itself from falling. Child drone 300 can be movably connected to rail 400 by arm 340 provided on child drone 300, or it may fly while connected to rail 400.

[0182] FIG. 4 is a diagram showing a state in which a child drone 300 is connected to a rail 400 installed on a building 700 and a parent drone 200 is connected to the child drone 300 via a 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 via 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 point of connection with the child drone 300 via the wire 600. Meanwhile, because 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 via the arm 340, there is little risk of the child drone 300 falling even if a flight abnormality occurs in the child drone 300 or the parent drone 200.

[0183] 5 is a flowchart showing a first example of fall prevention control in flight system 10 in embodiment 1. Child drone 300 determines whether wireless connection with parent drone 200 has been established (S5001). If child drone 300 has established wireless connection with parent drone 200 (Yes in S5001), child drone 300 flies (S5002). If child drone 300 has not established wireless connection with parent drone 200 (No in S5001), the process returns to step S5001. Next, child drone 300 uses tension sensor 333 to detect whether there is any abnormality in the tension of wire 600 (S5003). If child drone 300 detects an abnormality in the tension of wire 600 (Yes in S5003), child drone 300 stops forward movement of 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 reels up the wire 600 using the wire control module 311 (S5006). The child drone 300 then 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 greater than a threshold. If the child drone 300 detects downward pressure (Yes in S5008), the child drone 300 stops the rotation of the propellers of the child drone 300 (S5009).

[0184] The parent drone 200 determines whether 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 begins flying (S5011). Next, it determines 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 becomes suspended in mid-air by the wire 600 that connected the child drone 300 and parent drone 200 (S5014).

[0185] Through the above series of actions, if the parent drone 200 experiences an emergency power-off during flight, the child drone 300 can detect that the parent drone 200 has fallen from a change in tension in the wire 600 connecting the parent drone 200 and the child drone 300. The child drone 300 may determine that the parent drone 200 is flying abnormally when the tension in the wire 600 exceeds a predetermined threshold. If the parent drone 200 falls, the child drone 300 reels in the wire 600 between itself and the parent drone using the wire control module 311, shortening the length of the wire 600 and then connecting it to the rail 400. This shortens the distance between the child drone 300 and the parent drone 200, preventing them from falling. Finally, the child drone 300 stops rotating its propellers and ceases flight.

[0186] 6 is a flowchart showing a second example of fall prevention control in flight system 10 in embodiment 1. The child drone 300 determines whether a wireless connection has been established with the parent drone 200 (S6001). If a wireless connection has been established with the parent drone 200 (Yes in S6001), the child drone 300 flies (S6002). If a wireless connection has not been established with the parent drone 200 (No in S6001), the process returns to step S6001. Next, the child drone 300 determines whether a tip-over signal has been received from the parent drone 200 (S6003). If a tip-over signal has been received from the parent drone 200 (Yes in S6003), the child drone 300 stops moving forward (S6004). Next, the child drone 300 determines whether 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 reels the wire 600 between it and the parent drone 200 using the wire control module 311. The child drone 300 then connects to the rail 400 (S6007). Next, the child drone 300 determines whether 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 detaches from 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 its propellers (S6009).

[0187] The parent drone 200 determines whether a wireless connection has been established with the child drone 300 (S6011). If a wireless connection has been established with the child drone 300 (Yes in S6011), the parent drone 200 continues flying (S6012). If a wireless connection has not been established with the child drone 300 (No in S6011), the process returns to step S6011. Next, the parent drone 200 determines whether it has tipped over (S6013). Here, tipping over refers to the parent drone 200 becoming 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). Thereafter, the parent drone 200 performs a recovery process (S6015). Here, the recovery process refers to the process of collecting information to right itself after it has tipped over. The parent drone 200 then determines whether it can recover (S6016). Here, recovery means that the parent drone 200 returns its posture after it has fallen to a normal flight posture. 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 its propellers (S6018). After the parent drone 200 has returned to flight mode in step S6017, the parent drone 200 transmits a recovery signal to the child drone 300 (S6019).

[0188] This allows the child drone 300 to detect that the parent drone 200 has fallen over by the electrical signal sent from the parent drone 200. When the child drone 300 detects that the parent drone 200 has fallen over, the wire control module 311 of the child drone 300 reels in 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. The child drone 300 then connects to the rail 400, preventing the parent drone 200 and the child drone 300 from crashing. When the parent drone 200 returns to 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 with a high degree of freedom again. If the child drone 300 does not receive the recovery signal transmitted from the parent drone 200, the parent drone 200 and the child drone 300 stop their propellers, and the child drone 300 remains connected to the rail 400. Therefore, the parent drone 200 and the child drone 300 can avoid crashing and come to a safe stop.

[0189] 7A and 7B are flowcharts showing a third example of fall prevention control in flight system 10 according to the first embodiment.

[0190] 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 with the parent drone 200 wirelessly or via a wired connection (S1003). The parent drone 200 attempts to connect with the child drone 300 wirelessly or via a wired connection (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). If the child drone 300 determines that connection with the parent drone 200 has been completed (Yes in S1005), the child drone 300 sends a signal indicating that preparation is complete 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 takes flight (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 command to the parent drone 200 and 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 with the parent drone 200 wirelessly or via a wired connection (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 with the child drone 300 wirelessly or via a wired connection (return to step S1004).

[0191] During flight, the child drone 300 continues to intermittently transmit its own location 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 location information obtained using the GNSS to the management unit 100 (S1013).

[0192] As shown in Figure 7B, if something unusual 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 power is ON (S1018), and if the power is OFF (No in S1018), the parent drone 200's propellers are forcibly stopped and it falls due to its own weight (S1020).

[0193] Specifically, this may occur when the battery 211 of the parent drone 200 runs out of power, or when the power supply system is instantly destroyed due to a collision with an obstacle, etc.

[0194] 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 the child drone 300 of an abnormality can be sent (S1019).

[0195] 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).

[0196] Specifically, when a signal cannot be transmitted, it may be the case that the communication unit 220 of the parent drone 200 is destroyed due to a collision with an obstacle, or the wireless connection is interrupted due to radio interference.

[0197] The recovery process here refers to the 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 recovery process may be attempted autonomously by the parent drone 200 alone, or may be attempted by the management unit 100 via remote operation.

[0198] After this recovery process, it is determined whether the flight status 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 status 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 toward the ground (S1026). At this time, it is conceivable that the management unit may remotely send an emergency signal to stop the propellers, causing the parent drone to fall.

[0199] As a result of attempting to reconnect to the child drone 300 (S1039), an electrical connection is established and it is determined whether signals can be transmitted (S1040). 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 its propellers automatically, or manually by the management unit 100, and falls (S1042).

[0200] If it was possible to send an abnormality signal from the beginning (Yes in S1019), it sends the abnormality signal to the child drone 300 (S1021) and performs recovery processing (S1023). As a result, it determines 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 sends a signal to the child drone 300 informing it of its fall (S1036), and manually or automatically stops the propellers and falls (S1038). The child drone 300 constantly checks for receipt of an abnormality signal from the parent drone 200 (S1014), and if it receives an abnormality signal (Yes in S1014), it stops moving forward based on its flight plan (S1015) and begins preparations for the parent drone 200's fall.

[0201] First, the child drone 300 measures the length of the wire 600 connecting it to the parent drone 200, and determines whether it is short enough to avoid crashing into the ground, taking into account the current speed or position information of the parent drone 200 (S1027). If it is determined that the wire 600 is not short enough, the child drone 300 reels up the wire 600 to the required length (S1044) and attempts to connect to a rail 400 nearby (S1028). Here, connecting 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.

[0202] Thereafter, the child drone 300 determines whether it has received a fall signal from the parent drone 200 or whether the wire control module 311 has detected a fall (S1029). If a fall is detected (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 its propellers and loses some altitude, but it does not crash into the ground because it is connected to the rail 400. Similarly, if the parent drone 200 falls, this means that it will not crash into the ground.

[0203] 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 for another flight (S1031).

[0204] 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).

[0205] FIG. 8 is a diagram schematically illustrating the appearance of parent drone 200 connected to child drone 300 by wire 600 in embodiment 1. (a) of FIG. 8 is a diagram of parent drone 200 viewed from above. Parent drone 200 has four propellers on its top surface. Each of the four propellers is equipped with a ring-shaped propeller guard 800 that surrounds the propeller. Providing propeller guard 800 prevents wire 600 and the like from getting entangled in the propellers while parent drone 200 is flying. A wire 600 that connects parent drone 200 and child drone 300 is connected to the underside of parent drone 200. Wire 600 is attached to wire connection part 241 that is provided on rotating ring 240 that is rotatably attached so as to surround the body of 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 on the lower surface of the parent drone 200. Therefore, the wire 600 can take a form in which it extends from the upper surface of the parent drone 200, or can take a form in which it hangs down from the lower surface of the parent drone 200. As shown in FIG. 8(b), the parent drone 200 is connected to the child drone 300 via the wire 600 connected to the wire connection part 241.

[0206] FIG. 9 shows a parent drone 200 having a rotating ring 240 to which a wire 600 is connected, as viewed from the top and side. FIG. 9(a) shows a top view of the parent drone 200. The parent drone 200 has four propellers on its top surface. Note that the number of propellers possessed by the parent drone 200 is not limited to four, as long as the parent drone 200 has multiple propellers. 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) shows a side view of the parent drone 200. The parent drone 200 may have a shape in which the underside of the body bulges vertically. The fuselage of the parent drone 200 may have a shape close to a cylinder. The parent drone 200 may have one or more legs 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 top 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 form that extends from the top surface of the parent drone 200.

[0207] FIG. 10 shows a parent drone 200 having a rotating ring 240 to which a wire 600 is connected, viewed from the top and side, with the wire connection part 241 located on the underside. FIG. 10(a) shows the parent drone 200 as viewed from the top. The parent drone 200 has four propellers on its top surface. Note that the number of propellers possessed by the parent drone 200 is not limited to four, as long as the parent drone 200 has multiple propellers. 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. 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) shows the parent drone 200 as viewed from the side. A wire 600 is connected to the rotating ring 240, and in (b) of Figure 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 way, the wire 600 may take a form that hangs down from the underside of the parent drone 200.

[0208] 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. The rotating ring 240 is ring-shaped. The rotating ring 240 is made of metal, resin, or the like. A wire connection portion 241 is provided on a portion of the rotating ring 240. The wire connection portion 241 may have a cylindrical protrusion shape formed on the rotating ring 240. The wire 600 is attached to the wire connection portion 241. The rotating ring 240 rotates according to the tension applied to the wire 600. Therefore, the parent drone 200 can maintain its posture to a certain extent regardless of the tension applied to the wire 600.

[0209] FIG. 12 is a schematic diagram illustrating 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 located at the bottom end of the body of the parent drone 200. Normally, the parent drone 200 is connected to the child drone 300 via a wire 600 from the wire connection part 241 located at the bottom 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.

[0210] 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 tangled in the parent drone 200. This prevents the body of the parent drone from rotating upside down when it falls, preventing damage to the body of the parent drone 200 and the payload 500 carried by the parent drone 200.

[0211] If the parent drone 200 does not have a rotating ring 240, when the parent drone 200 falls, the parent drone will be upside down with its lower end, where the wire connection part 241 is located, facing up, and will hang down from the child drone 300.

[0212] FIG. 13 is a diagram schematically illustrating the procedure for retrieving a child drone 300 by a parent drone 200 in the first embodiment. The child drone 300 may be equipped with a rotating ring for connecting a wire. In FIG. 13(a), the child drone 300 stops its propellers for some reason. Then, as shown in FIG. 13(b), the child drone 300 becomes suspended in mid-air, hanging from the parent drone 200. After that, as shown in FIG. 13(c), the parent drone 200 reels in the wire 600 connecting the parent drone 200 and the child drone 300 using the wire control module 212 of the drive unit 210. This operation causes the child drone 300 to be retrieved 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 prevents the wire 600 from getting in the way of other parent drones 200 and child drones 300, allowing many drones to efficiently enter and exit the collection and delivery point.

[0213] FIG. 14 is a diagram showing the loading of cargo 500 onto the parent drone 200 from the side. The parent drone 200 has an opening 250 on its side so that the cargo 500 can be stored in a cavity in its fuselage. The opening 250 may be rectangular or circular. The cargo 500 may be stored in a box-shaped container attached to the bottom of the parent drone 200's fuselage, rather than in a cavity in the parent drone's fuselage. The parent drone 200 can store the child drone 300 in its bottom. With the propellers of the child drone 300 stopped, the wire control module 212 of the parent drone 200 can reel in the wire 600 connecting the parent drone 200 and the child drone 300, allowing the parent drone 200 to store the child drone 300 in its bottom.

[0214] High-speed combined flight refers to flying at a higher speed than parent-child linked flight when the child drone 300 is stored in the parent drone 200. High-speed combined 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 connecting line connecting the parent drone 200 and the child drone 300 is shortened so that the parent drone 200 and the child drone 300 can fly as a single unit.

[0215] FIG. 15 is a diagram showing two rails 400 installed on a building 700 within the flight area in the first embodiment. As in FIG. 3, the rails 400 are installed horizontally on the side wall of the building. However, there are two rails 400 installed. The two rails 400 may be arranged horizontally side by side, or may be arranged offset vertically. An air vehicle 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.

[0216] FIG. 16 illustrates how two drones overtake each other using two rails 400. FIG. 16 is a diagram showing how one of two child drones 300 overtakes the other on a two-lane rail 400 in embodiment 1. Rails 400a and 400b shown in FIG. 16 are the two rails 400 shown in FIG. 15. For example, rail 400a is closer to the side wall of a building than rail 400b. Child drones 300a and 300b in FIG. 16 have the same functions and configuration as child drone 300. In 1) of FIG. 16, child drone 300a and child drone 300b are connected to rail 400. Child drone 300a is moving ahead of child drone 300b.

[0217] When child drone 300b overtakes child drone 300a, the following procedure is followed. As shown in FIG. 16(2), first, the child drone 300a being overtaken retreats to the overtaking rail 400b. At this time, the parent drone 200a (not shown), which is connected to child drone 300a by wire 600, may be moved away from child drone 300a. Next, as shown in FIG. 16(3), child drone 300b remaining on rail 400a advances along rail 400a. As shown in FIG. 16(4), after child drone 300b has advanced sufficiently along rail 400a, child drone 300a returns from rail 400b to rail 400a. At this time, the length of wire 600 connecting the parent drone 200a being overtaken to child drone 300 may be increased. The above operations complete the operation of child drone 300b overtaking child drone 300a. Thereafter, the parent drone 200a (not shown), which is connected to the child drone 300a by the wire 600, may be returned to its original flight course.

[0218] Figure 17 is a diagram showing an example of the arrangement of two-lane rails 400 in embodiment 1. In this case, the distance between the two rails 400a and 400b may be greater than the width of the child drone 300. In Figure 17, rail 400a, which is located at a lower position, is installed closer to the building, and rail 400b, which is located at a higher position, is installed farther from the building than rail 400a. Child drone 300b is connected to rail 400a, and child drone 300a is connected to rail 400b.

[0219] 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 different heights in the vertical direction, as shown in Figure 17. In this way, when rails 400a and 400b are installed at different heights in the vertical direction, 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 can be reduced.

[0220] Fig. 18 is a diagram showing an example of the arrangement of two-lane rails 400 in embodiment 1. In Fig. 18, rail 400a is installed close to a building, and rail 400b is installed farther from the building than rail 400a. Rails 400a and 400b are aligned horizontally and are at the same height in the vertical direction. Child drone 300b is connected to rail 400a, and child drone 300a is connected to rail 400b.

[0221] 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 the same vertical height, as shown in Figure 18. In this way, when rails 400a and 400b are installed side by side horizontally and at the same vertical height, child drones 300a and 300b can move smoothly between rails 400a and 400b.

[0222] FIG. 19 is a schematic diagram showing the arrangement of parent-child drones 30 when two rails 400 are installed. As shown in FIG. 19(a), rails 400a and 400b are installed horizontally on a building 700. In this case, child drone 300b is connected to the rail 400 installed closer to the building 700, and child drone 300a is connected to the rail 400b installed farther from the building. In contrast, parent drone 200b is connected to child drone 300b via wire 600, and parent drone 200a is connected to child drone 300a via wire 600. Therefore, child drone 300a and parent drone 200a are inside child drone 300b and 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 from the building.

[0223] As shown in (b) of FIG. 19, a case will be described in which rails 400a and 400b are installed on a building 700 with their heights offset in the vertical direction. Child drone 300b is connected to rail 400a, which is installed close to the building 700. Child drone 300a is connected to rail 400b, which is located away from the building 700 and installed at a higher position than rail 400a. Parent drone 200b is connected to child drone 300b via wire 600. Parent drone 200a is connected to child drone 300a via wire 600. Child drone 300b and parent drone 200b are located at a lower position than child drone 300a and parent drone 200a. Child drone 300b and parent drone 200b are located at a position closer to the building 700 than child drone 300a and parent drone 200a. Therefore, child drone 300a and parent drone 200a will fly diagonally above and to the right of child drone 300b and parent drone 200b. The length of wire 600 connecting child drone 300a and parent drone 200a will be equal to the length of wire 600 connecting child drone 300b and parent drone 200b. Therefore, there is no need to change the control of wire 600 between the parent-child drone that is overtaking and the parent-child drone that is being overtaken. Because the parent-child drones fly with a vertical offset, there is less risk of collision when overtaking.

[0224] Figure 20 is a diagram showing two child drones 300 connected to one parent drone 200 in embodiment 1. Figure 21 is a diagram showing 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.

[0225] As shown in Figure 20, child drone 300a connected to rail 400 and parent drone 200a connected to wire 600 are flying, and behind them are two child drones, child drone 300ba and child drone 300bb connected to rail 400, and parent drone 200b connected to wire 600. The following describes the procedure when child drone 300ba, child drone 300bb, and parent drone 200b flying behind child drone 300a and parent drone 200a overtake child drone 300ba and child drone 300bb and parent drone 200b.

[0226] As shown in FIG. 21, the parent-child drone 20 has two child drones 300ba and 300bb connected to a 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, which is flying in front. The direction of the change may be a direction in which the parent drone 200a moves away from the rail 400. The child drone 300ba of the parent-child drone 20, which is 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, which is 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.

[0227] 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.

[0228] Figure 22 is a configuration diagram of a sensor that records address three-dimensional position information and navigation data on the surface of wire 600 connecting parent drone 200 and child drone 300 in embodiment 1 and reads this data. As shown in Figure 22(a), data 900 is recorded on the surface of rail 400. Data 900 includes, for example, identification information for rail 400, three-dimensional position information, and navigation data for child drone 300. Data 900 may be recorded in a ring shape on the surface of rail 400. In this case, technology used for writing data to recording media such as optical disks such as CD-ROMs and magnetic disks may be used.

[0229] Detector unit 901, detector unit 902, detector unit 903, and detector unit 904 are attached to arm 340 of child drone 300. Detector units 901, 902, 903, and 904 are realized by optical sensors or the like. The number of detector units is not limited to four. Data 900 recorded on rail 400 is read using multiple detector units from different angles relative to rail 400. By reading data 900 using multiple detector units 901, 902, 903, and 904, child drone 300 can read necessary data 900 even if there is a missing portion in the data 900 recorded on rail 400. Conversely, even if any of multiple detector units 901, 902, 903, and 904 is damaged, child drone 300 can still read data 900 from rail 400.

[0230] As shown in (b) of FIG. 22, when the rail 400 is viewed in cross section, data 900 is recorded on its outline. The detectors 901, 902, 903, and 904 are each configured as an optical detector 905. The optical detector 905 includes an optical sensor 906. The optical detector 905 reads the data 900 using the optical sensor 906. The data 900 includes, for example, an address indicating the position 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 using radio waves. By comparing this with address information indicating the absolute position recorded on the rail 400, position information indicating the absolute position of the parent drone 200 in three dimensions can be determined. The child drone 300 intermittently transmits the data read from the rail 400 or information about the position of the child drone 300 or the parent drone 200 determined using this information to the management unit 100.

[0231] FIG. 23 is a diagram showing the contents of data 900 written on the rail 400 in the first embodiment. Note that the rail 400 has a forward direction and a reverse direction defined. The data 900 recorded on the rail 400 includes an address, forward direction track information, reverse direction track information, radio location information acquisition information, GPS information, and the like. The address includes clock and position data. The forward direction track information or reverse direction 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 whether or not a GPS is available and the accuracy of the GPS. Note that the data 900 may also include geographic coordinate information indicating the location of the rail 400 or altitude information indicating the altitude of the rail 400.

[0232] FIG. 24 is a flowchart showing control regarding acquisition of rail position information by the child drone 300 in the first embodiment.

[0233] First, before the child drone 300 flies, 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).

[0234] The child drone 300 receives the rail information within the route and stores (memorizes) it in memory (S4003).

[0235] 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 top and bottom surfaces of the rail 400. The rail information here refers to information that describes where the multiple rails 400 are installed in the map data and what location information the code at each point on the rail 400 corresponds to.

[0236] Furthermore, both ends of each rail 400 are determined according to a certain rule, with a starting point 402k and an ending point 403. Each code written on the rail 400 is set according to a rule that allows information to be calculated using the difference from the previous code, and different information can be obtained when flying from the starting point 402k towards the ending point 403 and when flying in the opposite direction.

[0237] 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 based on the code read, searches the memory (S4006) and determines its location information (S4007).

[0238] Then, the child drone 300 transmits the location information to the management unit 100 (S4008), and the management unit 100 receives it (S4009).

[0239] A light-emitting element such as an LED may be provided on the rail 400, and signals may be transmitted to the child drone 300 by changing the brightness of the light-emitting element. That is, signals may be transmitted from the rail 400 to the child drone 300 via visible light communication. The light-emitting element may be provided in a shape that penetrates one rail 400. By using this method, the wider the light-emitting area, the more likely it is that communication errors will be reduced. The light-emitting element may be provided in a specified area of ​​the rail 400. At night, it is difficult to recognize the rail position, and the accuracy of detecting stripes decreases, but by performing visible light communication between the rail 400 and the child drone 300, the rail position can be recognized with high accuracy.

[0240] During visible light communication, the child drone 300 uses an imaging element to capture the brightness changes of the light-emitting elements attached to the rail 400 and acquire a visible light communication image. The imaging element may be a CMOS sensor with multiple exposure lines. By setting the exposure time of each exposure line of the CMOS sensor shorter than a predetermined time and capturing the light-emitting elements, it is possible to capture the brightness changes of the light-emitting elements for each exposure line. Here, an image resulting from the brightness changes corresponding to an exposure line is referred to as 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 in a striped pattern.

[0241] Visible light communication using a CMOS sensor involves 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 element 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. The exposure time should be set shorter than the exposure time for normal photography, and by setting it to 1 / 2000 second or less, clear bright lines can be obtained.

[0242] 25A and 25B are flowcharts showing control relating to acquisition of position information of the parent drone 200 in the first embodiment.

[0243] First, the child drone 300 and parent drone 200 receive instructions from the management unit 100 and begin flying (S2001, S2000). The child drone 300 reads the address of a rail 400 nearby using 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 a flight plan for the child drone 300 that was 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 do not match (No in S2010), the management unit 100 creates correction information to correct the route to the correct one (S2011) and transmits flight instructions to the child drone 300 (S2012).

[0244] If the route 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).

[0245] Meanwhile, the parent drone 200 determines whether it is receiving a GPS signal during flight (S2004), and if it receives a signal and can measure its own position information (Yes in S2004), it sends that information to the management unit 100 (S2005). If it is not able to receive the signal (No in S2004), the parent drone 200 creates information to the effect that GPS detection is not possible and sends this to the management unit 100 (S2008). The child drone 300 uses a tension sensor 333 on the wire 600 connecting to the parent drone 200 to detect the relative direction, speed, distance, etc. of the parent drone 200 with respect to the child drone 300 (S2013), and uses this information to calculate the relative position and speed information of the parent drone 200 with respect 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.

[0246] Once the child drone 300 has calculated the relative position and speed information of the parent drone 200, the child drone 300 transmits this information to the management unit 100 (S2018), as shown in Figure 25B. The management unit 100 determines whether it has received GPS information from the parent drone 200 (S2014), and if it has (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 GPS position information of the parent drone 200 (S2016), and transmits information to the parent drone 200 to correct the measurement error in the GPS based on this information (S2019).

[0247] 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), and 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).

[0248] The management unit 100 then determines whether the flight plan is consistent with the original flight plan (S2022), and if any deviation has occurred (No in S2022), it creates flight plan correction information to correct the error and sends a flight instruction to the parent drone 200 (S2025). If the flight plan is consistent (Yes in S2022), the management unit 100 instructs the parent drone 200 to continue flying without creating correction information (S2025).

[0249] The parent drone 200 receives the flight instructions (S2027), modifies the flight plan in accordance with the instructions, and flies (S2028).

[0250] Meanwhile, 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 needs to adjust the length, direction, etc. of the wire 600 that connects it to the parent drone 200 (S2026). If adjustment is necessary, the child drone 300 adjusts the wire 600 (S2029) and revise its own flight plan before flying (S2030). If adjustment is not necessary, the child drone 300 does not make any adjustment (No in S2026), but revise its flight plan as necessary before flying.

[0251] FIG. 26 is a schematic diagram showing flight control between rails in the first embodiment. When the child drone 300 is flying along rail 400a and approaches the end of rail 400a and encounters the beginning of rail 400b, the child drone 300 moves from the periphery of rail 400a to the periphery of rail 400b. At this time, the child drone 300 may temporarily increase its altitude when moving away from rail 400a toward rail 400b. When moving away from rail 400a toward rail 400b, the child drone 300 may fly at a higher altitude than rail 400a and rail 400b. In this way, if the child drone 300 has sufficient height while moving away from rail 400a toward rail 400b, even if a flight abnormality occurs, the child drone 300 can reach rail 400b by falling from the point where the flight abnormality occurred. 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 will allow it to reach rail 400b by falling from the point where the flight abnormality occurred.

[0252] FIG. 27 is a flowchart showing flight control between rails in the first embodiment.

[0253] 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 with a sensor or the like (S3003). Here, the child drone 300 determines whether it is near the end of the rail 400 (S3004). If the child drone 300 is not near the end of the rail 400 (No in S3004), the child drone 300 continues flying (return to step S3000). If the child drone 300 is near 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 parent drone 200 (S3007). The management unit 100 transmits flight instructions to the child drone 300 and parent drone 200 (S3008). The child drone 300 determines whether or not it has received the flight instruction (S3009). If the child drone 300 has not received the flight instruction (No in S3009), it returns to step S3009. The parent drone 200 determines whether or not it has received the flight instruction (S3010). If the parent drone 200 has not received the flight instruction (No in S3010), it returns to step S3010. If the child drone 300 has received the flight instruction (Yes in S3009), it takes off (S3011). If the parent drone 200 receives a flight command (Yes in S3010), the parent drone 200 takes off (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). Thereafter, 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).

[0254] 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 the identification information of the rails 400 acquired during flight.

[0255] FIG. 28 is a diagram schematically illustrating an example of opening and closing 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 flies forward along the rail 400 with the openable arm 340 open. At this time, the rail 400 may be located near the center of the space enclosed by the open arm 340. If a flight abnormality occurs in the parent drone 200, the child drone 300 closes the open arm 340 so that it surrounds the rail 400. At this time, closing the arm 340 connects the child drone 300 to the rail 400. Therefore, even if a flight abnormality occurs in the parent drone 200, the child drone 300 connected to the parent drone 200 can avoid abnormal flight or a crash by connecting to the rail 400.

[0256] FIG. 29 is a diagram schematically illustrating 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. The first arm 341 and the second arm 342 are connected to each other to form a ring shape, which is connected 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 greater than the diameter of the rail 400. Therefore, the child drone 300 is able to detach 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 detach from the rail 400, and the child drone 300 and the rail 400 are connected to each other.

[0257] 30 is a flowchart showing a control method for an unmanned aerial vehicle according to one embodiment of the present disclosure. First, the parent drone 200 and child drone 300, which are linked to each other, are caused to move 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 caused to stop moving forward (S7002). If an abnormality has not occurred in the parent drone (No in S7001), the parent drone 200 and child drone 300, which are linked to each other, are caused to move forward (return to step S7000).

[0258] (Embodiment 2) In the following, since the control method of the aircraft, and the basic configuration of the aircraft and flight system 2a in this embodiment are the same as the basic configurations of embodiment 1, etc., we will omit appropriate explanations of the control method of the aircraft, and the basic configuration of the aircraft and flight system 2a in this embodiment, and will mainly explain the parts that are different from embodiment 1.

[0259] Fig. 31 is a schematic diagram of flight system 2a in embodiment 2. Fig. 32 is a block diagram illustrating the configuration of flight system 2a in embodiment 2.

[0260] As shown in Figures 31 and 32, flight system 2a in this embodiment is a system capable of delivering cargo from a delivery source to a delivery destination using parent drone 200 and child drone 300. The delivery source is the party that sends out the object, and the delivery destination is the party that receives the object. Parent drone 200 and child drone 300 are each an example of an air vehicle. Parent drone 200 is an example of a second air vehicle, and child drone 300 is an example of a first air vehicle. An air vehicle is, for example, an unmanned aerial vehicle. The cargo referred to here is an example of an object.

[0261] 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 remaining connected to the child drone 300 by a wire 600. The parent drone 200 is loaded with cargo.

[0262] 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, this may be referred to as the arm 340 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 were to slide directly on the rail 400, the arm 340 and the rail 400 may wear out, and therefore the rail 400 and the arm 340 of the child drone 300 may fly in a non-contact state.

[0263] 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 (i.e., controls the rotation of the propellers) so that the first position and the second position match. Specifically, when the child drone 300 approaches the vicinity of the delivery destination, the camera sensor 334 captures an image of the coded medium 471a1 attached to the top surface of the delivery box 470. The coded medium 471a1 includes the first position indicating the location 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. The coded medium 471a1 is, for example, a two-dimensional barcode, but may be a simple mark that can be recognized by the camera sensor 334. The GPS sensor 332a is an example of a sensor. The camera sensor 334 may also be an example of a sensor. The delivery box 470 is an example of a storage base.

[0264] In this way, the child drone 300 arrives in the sky above the delivery destination.

[0265] 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.

[0266] Note that instead of the GPS sensor 332a, a 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 also be measured from an image of the surrounding area acquired using an image sensor.

[0267] When the child drone 300 arrives in the airspace above the delivery destination, the processing unit 337 controls the driving unit 310 to cause the arm 340 to grab the rail 400. In this way, the child drone 300 is fixed to the rail 400 at a predetermined position. Note that, for example, if the arm 340 is equipped with an electromagnet, the processing unit 337 may cause the driving unit 310 to apply a current to 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 airspace above the delivery destination, the arm 340 is fixed to the rail 400, thereby suppressing positional deviation due to the influence of ground effect. In this embodiment, the airspace above the delivery destination is the airspace above the delivery box 470.

[0268] 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 the parent drone 200 for descent.

[0269] When parent drone 200 receives a descent command from child drone 300, it descends toward delivery box 470 installed at the destination point. Specifically, control unit 230 of parent drone 200 controls drive unit 210 to rotate the propellers, thereby controlling parent drone 200 to move directly below child drone 300. Control unit 230 of parent drone 200 determines whether parent drone 200 has moved directly below child drone 300.

[0270] When parent drone 200 moves below child drone 300, control unit 230 of parent drone 200 causes drive unit 210 to stop propeller rotation. Control unit 230 of parent drone 200 controls wire control module 212 of drive unit 210 to start unwinding wire 600. This causes parent drone 200 to descend from child drone 300. In this way, parent drone 200 enters through the opening of delivery box 470 and lands at delivery box 470, which is its destination point. Here, the destination point is the point where parent drone 200 will land.

[0271] The parent drone 200 may be equipped with a distance measurement sensor, a barometric 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, barometric pressure sensor, etc. when descending.

[0272] 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 roads.

[0273] 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.

[0274] 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. If placed directly on the ground, the mounting structure 450 may be, for example, a mounting platform. If connected to the rail 400, the mounting structure 450 may be a box-like structure with an opening perpendicular to the rail 400. The opening is large enough to allow the parent drone 200 and child drone 300 to pass through. The mounting structure 450 may be, for example, a cushioned mesh structure.

[0275] Delivery box 470 is placed at the destination point of delivery. Delivery box 470 may have any configuration. Delivery box 470 of this embodiment has an opening large enough to allow at least parent drone 200 to enter inside, and a storage space.

[0276] In this embodiment, coded medium 471a1 is provided in delivery box 470 at a position where the child drone can be detected from the sky by a camera sensor.

[0277] In this embodiment, delivery box 470 is placed directly below rail 400. However, delivery box 470 may also be placed at a location 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.

[0278] [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.

[0279] FIG. 33 is a flowchart showing an example of the operation of flight system 2a in the second embodiment from the delivery source to the destination point of delivery.

[0280] As shown in Figure 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 begins flying in response to a user operation. For example, the child drone 300 detects the position of the rail 400 using detection units 901, 902, 903, and 904 shown in Figure 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).

[0281] This causes the parent drone 200 and the child drone 300 to move along the rail 400 (S8002).

[0282] 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 predetermined time intervals. At this time, the management unit 100 sequentially receives the position information of the parent drone 200 and the child drone 300, and therefore can instantly obtain the current positions of the parent drone 200 and the child drone 300.

[0283] Next, the processing unit 337 of the child drone 300 determines whether it has arrived in the airspace above the delivery destination (S8003). The processing unit 337 compares the current position obtained from the GPS sensor 332a with the airspace above the delivery destination obtained from the management unit, and determines whether they match. If the current position and the destination point match, the processing unit 337 determines that it has arrived in the airspace 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).

[0284] Next, processing unit 337 sends a descending command to parent drone 200 via communication unit 320 (S8005). Processing unit 337 stops the propellers (S8006). In this case, child drone 300 is suspended in mid-air by an arm connected to rail 400. Note that when child drone 300 arrives in the air above the delivery destination, child drone 300 may hover with its arm connected to rail 400, without grabbing rail 400 with arm 340.

[0285] Next, upon receiving the descent command (S8011), the parent drone 200 prepares for landing 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 the parent drone 200 directly below the child drone 300 (S8012).

[0286] 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 determination may be made 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.

[0287] 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.

[0288] 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 at the delivery box 470, which is the destination point.

[0289] 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.

[0290] Once the parent drone 200 has removed the cargo, it 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 begin winding up 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 ready for flight. The processing unit 337 controls the drive unit 310 to move the arm 340 of the child drone 300 away from the rail 400. The parent drone 200 and the child drone 300 then return to the source of delivery by retracing the flight route they took from the source to the destination. If a next destination exists, the cargo is delivered to the next destination using the same process as described above.

[0291] [Action and effect] Next, the effects of the flying object control method and flight system according to this embodiment will be described.

[0292] 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 the sensor measures the position of the first aircraft and determines 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).

[0293] For example, in conventional methods for controlling flying objects, when a flying object lands, the influence of winds known as ground effect can cause the object to land with an error of approximately 1 meter radius from the destination point, which is the second predetermined position. During landing, there is a risk that the flying object may lose momentum and crash, or collide with an object. For this reason, there is a need for a method for safely moving flying objects from their origin to their destination.

[0294] According to this method for controlling flying objects, the first flying object moves while connected to the rail, so even if a ground effect occurs, the first flying object can move safely along the rail to a first predetermined position. The second flying object is connected to the first flying object by a connecting line, so it does not move far away from the first flying object. When the first flying object reaches the delivery destination, the first flying object is in contact with the rail, so even if a ground effect occurs, neither the first flying object nor the second flying object is likely to move away from the destination. This makes it easier for the second flying object to deliver the package to the destination based on its instructions.

[0295] Thus, this flight system allows a second air vehicle to deliver the package to the destination.

[0296] 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 flight vehicle that moves while connected to a rail fixed at a position away from the ground, and a second flight vehicle connected to the first flight vehicle by a connecting line.The first flight vehicle has an arm with a ring through which the fixed rail passes, a control unit that determines whether the first flight vehicle has reached the delivery destination, and a communication unit that sends delivery instructions to the second flight vehicle for delivering the luggage to the destination point of the delivery destination.When the first flight vehicle has reached the delivery destination, the control unit, with the ring connected to the rail, sends delivery instructions to the second flight vehicle via the communication unit for delivering the luggage to the destination point of the delivery destination.

[0297] In the method for controlling an air vehicle according to this embodiment, the flight of the first air vehicle is stopped, and then the flight of the second air vehicle is stopped.

[0298] This allows the second flying object to move so as to follow the first flying object.

[0299] 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.

[0300] Therefore, the position of the first aircraft can be accurately determined based on the image of the surroundings. If the image sensor captures an image of the second predetermined position, the second predetermined position can be accurately determined.

[0301] 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.

[0302] Therefore, the position of the first flying object can be accurately determined.

[0303] 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.

[0304] Therefore, the position of the first flying object can be accurately determined.

[0305] In the method for controlling an air vehicle according to this embodiment, after the second air vehicle lands at the storage base, the second air vehicle stores the cargo that the second air vehicle was carrying in the storage base.

[0306] Therefore, the second flying vehicle can reliably store the cargo at the destination point.

[0307] The flight system of this embodiment further includes 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.

[0308] This allows multiple flight routes to be created for the first and second aircraft to fly.

[0309] The flight system of this embodiment further includes a mounting structure capable of placing the first flying vehicle at least between the ground surface directly below the connection point connecting the rails and the connection point.

[0310] With this, even if the first flying object suddenly falls off the rail when it is connected to another rail at the connection point, the mounting structure can catch it, thereby preventing damage to at least the first flying object.

[0311] In the flight system of this embodiment, a coded medium indicating the destination point for the second flying vehicle to land is provided at the destination point of delivery, and at least one of the first flying vehicle and the second flying vehicle further has a camera sensor, and the second flying vehicle lands at the destination point based on image information obtained by the camera sensor capturing an image of the medium.

[0312] This allows the first and second aircraft that have arrived at the delivery destination to easily recognize where to store the package based on the image information, making it easier for the second aircraft to land accurately at the destination.

[0313] 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 the first position shown in the image information with the 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.

[0314] This allows the second aircraft to land more accurately at the destination point, even if the second aircraft deviates from the vertical line of the destination point, by reading the image information.

[0315] 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 vehicle arrives at the delivery destination.

[0316] With this, when the first aircraft arrives at the delivery destination, the arm is fixed to the rail, thereby preventing the first and second aircraft from shifting in position due to ground effect.

[0317] (Embodiment 3) In the following, the control method of the aircraft and the basic configuration of the aircraft in this embodiment are the same as the basic configurations of Embodiment 1, etc., so the description of the control method of the aircraft and the basic configuration of the aircraft in this embodiment will be omitted as appropriate. In this embodiment, there is no parent drone like in the above-mentioned Embodiment 1.

[0318] Fig. 34A is a schematic diagram of a child drone 300a according to Embodiment 3. Fig. 34B is a schematic diagram illustrating a state in which arm 340a of child drone 300a according to Embodiment 3 descends while being fixed to rail 400.

[0319] 34A and 34B, the child drone 300a further has a wire 611 that connects the arm 340a to the child drone main body 301a. The arm 340a is connected to the child drone main body 301a via the wire 611, and can be moved away from the child drone main body 301a.

[0320] The wire control module winds up the wire 611 and unwinds the wire 611.

[0321] In flight system 2a of this embodiment, when child drone 300a arrives at the delivery destination, processing unit 337 controls drive unit 310 to cause arm 340a to grab rail 400 and secure arm 340a to rail 400. Processing unit 337 controls the wire control module to reel out wire 611. Thus, as shown in FIG. 34B, child drone main 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.

[0322] (Fourth embodiment) In the following, since the control method of the aircraft, and the basic configuration of the aircraft and flight system 2b in this embodiment are the same as the basic configurations of embodiment 1, etc., we will omit appropriate explanations of the control method of the aircraft, and the basic configuration of the aircraft and flight system 2b in this embodiment, and will mainly explain the parts that are different from embodiment 1.

[0323] Figure 35 is a schematic diagram illustrating a child drone 300c of flight system 2b according to embodiment 4. Figure 36 is a block diagram illustrating the configuration of flight system 2b according to embodiment 4. Figure 37 is a schematic diagram illustrating arm 340c of child drone 300c in flight system 2b according to embodiment 4. Figure 37 illustrates a state in which second arm 3421 opens or closes opening 3411k of first arm 3411.

[0324] 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 member 344, first electric motor 315, and first sensor 391. First arm 3411 and second arm 3421 are examples of rings.

[0325] The first arm 3411 is integrally formed with the support part 344. The first arm 3411 is a hook-like C-shape with a portion of the ring missing when viewed from the traveling direction of the child drone 300c. An outer shell portion of the first arm 3411 is cut out to provide an opening 3411k that allows the rail 400 to enter.

[0326] Since opening 3411k allows rail 400 to enter, the length of opening 3411k (the length from one end a of first arm 3411 to the other end b in FIG. 37) is greater than the diameter of rail 400. One end of first arm 3411 abuts against second arm 3421, and the other end of first arm 3411 forms accommodating portion 341a in which second arm 3421 is accommodated. Accommodating portion 341a has an arc shape that follows the shape of first arm 3411.

[0327] 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.

[0328] The second arm 3421 is accommodated in the accommodation portion 341a by sliding movement. The accommodation portion 341a may accommodate all or part of the second arm 3421. A spring 349 is provided inside the accommodation portion 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 portion on the far side of the accommodation portion 341a. The spring 349 is, for example, an elastic body such as a coil spring or rubber.

[0329] When viewed from the direction of travel of the child drone 300c, the first arm 3411 and the second arm 3421 appear 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 when the opening 3411k of the first arm 3411 is open, the first arm 3411 acts as a hook, making it difficult for the first arm 3411 connected to the rail 400 to separate.

[0330] 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 form a ring shape, and when the second arm 3421 opens the opening 3411k, the arm 340c forms a C-shape (arc shape). The second arm 3421 has an arc shape that matches the shape of the storage section 341a.

[0331] Support part 344 is a support pillar that supports first arm 3411 and second arm 3421 on child drone main body 301a. First arm 3411 is connected to one end of support part 344, and child drone main body 301a is connected to the other end of support part 344. First electric motor 315 is attached near the connection between one end of support part 344 and first arm 3411. Support part 344 is arranged to rise from the center of child drone main body 301a when viewed from above.

[0332] 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 that it is housed in the housing unit 341a. Specifically, a gear or the like provided on the rotation shaft of the first electric motor 315 engages with teeth formed on the outer circumferential surface of the second arm 3421, 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.

[0333] The first electric motor 315 is installed at a position where it can slide the second arm 3421, 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.

[0334] The first sensor 391 measures a first distance between the rail 400 and the arm 340c. The first sensor 391 is installed on at least an upper portion or a lower portion of the 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.

[0335] 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 portion 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 the 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 portion 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 the 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.

[0336] The processing unit 337 drives the first electric motor 315 to slide the second arm 3421 and store it in the storage unit 341a only when opening the opening 3411k of the first arm 3411. When closing the opening 3411k of the first arm 3411, the processing unit 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 due to the biasing force of the spring 349.

[0337] 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 using the first electric motor 315.

[0338] 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.

[0339] The shape of the ring portion of the arm is not limited to the above.

[0340] FIG. 38 is a schematic diagram illustrating another arm 340d of the child drone in the flight system according to the fourth embodiment.

[0341] 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.

[0342] Second arm 3421a is a linear columnar member. Second arm 3421a is supported by support portion 344 so as to be slidable in the vertical direction by spring 349. Spring 349 applies a biasing force to second arm 3421a in the vertically upward direction.

[0343] In FIG. 38, the support portion 344 is formed with a housing portion 344d that houses the second arm 3421a.

[0344] In this way, when the child drone connects to the rail 400, the child drone moves horizontally while keeping the opening 3411k of the first arm 3411a open, and connects to the rail 400. This makes it difficult for the rail 400 and the arm 340d to come into contact with each other, making it easy to connect the rail 400 and the arm 340d.

[0345] The function of the arm 340d is not limited to the above.

[0346] 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.

[0347] For example, as shown in Figures 39 and 40, arm 340e (i.e., first arm 3411 and second arm 3421) may be slid. Specifically, child drone 300e further has a tubular guide part 344b connected to child drone main body 301a, a second electric motor 316, and a spring 348. Guide part 344b is formed with a storage part 344d that stores support part 344a.

[0348] One end of support portion 344a is connected to first arm 3411, and the other end of support portion 344a is connected to spring 348. The end of spring 348 opposite support portion 344a is connected to guide portion 344b or child drone main body 301a. Spring 348 applies a biasing force to accommodate support portion 344a in accommodation portion 344d of guide portion 344b. In other words, the biasing force of spring 348 is applied to support portion 344a in a vertically downward direction.

[0349] 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 that it extends from the guide portion 344b. Specifically, a gear or the like provided on the rotation 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.

[0350] The second electric motor 316 is installed at a position where it can slide the support portion 344a, that is, on the tip side of the guide portion 344b.

[0351] 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 part 344a to extend it from the guide part 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 biasing force of the spring 348 causes the support part 344a to be accommodated in the guide part 344b, and the arm 340e is retracted.

[0352] A plurality of arms may be provided.

[0353] Figure 41 is a block diagram illustrating the configuration of flight system 2b in embodiment 4. Figure 42 is a schematic diagram illustrating yet another arm 340f of child drone 300f in flight system 2b in embodiment 4. Figure 43A is a schematic diagram illustrating a state in which child drone 300f in flight system 2b in embodiment 4 has retracted arm 340f. Figure 43B is a schematic diagram illustrating a state in which child drone 300f in flight system 2b in embodiment 4 has extended arm 340f.

[0354] 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.

[0355] The one arm 340f and the other arm 340f each have the same configuration as described above. The one arm 340f is disposed symmetrically to the other arm 340f with respect to the child drone body 301a.

[0356] 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.

[0357] 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 that they extend 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 that they are accommodated 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.

[0358] 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.

[0359] In this embodiment, one arm 340f and the other arm 340f are provided in the central portion of the child drone main body 301a, but, for example, one arm 340f and the other arm 340f may be arranged on the edge side of the child drone main body 301a. In this case, a counterbalance may further be arranged at a position diagonally opposite one arm 340f and the other arm 340f with respect to the center of gravity of the child drone 300f to equalize the center of gravity of the child drone 300f.

[0360] It should be noted that another counterbalance may be used in place of the other arm 340f, and therefore, it is not an essential component to provide two arms 340f.

[0361] FIG. 44 is a schematic diagram illustrating yet another arm 340g of a child drone 300g in flight system 2b according to the fourth embodiment.

[0362] For example, as shown in Figure 44, an insertion hole to which a wire 600 can be tied is formed at the tip of the counterbalance. The wire 600 is inserted into the insertion hole and tied. The wire 600 is connected to the parent drone 200.

[0363] The child drone 300g may have a gimbal instead of a counterbalance.

[0364] For example, a gimbal is disposed at the connection between child drone main body 301a and arm 340f. In other words, child drone main body 301a is connected to arm 340f via a gimbal. In this case, even if child drone main body 301a tilts during flight of child drone 300g, arm 340f is less likely to tilt relative to the vertical direction. This allows child drone 300g to fly stably.

[0365] [Action and effect] Next, a method for controlling the flying object and the effects of the flying object in this embodiment will be described.

[0366] 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 that measures 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.

[0367] Therefore, when the arm of the flying object moves while connected to the rail, the arm does not come into contact with the rail and the flying object can move appropriately along the rail.

[0368] 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 the upper or lower part of the ring and measuring a first distance between the rail and the ring.

[0369] In the method for controlling an aircraft according to this embodiment, the first sensor is installed in the 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.

[0370] Therefore, if the upper or lower side of the ring on the arm of the aircraft 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 aircraft is flying.

[0371] In the control method for an aircraft of this embodiment, the first sensor is installed in the 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.

[0372] In the aircraft of this embodiment, the arm comprises a first arm that is approximately arc-shaped and has a partially missing opening, a second arm that is approximately arc-shaped and forms a ring shape 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.

[0373] 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.

[0374] In the aircraft of this embodiment, the arm further has a spring that applies a force to the second arm so as to close the opening of the first arm, and when the rail is positioned on the inner side of the first arm, the first electric motor stops driving to slide the second arm and open the opening.

[0375] This means that 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 reducing the increase in power consumption of the aircraft.

[0376] (Modification 1 of the fourth embodiment) In the following, since the basic configuration of the control method of the aircraft, the aircraft, and the flight system in this modified example is the same as the basic configuration of embodiment 1, etc., we will omit appropriate explanations of the control method of the aircraft, the aircraft, and the flight system in this modified example.

[0377] FIG. 45 is a schematic diagram illustrating a child drone in a flight system in a first variant of the fourth embodiment.

[0378] As shown in FIG. 45, the child drone of this modified example further has wheels 390 and axles 390a.

[0379] 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 around the axle 390a. Here, the axis of the axle 390a is 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 is flying. The axle 390a constitutes a part of the first arm 3411, and both ends are fixed.

[0380] It should be noted that 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.

[0381] A concave cutout 3411h is formed on the inner periphery 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 at a position recessed toward the outer periphery surface of the first arm 3411 from the inner periphery surface of the first arm 3411. The outer periphery surface of the wheel 390 is disposed between the inner periphery surface and the outer periphery surface of the first arm 3411.

[0382] FIG. 46 is a schematic diagram illustrating a case where the child drone body 301a assumes an upright position while the child drone 300h is traveling on the rail 400 in the flight system in Variation 1 of Embodiment 4.

[0383] As shown in FIG. 46, the rotation shaft 350 is provided at the connection portion connecting 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 is flying, the rotation shaft 350 causes the child drone main body 301a to assume 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 is flying, the position of the arm 340h is such that the longitudinal direction of the arm 340h is approximately parallel to the vertical direction. Because 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.

[0384] When arm 340h is connected to rail 400 and child drone 300h flies, processing unit 337 of control unit 330 controls child drone main body 301a to assume an upright posture. Specifically, processing unit 337 causes drive unit 310 to drive rotation shaft 350, thereby rotating child drone main body 301a around the axis of rotation shaft 350. In this modification, drive unit 310 is capable of rotating rotation shaft 350 by 180°.

[0385] In this type of child drone 300h, when the arm 340h is connected to the rail 400 and the child drone 300h flies, the wheels 390 can fly with the wheels 390 in contact with the rail 400. Because 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 propulsion force in the forward direction caused by the rotation of the propeller. This means that the child drone 300h does not need to use the rotational force of the propeller to generate lift to lift itself up.

[0386] In this child drone 300h, the processing unit 337 controls the drive unit 310, causing the child drone main body 301a to rotate around the axis of the rotation shaft 350, thereby changing the attitude of the child drone main body 301a.

[0387] When the child drone 300h flies with the arm 340h connected to the rail 400, the rotational force of the propeller can be directly converted into propulsion force in the direction of travel by the rotational shaft 350 holding the child drone body 301a in an upright position, allowing the child drone 300h to travel smoothly on the rail 400.

[0388] Furthermore, because the rails 400 are arranged in the cutouts 3411h, even if the child drone 300h sways while traveling on the rails 400, the rails 400 are less likely to separate from the wheels 390. This allows the child drone 300h to travel on the rails 400 stably.

[0389] (Modification 2 of Embodiment 4) In the following, since the basic configuration of the control method of the aircraft, the aircraft, and the flight system in this modified example is the same as the basic configuration of embodiment 1, etc., we will omit appropriate explanations of the control method of the aircraft, the aircraft, and the flight system in this modified example.

[0390] FIG. 47 is a schematic diagram of a child drone 300i in a flight system in Modification 2 of Embodiment 4 when viewed from the front and from the side.

[0391] As shown in Figure 47, the child drone body 301i of this modified example 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.

[0392] The child drone main body 301i further includes a pair of yaw wings 371, a pair of pitch wings 372, and a rudder control unit (not shown).

[0393] The pair of yaw wings 371 are provided on the outer periphery of the child drone main body 301i. When the child drone main 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 main body 301i. Each of the pair of yaw wings 371 has a first shaft portion 371a with the vertical axis as its axis and a first wing portion 371b rotatably supported by the first shaft portion 371a. The first wing portion 371b rotates around the vertical axis as its axis. The rotation of the first wing portion 371b controls wind force in the left-right direction. When viewed from the direction of travel, rotating the first wing portion 371b to the left steers the drone left, and rotating the first wing portion 371b to the right steers the drone right.

[0394] The pair of pitch wings 372 are provided on the outer periphery of the child drone main body 301i. When the child drone main 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 main body 301i. Each of the pair of pitch wings 372 has a second shaft portion 372a with its axis in the horizontal direction and a second wing portion 372b rotatably supported by the second shaft portion 372a. The second wing portion 372b rotates around its axis in the horizontal direction. The rotation of the second wing portion 372b controls wind force in the vertical direction. When viewed from the direction of travel, rotating the second wing portion 372b upward steers the drone upward, and rotating the second wing portion 372b downward steers the drone downward.

[0395] 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.

[0396] When the child drone main body 301i is connected to the rail 400 and flies, the processing unit 337 of the control unit 330 controls the child drone main body 301i to assume an inclined attitude. 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.

[0397] 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 an inclined state relative to the horizontal plane.

[0398] Note that Figure 48 is a schematic diagram of another child drone 300i in a flight system in Variation 2 of Embodiment 4, viewed from the front. In this variation, as shown in Figure 48, the child drone main body 301i may have the same functions and configuration as the first arm 3411 and second arm 3421. The child drone main body 301i has a hook-shaped first main body 301i1 and an arc-shaped second main body 301i2. The second main body 301i2 slides relative to the storage section 341a2 of the first main body 301i1, thereby closing and opening the opening 3411k1 on the outer periphery of the first main body 301i1.

[0399] Such an aircraft according to this modification has first wings on the upper and lower parts of the aircraft, and second wings on the left and right parts of the aircraft relative to the direction of travel.

[0400] This allows the first flying object to move more appropriately using the four wings.

[0401] The aircraft of 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 symmetrically 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, symmetrically on either side of the main body, where the two wings arranged in a first specified direction (e.g., a pair of pitch wings) steer the main body vertically, and the two wings arranged in a second specified direction different from the first specified direction (e.g., a pair of yaw wings) steer the main body horizontally.

[0402] According to this, by steering the four wings, the direction of travel of the first flying object can be steered freely, and the first flying object can therefore achieve stable movement.

[0403] (Third Modification of Fourth Embodiment) In the following, since the control method of the aircraft, and the basic configuration of the aircraft and flight system 2c in this modified example are the same as those in modified example 2 of embodiment 4, etc., explanations 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.

[0404] Fig. 49 is a schematic diagram illustrating another child drone 300j in a flight system 2c according to Variation 3 of Embodiment 4. Fig. 50 is a schematic diagram illustrating another child drone 300j in a flight system 2c according to Variation 3 of Embodiment 4.

[0405] 49 and 50, in this modification, the child drone 300j further has a first sensor 391, a gap 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 gap detection unit 392, the ring position control unit 393, and the ring position change unit 394.

[0406] 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.

[0407] The pair of pitch vanes 372 are provided on the outer periphery of arm 340j. The pair of pitch vanes 372 are arranged symmetrically in the horizontal direction of arm 340j. Each of the pair of pitch vanes 372 has a second shaft portion 372a1 with an axis in the horizontal direction and a second wing portion 372b1 rotatably supported by second shaft portion 372a1. Second wing portion 372b1 rotates around an axis in the horizontal direction.

[0408] For example, when connecting the rail 400 and the ring, the first sensor 391 captures an image of the rail 400 and the ring. The first sensor 391 outputs the captured image information to the gap detection unit 392. In this modification, the first sensor 391 is a camera sensor and does not directly measure distance. The position of the first sensor 391 in FIG. 50 is one 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 sensors 391 may be provided in at least four locations: the upper side, lower side, left side, and right side of the ring.

[0409] 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.

[0410] The ring position control unit 393 controls the ring position changing unit 394 based on the first distance so that the ring is appropriately connected to the rail 400. The ring position changing unit 394 is, for example, an electric motor.

[0411] 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 main 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 other components so that the child drone main body 301j assumes an attitude tilted with respect to the horizontal direction. Specifically, the ring position control unit 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 control unit 393 drives the ring position changer 394 to control the yaw wings 371 and other components so that the child drone main body 301j assumes an attitude tilted with respect to the vertical direction. Specifically, the ring position control unit 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.

[0412] 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 unit 344.

[0413] This allows the aircraft to freely steer its direction of travel by steering the four wings, enabling the aircraft to move stably.

[0414] (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 in embodiment 1, etc., explanations 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.

[0415] FIG. 51 is a block diagram illustrating the configuration of a flight system 2d in Variation 4 of Embodiment 4.

[0416] 51, in this modification, arm 340m of child drone 300m may not have a first sensor, and parent drone 200m may have a second sensor 291. The first sensor and second sensor 291 may have the same configuration.

[0417] 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 on at least the left or right side of the ring of the arm 340m in the direction of travel 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.

[0418] 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 or right relative to its traveling direction, depending on 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.

[0419] Specifically, when 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 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, ring position control unit 393 controls ring position change unit 394 to move child drone 300m to the right with respect to the traveling direction. Specifically, ring position change unit 394 rotates first wing portion 371b1 of yaw wing 371 to the right, thereby moving arm 340m of child drone 300m to the right with respect to the traveling direction.

[0420] Specifically, when 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 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, ring position control unit 393 controls ring position change unit 394 to move child drone 300m leftward with respect to the traveling direction. Specifically, ring position change unit 394 rotates second wing portion 372b1 of pitch wing 372 left, thereby moving arm 340m of child drone 300m leftward with respect to the traveling direction.

[0421] Although not shown, 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.

[0422] In the control method for 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 left and right relative to the direction of travel according to the second distance.

[0423] Therefore, when the arm of the flying object moves while connected to the rail, the arm does not come into contact with the rail and the flying object can move appropriately along the rail.

[0424] The aircraft of this variant further includes a second sensor installed on the left or right side of the ring in the direction of travel of the aircraft, which measures a second distance between the rail and the ring.

[0425] In the control method for the flying object according to 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.

[0426] 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. This makes it less likely that the ring will come into contact with the rail while the aircraft is flying.

[0427] In the method for controlling an air vehicle according to this modification, the second sensor may be installed on a right side of the ring relative to the direction of travel of the air vehicle. In this case, the method for controlling an air vehicle may move the air vehicle leftward relative to the direction of travel when the second distance is greater than a predetermined value, and move the air vehicle rightward relative to the direction of travel when the second distance is equal to or less than the predetermined value.

[0428] (Embodiment 5) In the following, the basic configurations of the control method for the aircraft, the aircraft, and the flight system in this embodiment are the same as those in embodiment 1, etc., so we will not explain the basic configurations of the control method for the aircraft, the aircraft, and the flight system in this embodiment.

[0429] In the flight system of this embodiment, there is no parent drone. The description will be made using the reference numerals in Figure 53, which will be described later. The child drone 3000 has a first extension arm 5340a and a second extension arm 5340b.

[0430] 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 up and let out. The child drone 3000 has wires 611a and 611b connecting the first extension arm 5340a and the second extension arm 5340b to the child drone body, respectively, and wire drive control units that control the length of the wires 611a and 611b by winding or letting out the wires 611a and 611b.

[0431] The wire drive control unit has the same configuration as the wire control module. The wire drive control unit adjusts the lengths 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.

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

[0433] Fig. 52 is a flowchart showing an example of the operation of the flight system in embodiment 5 from the delivery origin to the destination point of the delivery destination. Fig. 53 is a schematic diagram showing an example of the operation of the flight system in embodiment 5 from the delivery origin to the destination point of the delivery destination.

[0434] 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.

[0435] 52 and 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).

[0436] As shown in FIGS. 52 and 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 to prevent the wire 611a from sagging, 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 adjust the length of the wire 611a so that the wire 611a connecting the first extension arm 5340a and the child drone body is reeled out. 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).

[0437] Specifically, the processing unit 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 processing unit stops supplying power to the electric motor. In this way, the second arm closes the opening of the first arm by the biasing force of the spring.

[0438] 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 can reach the other building.

[0439] As shown in FIGS. 52 and 53(c), 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, etc.), the child drone 3000 rises to prevent the wire 611b from sagging, 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). In this way, 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 controls the electric motor to stop applying driving force to the second arm of the second extension arm 5340b. Then, the second arm closes the opening of the first arm due to the biasing force of the spring.

[0440] In this way, the child drone 3000 repeats steps S8021 to S8024, moving from the delivery source to the delivery destination along the flight route, as if climbing a ladder.

[0441] [Action and effect] Next, a method for controlling the flying object and the effects of the flying object in this embodiment will be described.

[0442] 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, and includes 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 after the second rail and the second extension arm are connected, disconnecting the first extension arm from the first rail.

[0443] 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.

[0444] (Sixth embodiment) In the following, since the basic configuration of the control method of the aircraft, the aircraft, and the flight system in this embodiment is the same as the basic configuration in embodiment 1, the explanation of the control method of the aircraft, the aircraft, and the basic configuration in this embodiment will be omitted as appropriate.

[0445] The parent drone 200 in this embodiment has the same configuration as 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.

[0446] [Operation] Next, the control method for the flying object, and the operation of the flying object and flight system in this embodiment will be described.

[0447] Figure 54 is a flowchart showing an example of the operation of the flight system from the delivery source to the delivery destination in embodiment 6. Figure 54 is also a schematic diagram similar to Figure 53, so illustration is omitted.

[0448] 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.

[0449] As shown in Figure 54, first, the child drone 300 and 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 connects its arm to the rail 400 (S8031). The child drone 300 transmits a flight connection instruction to the parent drone 200 (S8032).

[0450] Next, upon receiving the flight connection command, the parent drone 200 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). With the child drone 300 still attached to the building's rail 400, 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 reel out the wire. Then, as the parent drone 200 approaches the rail 400, it connects its arm to the rail 400 (S8042).

[0451] Specifically, 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 connects the arm to the rail 400. When the arm is connected to the rail 400, the processing unit stops the power supply to the electric motor. Then, the second arm closes the opening of the first arm by the biasing force of the spring.

[0452] In addition, before the parent drone 200 flies toward another building, the processing unit of the control unit may recognize the distance from the building currently being grasped 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 can reach the other building.

[0453] 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).

[0454] Next, when the child drone 300 receives information indicating that the connection is complete, 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.

[0455] 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.

[0456] [Action and effect] Next, a method for controlling the flying object and the effects of the flying object in this embodiment will be described.

[0457] 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, wherein each of the first aircraft and the second aircraft has an arm with a ring through which a fixed rail passes, and includes: 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.

[0458] Therefore, since at least one of the first and second aircraft is connected to a rail, even if one of them breaks down, it is unlikely that it will fall to the ground. The first and second aircraft move along a flight route as if climbing a ladder. Therefore, this aircraft control method is highly safe.

[0459] (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., we will omit the explanation of the basic configuration of the drone 701 and delivery system 3a in this embodiment as appropriate and will mainly explain the parts that are different from embodiment 1, etc.

[0460] Fig. 55 is a block diagram illustrating the configuration of a delivery system 3a according to Embodiment 7. Fig. 56 is an image diagram illustrating an example of a drone 701 of the delivery system 3a according to Embodiment 7 delivering a package from a delivery source to a delivery destination.

[0461] As shown in Figures 55 and 56, the delivery system 3a includes a drone 701, a management unit 100, a plurality of support pillars 791a, and a rail 400.

[0462] The delivery system 3a is a system capable of delivering cargo from a delivery source to a delivery destination using a drone 701. The drone 701 is an example of an unmanned aerial vehicle.

[0463] In this embodiment, the delivery source is a delivery center, which is a facility of a delivery company, or a convenience store or the like 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 residence, a convenience store or the like 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.

[0464] As an example, when the delivery source 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 to each house from the relay point.

[0465] The delivery system 3a in this embodiment may mainly perform short-distance deliveries. For example, a short distance is a distance of about several hundred meters from the delivery source to the delivery destination. The drone 701 moves within 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.

[0466] [Drone 701 Configuration] The drone 701 of this delivery system 3a acquires route information indicating the flight route from the delivery origin to the delivery destination shown in map data from the management unit 100 of the delivery origin. The drone 701 moves the loaded package from the delivery origin to the delivery destination based on the route information acquired from the management unit 100.

[0467] Fig. 57 is a front view and a side view showing drone 701 of delivery system 3a in embodiment 7. Specifically, Fig. 57 is a front view and a side view showing drone 701 in an attitude in which the extension direction of connector 730 and the normal direction of the imaginary plane are approximately perpendicular to each other.

[0468] 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.

[0469] The multiple propellers 709a correspond one-to-one to the multiple first motors 711, and rotate around the rotation axis of each first motor 711 as the first motor 711 is rotated, thereby providing thrust to the main body 712 of the drone 701. The propellers 709a are an example of rotors. The multiple propellers 709a are fixed to the main body 712. In this embodiment, since the main body 712 has a rectangular shape in a plan view, the propellers 709a are arranged at each corner of the main body 712.

[0470] The first motors 711 are electric motors that rotate the respective propellers 709a. The first motors 711 are driven and controlled by the processing unit 734 of the control unit 330.

[0471] The main body 712 is the main body of the drone 701 that supports the multiple first motors 711, the multiple propellers 709a, the pair of wings 713, the connector 730, etc. The main body 712 houses the control unit 330, the communication unit 320, the drive unit 310, etc.

[0472] 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 outer periphery of the main body 712 may also be provided with the pair of yaw wings and the pair of pitch wings described above.

[0473] The connecting body 730 can connect the main body 712, in a suspended state, to the rail 400, which is located at a position away from the ground. The connecting body 730 is an elongated support connecting member that extends in a direction away from the main body 712 (vertically upward).

[0474] The connecting body 730 has a first end 730a and a second end 730b.

[0475] The first end 730a is the end of the connecting body 730 on the main body 712 side, and is pivotally supported relative to the main body 712 so as to be swingable relative to the main body 712. The second end 730b is the end opposite the first end 730a, and is slidably connected to the rail 400.

[0476] 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 .

[0477] First arm 731 is connected to one end of support part 732. First arm 731 of the present embodiment is connected to support part 732 via base 733. First arm 731 is a hanger for suspending drone 701 from rail 400.

[0478] The first arm 731 has a first hook 731a.

[0479] The first hook 731a extends from a first connecting 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 connecting end 731a1 to the first open end 731b1. The first hook 731a has a generally C-, F-, J-, or U-shape, with a portion of the ring-shaped outer shell missing when viewed from the direction of travel of the drone 701. The first hook 731a has an opening 731d formed by cutting out a portion of its outer shell to allow the rail 400 to enter. The opening 731d is located between the first open end 731b1 and the first connecting end 731a1. The first hook 731a corresponds to the second end 730b of the connector 730. As described above, the first hook 731a may be provided with a wheel for rotatably contacting the rail 400.

[0480] 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 of support portion 732 connected to main body 712 corresponds to first end 730a.

[0481] Base 733 is a portion that connects support portion 732 and first arm 731, and is disposed between support portion 732 and first arm 731, serving as a support that supports first arm 731. Base 733 is connected to first connection end 731a1 of first arm 731 and the other end of support portion 732. An angle drive unit 743 is provided on base 733.

[0482] The angle driving unit 743 can swing the base 733 relative to the support unit 732 by changing the angle of the base 733 relative to the direction in which the support unit 732 extends (or the main body 712). The angle driving unit 743 is an example of a third actuator.

[0483] First actuator 741 sets the angle of first hook 731a relative to support portion 732. First actuator 741 is disposed between support portion 732 and first hook 731a, and pivotally supports first connection end 731a1 of first hook 731a so that it can swing. In this embodiment, first actuator 741 is disposed on base 733.

[0484] Note that connector 730 may be the arm of any of the above-described first to sixth embodiments and their modified examples, and needless to say, is applicable to drone 701 of this embodiment. For example, first arm 731 may have an opening / closing part that opens and closes opening 731d. In this way, after rail 400 is connected to first arm 731, opening 731d may be closed to prevent first arm 731 from moving away from rail 400.

[0485] The movable unit 740 sets the tilt of an imaginary plane including the multiple propellers 709a relative to the support direction when the connecting body 730 is supported on the rail 400. The movable unit 740 may be an actuator that can actively change the tilt in response to an instruction from the processing unit 734. Alternatively, the movable unit 740 may be a rotatable member that can passively change the tilt 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 unit 740 is disposed between the main body 712 and the connecting body 730, but may also be housed in the main body 712. The support direction is the direction from the first end 730a to the second end 730b of the connecting body 730, and is also the direction in which the support unit 732 extends.

[0486] 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 on main body 712, around 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.

[0487] 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.

[0488] 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 when it is in a hovering state. More specifically, when the processing unit 734 controls the wire control module 311 to reel out the hoisting 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 indicates the wind speed around the drone 701 to the processing unit 734. The wire control module 311 is an example of a lift motor.

[0489] 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 package and the delivery box from above. The camera sensor 334 captures images of the package 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 package and the delivery box, the distance from the main body 712 to the package, the distance from the main body 712 to the delivery box, the height from the ground to the opening of the delivery box, etc. The camera sensor 334 may be, for example, a time-of-flight (TOF) camera, a distance measurement sensor, etc. The delivery box is an example of a storage device.

[0490] The control unit 330 has a processing unit 734. The processing unit 734 is a control device that controls the plurality of first motors 711, the movable unit 740, the first actuator 741, etc., 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.

[0491] 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.

[0492] 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 to 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, thereby removing the connector 730 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, thereby raising the first hook 731a and swinging the first hook 731a, thereby removing 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, 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.

[0493] 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 floating the drone 701 and larger than the minimum rotation speed for propelling the drone 701 in the direction of extension of the rail 400, 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 unit 740.

[0494] 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 keeping the connector 730 and the rail 400 out of contact. 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), as the processing unit 734 increases the angle θ, the drone 701 approaches an upright posture, increasing the thrust of the drone 701 and increasing the speed of the drone 701.

[0495] For example, in (ii), the processing unit 734 controls the rotation speed of the plurality of first motors 711 so that the angle θ is greater than 15°, 45°, 65°, or 80°.

[0496] 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.

[0497] After increasing the angle θ using the first actuator 741, if the speed of the drone 701 due to the propulsive force exceeds a predetermined value, the processing unit 734 removes the connecting member 730 from the rail 400. In other words, if the speed of the drone 701 is to be increased above a predetermined value, the processing unit 734 removes the connecting member 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.

[0498] When the connector 730 is off the rail 400, the processing unit 734 reduces the angle θ using the movable unit 740 and controls the rotation speed of the multiple first motors 711 to be greater than the minimum rotation speed required to airlift 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.

[0499] While the suspending wire 792 is being let 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, the orientation of the package relative to the opening of the delivery box, and the like. For example, when the position of the package has shifted in the third direction from a 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 direction in which the rail 400 extends. In this way, the processing unit 734 corrects the position of the drone 701.

[0500] [Operation] Next, the operation of the drone 701 and delivery system 3a in this embodiment will be described. This operation will cover everything from unwinding the suspending wire 792 when the drone 701 arrives at the destination to detaching the cargo.

[0501] FIG. 58 is a flowchart showing an example of the operation of the delivery system 3a in the seventh embodiment.

[0502] 55 to 58, first, when the drone 701, with the connector 730 connected to the rail 400, arrives (takes a position) vertically above the delivery box that is the delivery destination, 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.

[0503] 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 ½, ⅓, etc. of the distance from main body 712 to the delivery box. The first specified distance is not limited to ½, ⅓, etc. of the distance from main body 712 to the delivery box, as it may be a distance that allows processing unit 734 to calculate an error in the relative position between the delivery box and the package. Note that processing unit 734 may control wire control module 311 to lower the package at a first speed, which is a speed at which suspending wire 792 is reeled out quickly. Processing unit 734 may lower the package at the first speed from when suspending wire 792 starts to be reeled out until the package reaches the first specified distance.

[0504] To determine whether the distance between the package and the delivery box has reached the first specified distance, the first specified distance can be calculated from image information obtained from the camera sensor 334 or the length of the hanging wire 792 that has been unwound, etc.

[0505] 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.

[0506] When it is determined that the distance between the package and the delivery box has reached the first specified distance (YES in S8102), the processing unit 734 positions 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 viewed from above. Here, the error refers to 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.

[0507] 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 suspension wire 792. The processing unit 734 may lower the load at the first speed after starting to unwind the suspension 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.

[0508] Next, the processing unit 734 determines 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 become separated, and 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.

[0509] When it is determined that the error is equal to or greater than the specified value (YES in S8104), processing unit 734 controls wire control module 311 to stop the payout of suspension wire 792 (S8105).

[0510] The processing unit 734 corrects the position of the package (corrects errors) 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 way, the correction of the package position relative to the opening of the delivery box is repeated.

[0511] Here, an example will be given of correcting the position of a package relative to the opening of a delivery box.

[0512] Figure 59 is a schematic diagram illustrating how the positions of opening 471 of delivery locker 470 and the package are corrected when the package is blown in the third direction by wind. Figure 59(a) illustrates how drone 701 moves vertically above delivery locker 470 and unwinds suspending wire 792 to lower the package. In Figure 59(a), wind is blowing in the direction of the arrow (an example of the third direction), causing the drone to move downwind from its position vertically above delivery locker 470. Therefore, Figure 59(b) illustrates how drone 701 moves upwind (an example of the fourth direction).

[0513] FIG. 60 is a schematic diagram illustrating another example of correcting the position of opening 471 of delivery locker 470 and the package when the package is blown by wind in the direction of the arrow (an example of the third direction). FIG. 60(a) shows a state where there is no wind. In this case, the package can be stored in delivery locker 470 as is. FIG. 60(b) and 60(d) show a state where wind is blowing in the direction of the arrow, and the package is displaced (shifted) from vertically above opening 471 of delivery locker 470 to downwind (an example of the fifth direction). In FIG. 60(c) and 60(e), 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 package connected to hanging wire 792 upwind (an example of the sixth direction). Specifically, processing unit 734 controls multiple first motors 711 and movable unit 740 to tilt the attitude of main body 712 toward the windward side so as to displace the package toward the windward side. When the position of the package has displaced in the fifth direction from a position vertically above delivery box 470, processing unit 734 swings drone 701 around rail 400 as a fulcrum, and moves the center of gravity of drone 701 in a sixth direction opposite to the fifth direction.

[0514] 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 of the opening 471 of the delivery box 470 and the package.

[0515] The position of opening 471 of delivery locker 470 and the package may be corrected while continuing to pay out suspension wire 792. In this case, step S8105 may be omitted. When correcting the position of opening 471 of delivery locker 470 and the package, processing unit 734 may control wire control module 311 to set the payout speed of suspension wire 792 to a third speed that is slower than the second speed.

[0516] 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).

[0517] Next, processing unit 734 determines whether the distance between the package and delivery box 470 has reached a second specified distance, which 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 payout speed of suspension wire 792. Processing unit 734 may lower the package at the second or third speed from the start of payout of suspension wire 792 until the package reaches the second specified distance from the first specified distance.

[0518] To determine whether the distance between the package and the delivery box 470 has reached the second specified distance, the second specified distance can be calculated from image information obtained from the camera sensor 334 or the length of the hanging wire 792 that has been unwound, etc.

[0519] When it is determined that the distance between the package and delivery box 470 has not reached the second specified distance (NO in S8112), processing unit 734 returns the process to step S8111.

[0520] Next, when 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 wire control module 311 to stop the reeling out of hanging wire 792, measures the positions of the package and delivery box 470 based on image information acquired from camera sensor 334, and calculates the error in the relative position of the package from delivery box 470. Here, processing unit 734 calculates the error (positional deviation) between opening 471 of delivery box 470 and the package when the package and delivery box 470 are viewed from above.

[0521] Processing unit 734 controls multiple first motors 711 to move drone 701 so as to correct the position 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.

[0522] Next, the processing unit 734 controls the wire control module 311 to start unwinding the suspension wire 792 (S8114).

[0523] Next, processing unit 734 determines whether the package has passed through opening 471 of delivery box 470 and been stored in delivery box 470, based on the image information acquired from camera sensor 334 (S8115). For example, processing unit 734 calculates the overlap between opening 471 of delivery box 470 and the package from the image information acquired from camera sensor 334, and determines that the package has been placed at the bottom of delivery box 470, based on the tension information acquired from tension sensor 333, by detecting relaxation of the tension in hanging wire 792 with tension sensor 333.

[0524] When the processing unit 734 determines that the package has been stored in the delivery locker 470 (YES in S8115), it controls the package attachment unit (not shown) at the tip of the hanging wire 792, causing the package attachment unit to detach (disconnect) the package. This causes the package to be stored in the delivery locker 470 (S8116). The package attachment unit is capable of connecting and holding or grasping the package. The processing unit 734 controls the wire control module 311 to wind up the hanging wire 792, and when winding is complete, the package returns to the delivery source. Then, the processing unit 734 ends the processing.

[0525] On the other hand, if processing unit 734 determines that the package is not stored in delivery locker 470 (NO in S8115), it cannot calculate the overlap between opening 471 of delivery locker 470 and the package from the image information acquired from camera sensor 334, and it cannot detect any slack in the tension of hanging wire 792 based on the tension information acquired from tension sensor 333. Therefore, processing unit 734 causes wire control module 311 to wind up hanging wire 792 by a specified amount, thereby moving the package away from opening 471 of delivery locker 470 (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.

[0526] [Configuration of Delivery System 3a] Next, an example of how a package is delivered using the drone 701 and delivery system 3a according to this embodiment will be described.

[0527] FIG. 61 is an image diagram illustrating a state in which a drone 701 of a delivery system 3a in the seventh embodiment delivers a package from a delivery source to a relay point at a delivery destination.

[0528] As shown in FIGS. 56 and 61, when a delivery destination is a relay point, once a package is delivered to the relay point, the relay point becomes the delivery origin, and the package is delivered to the next delivery destination by a transport means. The relay point is both the delivery origin for individual deliveries to each delivery destination, such as a residence, and the delivery destination where packages for each delivery destination located 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 using a delivery means such as a drone 701. In this case, the management unit 100 of FIG. 55 may also be installed at the relay point, and the drone 701 may obtain route information from this management unit 100, or the drone 701 may obtain 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 delivery robot, a vehicle, a person, etc.

[0529] At the relay point, it may be possible to determine whether to deliver the package to the delivery destination by drone 701 or by a delivery robot or the like depending on the weight of the package. 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.

[0530] The delivery system 3a can deliver packages to multiple destinations by simultaneously managing multiple drones 701. Note that a single drone 701 returns to the sender after delivering the package to one destination, but it may also deliver packages to two or more destinations.

[0531] FIG. 62A is a schematic diagram illustrating the height from the ground when the drone 701 of the delivery system 3a according to the seventh embodiment moves.

[0532] As shown in Figures 56 and 62A, delivery system 3a further includes rail support section 793, protective net 794 in Figure 63 described below, pull-in support pole 791b, pull-in wire 795, and delivery box 470 in Figure 59.

[0533] 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 support pole 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, is fixed so as to protrude from the extension direction of the support pole 791a, and can hold the rail 400 in a state spaced apart from the support pole 791a.

[0534] The rails 400 of the delivery system 3a are, for example, stretched across and fixed to multiple posts 791a, facilities, etc. The rails 400 guide the movement of the drone 701 so that the drone 701 moves along the rails 400 with the connector of the drone 701 connected. The rails 400 can support the drone 701 and the cargo carried by the drone 701 even when the drone 701 is suspended from the rails 400 via the connector. For example, the rails 400 are elongated rod-shaped members, wires, etc.

[0535] 62A, rails 400 are installed at positions spaced apart from the ground between each of a plurality of support posts 791a. For example, rails 400 are stretched at a height of about 10 meters to about 13 meters so that drone 701 can travel on a drone highway that is at a height of about 10 meters to about 13 meters above the ground. For this reason, rails 400 may be stretched at a height of about 12 meters to about 13 meters above the ground.

[0536] When the support 791a is a utility pole, the utility pole is equipped with a lightning rod, power lines, and the like. Typically, a lightning rod is attached to the top of the utility pole, with a high-voltage power line located below it, and a low-voltage power line may be located even further below the high-voltage power line at a height of approximately 13 meters or more. If the height of a typical house is approximately 10 meters, then the space is thought to be between approximately 10 meters and 13 meters. By flying drone 701 at a height higher than the height of the house, it is less likely to come into contact with the house or power lines, protecting the privacy of the delivery destination user and the privacy of people in the house or other facility.

[0537] The drone highway is not limited to these heights, as they may be installed below approximately 10 meters, depending on the surrounding environment.

[0538] Fig. 62B is a schematic diagram illustrating the position of the drone highway in the delivery system 3a according to the seventh embodiment. Fig. 62B a shows a view from the direction of movement of the drone 701, and Fig. 62B b shows a view from a direction perpendicular to the direction of movement of the drone 701.

[0539] 62B, for example, in the case of a support 791a such as a utility pole that is 17 m high from the ground, the rail 400 is positioned at a distance of about 15 to about 16 meters. The drone 701, including the cargo, is positioned within a range of about 13 to about 16 meters.

[0540] The drone highway is approximately 2 meters wide. Therefore, when another rail 400 is installed on the opposite side of the rail 400, the rail 400 is installed taking the width into consideration.

[0541] A protective net 794 is attached to the support pole 791a at a point approximately 13 meters above 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 an orientation 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 protective net 794 overhangs the support pole 791a by approximately 2.5 meters and has a length of approximately 6 meters or more in the direction of movement of the drone 701 (the direction in which the rail 400 extends). When the protective net 794 and the drone 701 are viewed from above, 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.

[0542] Fig. 63 is a schematic diagram illustrating a state in which drone 701 of delivery system 3a in Embodiment 7 stores a package in delivery box 470 via retraction support pole 791b and retraction wire 795. Fig. 64 is a perspective view illustrating a state in which drone 701 of delivery system 3a in Embodiment 7 stores a package in delivery box 470 via retraction support pole 791b and retraction wire 795.

[0543] As shown in Figures 63 and 64, lead-in support pole 791b is placed within a predetermined site, and is installed on the ground or in a facility, for example. Figures 63 and 64 illustrate a case where lead-in support pole 791b is installed on the ground. Lead-in support pole 791b is shorter than support pole 791a, and has one end of lead-in wire 795 fixed thereto. The tip of lead-in support pole 791b is located below rail 400 and power lines.

[0544] Retraction wire 795 is stretched across rail 400. Specifically, one end of retraction wire 795 is connected to and fixed to retraction support pole 791b, and the other end of retraction wire 795 is stretched across and connected to rail 400. At the connection point (branch point) between the other end of retraction wire 795 and rail 400, a connector of drone 701 has a hook, allowing direct connection from rail 400 to retraction wire 795. This connection point is provided between adjacent first and second support poles of multiple support poles 791a, but may be provided on either the first support pole or the second support pole.

[0545] 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 the connection point, the protective net 794 prevents the drone 701 from colliding with the ground.

[0546] At the connection point, the connecting body connected to rail 400 switches to retraction wire 795, which then connects to the connecting body and guides it to retraction support post 791b. As a result, drone 701 arrives at retraction support post 791b. In this case, retraction support post 791b becomes the actual delivery destination.

[0547] In the present embodiment, the delivery system 3a includes the protective net 794, the lead-in support pole 791b, and the lead-in wire 795, but may not include the lead-in support pole 791b and the lead-in wire 795. When the drone 701 arrives at the delivery destination, it may simply drop off the cargo, and the lead-in support pole 791b and the lead-in wire 795 are not essential components of the delivery system 3a.

[0548] Delivery box 470 is installed at the delivery destination, such as a house. In Figures 63 and 64, it is installed at the base of retractable support pole 791b, but the installation location is not particularly limited as long as drone 701 can store the package. Delivery box 470 is the destination point for storing the package delivered by drone 701.

[0549] 63 and 64, lead-in support pole 791b is placed within a predetermined site and is installed on the ground, for example. Lead-in support pole 791b is shorter in height than support pole 791a, and has one end of lead-in wire 795 fixed thereto.

[0550] 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, allowing direct connection from the rail 400 to the retraction wire 795. This connection point is provided between adjacent first and second supports of the multiple support columns 791a, but may also be provided on the first or second support column. More specifically, the height from the installation surface to the first connection point P1 at which the retraction wire 795 and the retraction support 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 is connected to the support column 791a or the rail 400. In this embodiment, the installation surface is the ground. When the support pole 791a or the lead-in support pole 791b is grounded to a building, the part of the building to which it is connected becomes the installation surface.

[0551] 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 rail 400.

[0552] If opening 471 of delivery locker 470 is small, drone 701 may come into contact with support pole 791a (which may be a retractable support pole), making it impossible to store the package in delivery locker 470. For this reason, as shown in FIGS. 55 and 65, processing unit 734 of drone 701 controls the actuator to make the attitude of main body 712 approximately parallel to the vertical direction, thereby making main body 712 stand upright. Processing unit 734 controls the actuator to increase angle θ formed by the normal direction of an imaginary plane including multiple propellers 709a as shown in FIG. 57 with respect to the support direction (vertical direction) of the connecting body, thereby making main body 712 stand upright.

[0553] 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.

[0554] 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 locker 470 using the camera sensor 334 or the like, and determines from the captured image information whether a package can be stored in the delivery locker 470 with the virtual plane of the main body 712 in a position substantially parallel to the horizontal. If the processing unit 734 determines that the virtual plane of the main body 712 cannot be stored in the delivery locker 470 with the virtual plane of the main body 712 in a position substantially parallel to the horizontal, the processing unit 734 controls the movable unit 740 to change the position of the main body 712 to a position substantially parallel to the vertical. As shown in c of FIG. 65, the drone 701 arrives vertically above the delivery locker 470. As shown in d of FIG. 65, the processing unit 734 controls the wire control module 311 to reel out the suspending wire 792 to lower the package and store it in the delivery locker 470. In this delivery system 3a, parcels are reliably stored in the delivery box 470.

[0555] Fig. 66 is a schematic diagram illustrating a case where the drone 701 flies over a location where there are no rails 400 in the delivery system 3a according to the seventh embodiment. In some cases, such as a river, rails 400 cannot be installed depending on the width of the area, so Fig. 66 illustrates a case where the drone 701 crosses a river.

[0556] 55 and 66a to 66c, the movable part 740 tilts the main body 712 from a posture that is approximately horizontal 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.

[0557] As shown in FIGS. 55 and 66c and 66d, the connector 730 moves away from the rail 400.

[0558] As shown in Fig. 55 and Fig. 66 d and e, drone 701 crosses the river using the propulsive force generated by acceleration and a pair of wings 713. Processing unit 734 calculates the position of rail 400 using image information, etc., and when drone 701 approaches rail 400, it controls movable unit 740 to tilt main body 712 from an upright position to a position approximately horizontal with the virtual plane of main body 712. This causes drone 701 to decelerate.

[0559] As shown in Figures 55 and 66e and 66f, the processing unit 734 calculates the position of the rail 400 using image information, etc., and the connector 730 of the drone 701 connects to the rail 400 installed on the opposite bank.

[0560] As shown in f, g, and h of Figures 55 and 66, after drone 701 decelerates and connects connector 730 to rail 400, processing unit 734 controls movable unit 740 to tilt main body 712 from a posture approximately horizontal with the virtual plane of main body 712 to an upright posture. This causes drone 701 to accelerate to a speed at which it can travel safely on rail 400. In this way, drone 701 can cross places where rail 400 cannot be installed, such as rivers.

[0561] [Action and effect] Next, the effects of the drone 701 and delivery system 3a according to this embodiment will be described.

[0562] The drone 701 is an unmanned aerial vehicle for delivering packages, and includes a plurality of rotors, a plurality of first motors 711 for 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 an imaginary plane including the plurality of rotors with respect to the support direction when the connecting body 730 is supported on 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 of extension of the rail 400, 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 by the movable unit 740.

[0563] According to this, drone 701 can move along rail 400 with connector 730 connected to rail 400. In the case of (i), 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 levitating drone 701 and larger than the minimum rotation speed for propelling drone 701, so that drone 701 can move at an appropriate speed along rail 400. In the case of (ii), processing unit 734 controls movable unit 740 to change the inclination of a virtual plane including multiple rotors with respect to the support direction of connector 730, so that the speed of drone 701 can be adjusted.

[0564] The delivery system 3a includes a drone 701, a plurality of support posts 791a, and a rail 400 stretched between two adjacent ones of the plurality of support posts 791a.

[0565] The movable portion 740 is disposed between the main body 712 and the connecting body 730 .

[0566] This allows the movable portion 740 to easily change the angle θ of the connecting body 730 relative to the main body 712.

[0567] 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.

[0568] The drone 701 further comprises a pair of wings 713 .

[0569] According to this, for example, if the pair of wings 713 are yaw wings, the drone 701 can be rotated horizontally, and if the pair of wings 713 are pitch wings, the drone 701 can be rotated vertically. As a result, the direction of travel of the drone 701 can be freely steered, and the drone 701 can achieve stable movement.

[0570] After increasing the angle θ by the movable part 740, the processing part 734 detaches the connector 730 from the rail 400 when the propulsion speed of the drone 701 exceeds a predetermined value.

[0571] This makes it possible to prevent contact between the connector 730 and the rail 400, thereby improving the safety of the drone 701.

[0572] When the connecting body 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 part 740 and becomes greater than the minimum rotation speed required to keep the drone 701 afloat.

[0573] According to this, when the connector 730 is detached from the rail 400, the angle θ is reduced so that the drone 701 can float to a position at a predetermined height from the ground. This reduces contact with objects, thereby improving the safety of the drone 701.

[0574] In (ii), the processing unit 734 may control the rotation speed of the plurality of first motors 711 so that the angle θ is greater than 15°.

[0575] In (ii), the processing unit 734 controls the rotation speed of the plurality of first motors 711 so that the angle θ is greater than 45°.

[0576] In (ii), the processing unit 734 controls the rotation speed of the plurality of first motors 711 so that the angle θ is greater than 65°.

[0577] In (ii), the processing unit 734 controls the rotation speed of the plurality of first motors 711 so that the angle θ is greater than 80°.

[0578] By appropriately setting the angle of the movable part 740, it is possible to adjust the ratio of thrust and buoyancy acting on the drone 701. The larger the angle θ, the higher the proportion of the force caused by the rotation of the multiple first motors 711 that contributes to the thrust of the drone 701 in the approximately horizontal direction. This allows the drone 701 to obtain sufficient thrust even if the rotation speed of the multiple first motors 711 is reduced.

[0579] The connecting body 730 has a support part 732 connected to the main body 712 so as to be able to swing freely, and a first arm 731 connected to one end of the support part 732 .

[0580] This allows the first arm 731 to swing together with the swing of the support portion 732. This makes it easier to connect to the rail 400.

[0581] The first arm 731 is a hanger for suspending the drone 701 from the rail 400.

[0582] According to this, when drone 701 is stopped, first arm 731 can be suspended from rail 400. Therefore, with drone 701 suspended from rail 400, the package can be placed at the delivery destination.

[0583] Drone 701 further includes a hanging wire 792 connected to main body 712 for hanging the luggage, and a lift motor capable of winding up hanging wire 792. With connector 730 connected to rail 400, processing unit 734 positions drone 701 vertically above delivery box 470 for storing the luggage, and drives the lift motor to unwind hanging wire 792, thereby lowering the luggage relative to main body 712 and storing it in delivery box 470.

[0584] According to this, when drone 701 arrives at the destination point, processing unit 734 controls the lift motor to pay out suspending wire 792, thereby lowering the package and storing it in delivery box 470. Therefore, drone 701 can deliver the package to the delivery destination.

[0585] While the processing unit 734 is unwinding the hanging wire 792, it adjusts at least one of the position and orientation of the main body 712 according to the relative position of the package with respect to the delivery box 470.

[0586] With this, even if drone 701 is misaligned with respect to directly above delivery box 470, processing unit 734 can adjust at least one of the position and orientation of main body 712, thereby aligning main body 712 with delivery box 470. Therefore, drone 701 can reliably lower the package and store it in delivery box 470, thereby ensuring delivery of the package to the destination.

[0587] In particular, with this drone 701, even if the drone 701 moves from directly above the delivery box 470 due to wind or the like, the main body 712 can be aligned with the delivery box 470.

[0588] When the position of the package is displaced in the third direction from the position vertically above the delivery box 470, 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.

[0589] With this, even if the package is displaced (moved) in the third direction due to wind or the like blowing the package via hanging wire 792, processing unit 734 can displace drone 701 in the fourth direction opposite to the third direction. Therefore, drone 701 can reliably lower the package and store it in delivery box 470, thereby more reliably delivering the package to the destination.

[0590] 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 around the rail 400 as a fulcrum, and moves the center of gravity of the drone 701 in a sixth direction opposite to the fifth direction.

[0591] With this, even if the package is displaced in the fifth direction via hanging wire 792 due to wind or the like, processing unit 734 can displace the package in the sixth direction, which is the opposite direction to the fifth direction, by moving the center of gravity of drone 701. Therefore, drone 701 can reliably lower the package and store it in delivery box 470, thereby more reliably delivering the package to the destination.

[0592] In the delivery system 3a, each of the plurality of support poles 791a is a utility pole.

[0593] This allows existing utility poles to be used as the support poles 791a, eliminating the need to install new support poles 791a for stretching the rails 400. Therefore, this system can prevent the cost of installation from rising.

[0594] The delivery system 3a further includes a pull-in support pole 791b arranged within a specified site and a pull-in wire 795 stretched across the rail 400, and the height from the ground to the first connection point P1 where the pull-in wire 795 and the pull-in support pole 791b are connected is lower than the height from the ground to the second connection point P2 where the pull-in wire 795 and the rail 400 are connected.

[0595] According to this, rail 400 is placed at a position higher than first connection point P1, so drone 701 can move at a high position. Drone 701 travels at a position that is difficult for people to see, so the privacy of users at delivery destinations and the privacy of people in facilities such as homes that face rail 400 can be protected.

[0596] The utility pole supports the power transmission line, and the rail 400 is provided at a position below the power transmission line and higher than the tip of the lead-in support pole 791b.

[0597] According to this, the rails 400 are placed below the power lines, so that the rails 400 can be placed in a position where they do not come into contact with the power lines, and the drones 701 can run on them. This ensures the safety of the drones 701 that deliver packages.

[0598] The connecting body 730 may further include a wheel connected to the first arm 731 and adapted to be in rotatable contact with the rail 400, as in the first modification of the fourth embodiment.

[0599] According to this, when the drone 701 is connected to the rail 400, it can move with its wheels in contact with the rail 400. Because the wheels start to rotate due to friction with the rail 400, the drone 701 can travel on the rail 400 using only the propulsion force in the direction of travel caused by the rotation of the rotor blades. Therefore, the drone 701 does not need to use the rotational force of the rotor blades to generate lift to lift itself. As a result, the drone 701 can achieve energy conservation.

[0600] (Variation 1 of the Seventh Embodiment) In the following, since the basic configuration of the drone 701 and delivery system in this modified example is the same as the basic configuration of the drone and delivery system in embodiment 7, etc., the explanation of the basic configuration of the drone 701 and delivery system in this modified example will be omitted as appropriate.

[0601] FIG. 67 is a schematic diagram illustrating a case where a lead-in support pole 791b, a first lead-in wire 795a, and a second lead-in wire 795b of a delivery system in a first modification of the seventh embodiment are installed in an apartment complex.

[0602] Fig. 67 illustrates a case where lead-in pole 791b is installed on a side wall of the ceiling of a facility (an apartment building facility in this modification). In Fig. 67, a first lead-in wire 795a and a second lead-in wire 795b are used as lead-in wires.

[0603] The first lead-in wire 795a is strung along the side walls of the ceiling on each floor by lead-in support poles 791b installed on the side walls of the ceiling. One end of the second lead-in wire 795b is connected to the lead-in support pole 791b or the first lead-in wire 795a, and the other end is connected to the outer wall of the facility. Note that a support pole 791b may also be installed on the outer wall. The second lead-in wire 795b may or may not be connected to each unit in the facility.

[0604] FIG. 68 is a schematic diagram illustrating a state in which a drone 701 delivers a package to an apartment complex in the first modification of the seventh embodiment.

[0605] For example, as shown in a and b of Figure 68, drone 701 moves along first retraction wire 795a with connector 730 connected to first retraction wire 795a. As shown in c of Figure 68, drone 701 switches connector 730 to second retraction wire 795b at the connection point between second retraction wire 795b, which is connected to the delivery destination, and first retraction wire 795a or retraction support 791b. As shown in d of Figure 68, drone 701 is guided by second retraction wire 795b to arrive at the desired delivery destination and unload the package.

[0606] In FIG. 67, the first lead-in wire 795a and the second lead-in wire 795b are stretched throughout the housing complex, but the rail 400 may be stretched throughout.

[0607] (Modification 2 of the Seventh Embodiment) In the following, since the basic configuration of the drone 701 and delivery system in this modified example is the same as the basic configuration of the drone and delivery system in embodiment 7, etc., the explanation of the basic configuration of the drone 701 and delivery system in this modified example will be omitted as appropriate.

[0608] FIG. 69 is a schematic diagram illustrating a case where a support pole 791c of a delivery system according to the second modification of the seventh embodiment is a street light.

[0609] As shown in Fig. 69, delivery boxes 470 are placed on the sidewalk and are provided at each facility. Packages are delivered to each floor of the facility by lead-in support pole 791b and lead-in wire 795. Lead-in support pole 791b and lead-in wire 795 may be installed, for example, on the second floor or higher of the facility.

[0610] Fig. 70 is a schematic diagram illustrating the position of the drone highway when the support 791c of the delivery system in Variation 2 of Embodiment 7 is a street light. Fig. 70a shows the view from the direction of movement of the drone 701, and Fig. 70b shows the view from a direction perpendicular to the direction of movement of the drone 701.

[0611] As shown in Fig. 70(a) and (b), in this modification, a protective net 794 is provided vertically above the street light lighting device. The protective net 794 is supported and fixed to a pole that supports the lighting device and has a support 791c. In Fig. 70, the protective net 794 projects about 3 meters from the pole and is about 4 meters long in the direction of movement of the drone 701 (the direction in which the rail 400 extends). The size of the protective net 794 may vary depending on the installation environment of the lighting device.

[0612] The effects of the drone 701 and delivery system according to this modified example will be described below.

[0613] The plurality of poles 791c are street lights.

[0614] According to this, existing street lights can be used as the support poles 791c, and there is no need to install new support poles 791c for stretching the rails 400. Therefore, with this system, it is possible to suppress a rise in installation costs.

[0615] (Third Modification of Seventh Embodiment) In the following, the basic configuration of drone 701b and the delivery system in this modification is the same as the basic configuration of the drone and the delivery system in embodiment 7, etc., so the description of the basic configuration of drone 701b and the delivery system in this modification will be omitted as appropriate. This modification differs from embodiment 7, etc. in that the configuration of connector 730c is different.

[0616] A connecting body 730c of a drone 701b of this modification has a first arm 731, a support part 732, and a first actuator 741. In this modification, the connecting body 730c does not have a base 733 and an angle driving part 743 as in the seventh embodiment.

[0617] FIG. 71 is a perspective view showing a drone 701b of a delivery system in a third modification of the seventh embodiment.

[0618] 71, the first hook 731a of the first arm 731 of this modification has a generally C-shape with a portion of the ring-shaped outer shell missing when viewed from the traveling direction of the drone 701b. A first connecting end 731a1 of the first hook 731a is connected to the other end of the support part 732.

[0619] FIG. 72 is a perspective view showing how the attitude of the main body 712 of the drone 701b in the delivery system in the third modification of the seventh embodiment is changed.

[0620] 72a, b, and c, processing unit 734 in Fig. 55 changes the attitude of main body 712 while maintaining the attitude of support unit 732 of connecting body 730c by controlling movable unit 740, multiple propellers 709a, and pair of blades 713. Specifically, the angle of the normal direction of the virtual plane with respect to the extension direction of support unit 732 is changed.

[0621] (Embodiment 8) In the following, the basic configuration of drone 701c and delivery system 4 in this embodiment is the same as the basic configuration of embodiment 7, etc., so the description of the basic configuration of drone 701c and delivery system 4 in this embodiment will be omitted as appropriate. This embodiment further differs from embodiment 7, etc. in that a second arm 751 is provided.

[0622] Fig. 73 is a block diagram illustrating the configuration of a delivery system 4 according to the eighth embodiment. Fig. 74 is a front view showing a drone 701c of the delivery system 4 according to the eighth embodiment. Specifically, Fig. 74 is a front view showing a drone 70ac of the delivery system 4 according to the eighth embodiment.

[0623] As shown in FIGS. 73 and 74, a connecting body 730d of the present embodiment further includes a second arm 751 and a second actuator 752.

[0624] The second arm 751 is connected to one end of the support part 732. Specifically, the second arm 751 is connected to the support part 732 via the base 733 so as to face the first arm 731. The first arm 731 and the second arm 751 are arranged on the base 733 so as to be staggered. The second arm 751 is a hanger for suspending the drone 701c from the rail 400.

[0625] The second arm 751 has a second hook 751a.

[0626] The second hook 751a extends from a second connection end 751a2 connected to the second actuator 752 to a second open end 751b2 on the other end side. Between the second connection end 751a2 and the second open end 751b2, the second hook 751a has a second bent portion 751c that bends in a second direction opposite to the first direction. The second hook 751a has a generally C-, F-, J-, or U-shape, with a portion of its ring-shaped outer shell missing when viewed from the direction of travel of the drone 701c. The outer shell of the second hook 751a is cut out to form an opening that allows the rail 400 to enter. The opening is located between the second open end 751b2 and the second connection end 751a2. The second hook 751a is an example of a second end of the connector 730d. As described above, the second hook 751a may be provided with a wheel for rotatably contacting the rail 400.

[0627] The second hook 751a and the first hook 731a face each other, and when the second hook 751a and the first hook 731a are viewed from the direction of travel of the drone 701c, the second open end 751b2 and the second connecting end 751a2 of the second hook 751a face each other via the rail 400 with the first open end 731b1 and the first connecting end 731a1 of the first hook 731a.

[0628] Base 733 is a portion that connects support portion 732 to first arm 731 and second arm 751, and is disposed between support portion 732 and first arm 731 and second arm 751. Base 733 is connected to first connection end 731a1 of first arm 731, second connection end 751a2 of second arm 751, and the other end of support portion 732.

[0629] Second actuator 752 sets the angle of second hook 751a relative to support portion 732. Second actuator 752 is disposed between support portion 732 and second hook 751a, and pivotally supports second connection end 751a2 of second hook 751a so that it can swing. In this embodiment, second actuator 752 is disposed on base 733.

[0630] Fig. 75 is a top view illustrating a state in which the connection of connector 730d is switched from first rail 401 to second rail 402 when drone 701c and rail 400 of delivery system 4 in embodiment 8 are viewed from above. Fig. 75 illustrates first rail 401, second rail 402, etc. supported by support post 791a.

[0631] 74 and 75, processing unit 734 of this embodiment can switch connecting body 730d connected to first rail 401 to second rail 402 by controlling first actuator 741 and second actuator 752. Switching of rail 400 will be described later. Rail 400 is a general term for first rail 401 and second rail 402, and in this embodiment, when simply referring to rail 400, it is meant to include first rail 401 and second rail 402.

[0632] Delivery system 4 of this embodiment includes first rail 401 and second rail 402 stretched between two adjacent supports 791a among a plurality of supports 791a, and protective net 794.

[0633] If the first rail 401 is the base rail, the second rail 402 is a rail that branches off from the first rail 401 and is disposed close to the first rail 401 while being spaced apart from the first rail 401, that is, it extends adjacent to the first rail 401. The portion where the first rail 401 and the second rail 402 are close to each other is the proximity area, which is a switch that serves as a branch point where the drone 701c can switch rails 400. In other words, the second rail 402 is a leading edge rail. The proximity area is an area where the distance between the first rail 401 and the second rail 402 is equal to or less than the width H1 of the drone 701c (distance H2). For example, the proximity area is an area where the first rail 401 and the second rail 402 are closest to each other.

[0634] The protective net 794 is stretched vertically below the area where the first rail 401 and the second rail 402 are close to each other, and is supported by the support posts 791a.

[0635] [Operation] Next, the operation of drone 701c and delivery system 4 in this embodiment will be described. Drone 701c of this delivery system 4 can switch connection from first rail 401 to second rail 402 using two arms, first arm 731 and second arm 751. Figure 76 is a flowchart showing an example of the operation of switching connector 730d of drone 701c of delivery system 4 in embodiment 8 from first rail 401 to second rail 402. Here, a case will be described in which drone 701c moving along first rail 401 switches its route from first rail 401 to second rail 402.

[0636] First, as shown in Figure 73, Figure 75a, and Figure 76, when the first hook 731a and the second hook 751a of the connector 730d of the drone 701c are connected to the first rail 401, the drone 701c is slidably suspended from the first rail 401 by the first hook 731a and the second hook 751a. In this case, as shown in Figures 75b and 75c and 76, based on image information etc., when the drone 701c approaches the tip of the second rail 402 and passes this tip, the processing unit 734 controls the second actuator 752 to swing the second hook 751a, remove it from the first rail 401, and hook it onto the second rail 402 (S8201). Based on image information, etc., the processing unit 734 recognizes the proximity area where the second rail 402 is approaching along the first rail 401, and controls the second actuator 752 in the proximity area to swing the second hook 751a and hook it onto the second rail 402, thereby connecting the second hook 751a and the second rail 402, resulting in the state c in Figure 75.

[0637] Next, as shown in c, d and 76 of Figure 75, the processing unit 734 controls the first actuator 741 to swing the first hook 731a and release the first hook 731a from the first rail 401 (S8202), thereby achieving the state shown in d of Figure 75.

[0638] Next, as shown in Fig. 75d and Fig. 75e and Fig. 76, the processing unit 734 controls the first actuator 741 to swing the first hook 731a and hook the first hook 731a onto the second rail 402, thereby connecting the first hook 731a and the second rail 402 (S8203). Thereafter, the processing unit 734 controls the second actuator 752 to swing the second hook 751a and detach the second hook 751a from the second rail 402, thereby entering the state shown in Fig. 75e. Then, the drone 701c moves along the second rail 402 and switches the connection of the connector 730d from the second rail 402 to the third rail.

[0639] When drone 701c moves along second rail 402 as is, as shown in FIG. 75g and FIG. 76, after passing rail support unit 793, processing unit 734 controls second actuator 752 to swing second hook 751a and hook it onto second rail 402, thereby connecting second hook 751a to second rail 402 (S8204). By connecting first hook 731a and second hook 751a to second rail 402, drone 701c is connected so as not to move away from second rail 402.

[0640] Next, the movement of the connecting body 730d when the connecting body 730d is switched from the first rail 401 to the second rail 402 will be described in detail.

[0641] 77 is a rear view illustrating an example of switching the connection of connector 730d from first rail 401 to second rail 402 on the rear side of drone 701c and rail 400 of delivery system 4 in embodiment 8. FIG. 78 is a flowchart illustrating in detail an example of the operation of switching connector 730d of drone 701c of delivery system 4 in embodiment 8 from first rail 401 to second rail 402.

[0642] 77 illustrates first rail 401, second rail 402, etc. supported by support post 791a. FIG. 77 illustrates the drone 701c, first rail 401, and second rail 402 as viewed from the direction of travel (front side) of drone 701c.

[0643] 73, 77a and 77b, and 78, when second hook 751a is hooked onto second rail 402, processing unit 734 controls angle driving unit 743 to change the angle of base 733 with respect to support unit 732, and tilts base 733 so that second hook 751a is higher than first hook 731a (S8301). At this time, second connecting end 751a2 is higher than first connecting end 731a1. Note that instead of tilting base 733, main body 712 may be tilted.

[0644] As shown in Figures 73, 77b and 77c, and 78, the second hook 751a moves away from the first rail 401, so the processing unit 734 controls the angle driving unit 743 to return the orientation of the base 733 to its original position, and controls the second actuator 752 to pass the second hook 751a between the first rail 401 and the second rail 402, and swing the second hook 751a to remove it from the first rail 401 (S8302).

[0645] As shown in Figures 73, 77d and 78, the processing unit 734 controls the second actuator 752 to swing the second hook 751a and bring it closer so that it hooks onto the second rail 402, and controls the angle driving unit 743 to change the angle of the base 733 relative to the support unit 732, and tilt the base 733 so that the second hook 751a is higher than the first hook 731a (S8303).

[0646] As shown in Figures 73, 77e and 78, the processing unit 734 controls the angle driving unit 743 to return the orientation of the base 733 to its original position, while controlling the second actuator 752 to swing the second hook 751a and hook it onto the second rail 402, thereby connecting the second hook 751a to the second rail 402 (S8304).

[0647] 73, 77f, and 78, when first hook 731a is removed from first rail 401, processing unit 734 controls angle driving unit 743 to change the angle of base 733 with respect to support unit 732 and tilt base 733 so that first hook 731a is higher than second hook 751a (S8305). At this time, first connecting end 731a1 is higher than second connecting end 751a2. Note that instead of tilting base 733, main body 712 may be tilted.

[0648] As shown in Figures 73, 77f and 77g, and 78, the first hook 731a moves away from the first rail 401, so the processing unit 734 controls the angle driving unit 743 to return the orientation of the base 733 to its original position, while controlling the first actuator 741 to swing the first hook 731a and remove it from the first rail 401 (S8306).

[0649] As shown in Figures 73, 77h and 78, the processing unit 734 controls the second actuator 752 to bring the base 733 close so that it hooks onto the second rail 402 through the gap between the first rail 401 and the second rail 402, and controls the angle driving unit 743 to change the angle of the base 733 relative to the support unit 732, and tilt the base 733 so that the first hook 731a is higher than the second hook 751a (S8307).

[0650] 73, 77i, and 78, processing unit 734 controls angle driving unit 743 to return base 733 to its original orientation, while controlling first actuator 741 to swing first hook 731a and hook it onto second rail 402, thereby connecting first hook 731a and second rail 402 (S8308). As a result, first hook 731a and second hook 751a are connected to second rail 402.

[0651] [Action and effect] Next, the effects of the drone 701c and delivery system 4 according to this embodiment will be described.

[0652] The connecting body 730d further has a second arm 751 connected to one end of the support portion 732.

[0653] This allows not only the first arm 731 but also the second arm 751 to be connected to the rail 400, which prevents the drone 701c from falling off the rail 400, thereby further improving the safety of the system using the drone 701c.

[0654] The first arm 731 is a first hanger for suspending the drone 701c from the rail 400, and the second arm 751 is a second hanger for suspending the drone 701c from the rail 400. The connecting body 730d further has a first actuator 741 for setting the angle of the first arm 731 relative to the support portion 732, and a second actuator 752 for setting the angle of the second arm 751 relative to the support portion 732.

[0655] This allows the drone 701c to be securely suspended from the rail 400, preventing the drone 701c from falling off the rail 400, thereby further improving the safety of the system using the drone 701c.

[0656] The connecting body 730d further includes a base 733 disposed between the support portion 732 and the first and second arms 731 and 751, and a third actuator that sets the angle of the base 733 relative to the support portion 732.

[0657] This makes it possible to change the height of first arm 731 relative to main body 712 and to change the height of second arm 751 simply by changing the angle of base 733. Therefore, the heights of first arm 731 and second arm 751 can be changed without tilting main body 712, and the stability of drone 701c can be maintained.

[0658] The first arm 731 has a first hook 731a extending from a first connecting end 731a1 connected to the first actuator 741 to a first open end 731b1, and the second arm 751 has a second hook 751a extending from a second connecting end 751a2 connected to the second actuator 752 to a second open end 751b2, and the first hook 731a has a first bent portion 731c that bends in a first direction from the first connecting end 731a1 to the first open end 731b1, and the second hook 751a has a second bent portion 751c that bends in a second direction opposite to the first direction from the second connecting end 751a2 to the second open end 751b2.

[0659] According to this, when first hook 731a is hung from rail 400, main body 712 can be kept in a horizontal position, and when second hook 751a is hung from rail 400, main body 712 can be kept in a horizontal position. Therefore, first hook 731a and second hook 751a can hold drone 701c in an appropriate position.

[0660] The first hook 731a and the second hook 751a make it easy to hook onto the rail 400.

[0661] When the drone 701c is slidably suspended from the first rail 401 by the first hook 731a, the processing unit 734 controls the second actuator 752 to hook the second hook 751a onto the second rail 402 extending next to the first rail 401 along the first rail 401 while adjacent to the first rail 401, and controls the first actuator 741 to remove the first hook 731a from the first rail 401.

[0662] According to this, for example, when the first hook 731a of the drone 701c is connected to the first rail 401, after the second hook 751a is connected to the second rail 402, the first hook 731a is detached from the first rail 401, and the drone 701c can switch its connection from the first rail 401 to the second rail 402, which is another rail 400, and move. Therefore, the drone 701c can reliably switch rails 400 at the branch point between the rails 400, thereby preventing the drone 701c from falling and further improving the safety of the system using the drone 701c.

[0663] The delivery system 4 includes a drone 701c, a plurality of pillars 791a, and a first rail 401 and a second rail 402 stretched between two adjacent pillars 791a among the plurality of pillars 791a.

[0664] When the drone 701c is slidably suspended from the first rail 401 by the first hook 731a and the second hook 751a, the processing unit 734 controls the second actuator 752 to remove the second hook 751a from the first rail 401 and hook it onto the second rail 402 extending adjacently along the first rail 401, and controls the first actuator 741 to remove the first hook 731a from the first rail 401 and hook it onto the second rail 402.

[0665] According to this, for example, when the first hook 731a and the second hook 751a of the drone 701c are connected to the first rail 401, the second hook 751a is detached from the first rail 401 and connected to the second rail 402, and then the first hook 731a is detached from the first rail 401 and connected to the second rail 402, whereby the drone 701c can switch its connection from the first rail 401 to the second rail 402, which is another rail 400, and move. Therefore, the drone 701c can reliably switch rails 400 at the branch point between the rails 400, thereby preventing the drone 701c from falling and further improving the safety of the system using the drone 701c.

[0666] When hooking the second hook 751a onto the second rail 402, the processing unit 734 tilts the main body 712 or the support portion 732 in the second direction so that the second connecting end 751a2 is higher than the first connecting end 731a1, and when removing the first hook 731a from the first rail 401, the processing unit 734 tilts the main body 712 or the support portion 732 in the first direction so that the first connecting end 731a1 is higher than the second connecting end 751a2.

[0667] This allows the first hook 731a and the second hook 751a to be easily hooked onto the rail 400 or easily detached from the rail 400 by tilting the main body 712 or the support part 732.

[0668] The delivery system 4 further includes a protective net 794 stretched vertically below the proximity area between the first rail 401 and the second rail 402, the proximity area being an area where the distance between the first rail 401 and the second rail 402 is less than the size of the drone 701c.

[0669] As a result, the distance H2 between the first rail 401 and the second rail 402 is smaller than the width H1 (size) of the main body 712, so that the drone 701c can easily switch from the first rail 401 to the second rail 402 and move.

[0670] By providing protective net 794 vertically below the area where first rail 401 and second rail 402 are close to each other, drone 701c can be prevented from falling to the ground even if drone 701c deviates from first rail 401 and second rail 402. This further enhances the safety of the system using drone 701c.

[0671] (Modification of the eighth embodiment) In the following, since the basic configuration of the drone 701c and delivery system in this modified example is the same as the basic configuration of the drone and delivery system in embodiment 7, etc., the explanation of the basic configuration of the drone 701c and delivery system in this modified example will be omitted as appropriate.

[0672] Figure 79 is a top view, a side view, and a front view of a first hook 731a and a rail of a drone 701c of a delivery system in a modified example of the eighth embodiment. Figure 79a is a side view of the first hook 731a, first rail 401, and second rail 402 of the drone 701c of the delivery system as viewed from the side. Figure 79b is a top view of the first hook 731a, first rail 401, and second rail 402 of the drone 701c of the delivery system as viewed from the top. Figure 79c is a front view of the first hook 731a, first rail 401, and second rail 402 of the drone 701c as viewed from the direction of travel of the drone 701c of the delivery system.

[0673] As shown in FIG. 79, in this modification, the height of at least a portion of second rail 402 is higher than the height of adjacent first rail 401. Second rail 402 is a line branching off from first rail 401, and the tip of second rail 402 is disposed along the direction in which first rail 401 extends. Part of second rail 402 is disposed higher than first rail 401, and is a passing line that extends to circumvent first rail 401. Second rail 402 is a rail that allows one of two drones 701c to pass or depart when two drones 701c are traveling opposite each other on first rail 401. Note that first rail 401 and second rail 402 may be power lines.

[0674] In the delivery system of this modified example, when a first drone of two drones 701c travels in a first movement direction along first rail 401 and a second drone of the two drones 701c travels in a second movement direction opposite to the first movement direction along first rail 401, the first drone detects the approach of the second drone using camera sensor 334 or the like and switches the connection of connector 730d from first rail 401 to second rail 402. Because second rail 402 is higher than first rail 401, the second drone traveling on first rail 401 and the first drone traveling on second rail 402 can pass each other. By changing the heights of first rail 401 and second rail 402, it becomes less likely that the main body 712 of the first drone or the package will come into contact with the main body 712 of the second drone or the package.

[0675] Note that, as long as the first drone and the second drone can pass each other, the first rail 401 and the second rail 402 may be spaced apart to ensure a distance between the first drone and the second drone.

[0676] The effects of the drone 701c and delivery system according to this modification will be described below.

[0677] The height of at least a portion of second rail 402 is greater than the height of adjacent first rail 401.

[0678] According to this, when two drones 701c travel in opposite directions on the first rail 401, one of the two drones 701c can evacuate to the second rail 402. The second rail 402 can be used as an evacuation route. This makes it possible to prevent collisions and congestion between the drones 701c.

[0679] (Embodiment 9) In the following, the basic configuration of drone 701 and delivery system 5 in this embodiment is the same as the basic configuration of the drone and delivery system in embodiment 7, etc., so the description of the basic configuration of drone 701 and delivery system 5 in this embodiment will be omitted as appropriate. This embodiment further differs from embodiment 7, etc. in that a thruster device 910 is provided on the package.

[0680] Fig. 80 is a perspective view showing a thruster device 910 of a delivery system 5 according to the ninth embodiment and a cargo attached to the thruster device 910. Fig. 81 is a block diagram illustrating the configuration of a delivery system 5 according to the ninth embodiment.

[0681] As shown in FIGS. 80 and 81, the delivery system 5 further comprises a thruster device 910.

[0682] The thruster device 910 is a device that can be detachably attached to a load and can correct the position of the load. The thruster device 910 can communicate with the main body 712 of the drone 701 via the hanging wire 792, but may also communicate wirelessly using a communication module or the like. The thruster device 910 may be the drone 701.

[0683] The thruster device 910 includes a support 911 , a plurality of propellers 912 , a plurality of second motors 913 , and a camera sensor 914 .

[0684] The support body 911 is a support member that can hold the luggage in a predetermined position by engaging with the upper part of the luggage. The lower end of the hanging wire 792 is connected to the center of the support body 911. In this embodiment, the support body 911 is a frame-shaped body that surrounds the upper edge of the luggage. The support body 911 can hold the luggage in a predetermined position by surrounding the upper edge of the luggage and gripping or connecting to the luggage in a pinching manner. In this embodiment, the support body 911 is a rectangular frame-shaped body.

[0685] The support body 911 supports a plurality of second motors 913 and a plurality of propellers 912. The plurality of second motors 913 and a plurality of propellers 912 are provided on an outer peripheral side surface portion 911a of the support body 911. In this embodiment, two propellers 912 and two second motors 913 are provided on each side of the support body 911.

[0686] Each of the multiple propellers 912 is disposed on an outer peripheral side surface portion 911a of the support body 911, and is provided on the support body 911 so as to generate thrust in the horizontal direction. Each of the multiple propellers 912 is provided on the support body 911 in an orientation such that the rotation plane of the propeller 912 is approximately parallel to the vertical direction, and sends air out of the support body 911. The rotation plane is the plane in which the blades of the propeller 912 rotate, and is a plane perpendicular to the rotation axis of the propeller 912 (the rotation axis of the second motor 913).

[0687] The multiple propellers 912 include a first propeller 912a arranged on a first side surface 911a1 included in the outer circumferential side surface 911a of the support body 911, and a second propeller 912b arranged on a second side surface 911a2 included in the outer circumferential side surface 911a but different from the first side surface 911a1 of the support body 911. In this embodiment, the first propellers 912a are provided on the front first side surface 911a1 and the rear first side surface 911a1 of the outer circumferential side surface 911a, respectively, and the second propellers 912b are provided on the right second side surface 911a2 and the left second side surface 911a2 of the outer circumferential side surface 911a, respectively. The front side refers to the front side of the thruster device 910 in the drawing, the rear side refers to the rear side of the thruster device 910 in the drawing, the right side refers to the right side of the thruster device 910 in the drawing, and the left side refers to the left side of the thruster device 910 in the drawing.

[0688] The second motors 913 are electric motors that rotate the propellers 912, respectively. The second motors 913 are supplied with power from the battery 313 in the body of the drone 701 via the hanging wire 792, for example. Note that a battery may be mounted on the support 911, and each of the second motors 913 may be supplied with power from the battery.

[0689] Camera sensor 914 is provided on the luggage side of support body 911, i.e., on the vertically downward side, and outputs image information acquired by capturing an image of delivery box 470 to processing unit 734. Multiple camera sensors 914 may be provided.

[0690] A processing unit 734 of a control unit 330 mounted on the drone 701 controls the driving of at least one of the multiple second motors 913 of the thruster device 910 during at least a portion of the period during which the suspending wire 792 is being let out. Specifically, the processing unit 734 calculates the positions of the delivery box 470 and the package based on image information acquired from the camera sensor 914 of the thruster device 910 and image information acquired from the camera sensor 334 of the main body of the drone 701. The processing unit 734 controls the multiple second motors 913 of the thruster device 910 to position the package vertically above the opening of the delivery box, thereby moving the thruster device 910 and the package so that the package fits within the opening of the delivery box in a bird's-eye view. Specifically, the processing unit 734 calculates an error (positional deviation) between the opening of the delivery box and the package, and corrects the position of the package relative to the opening of the delivery box to correct the calculated error.

[0691] Next, a procedure will be described for storing a package in delivery box 470 using thruster device 910. Note that the description of the same parts as in Fig. 58 will be omitted as appropriate.

[0692] FIG. 82 is a schematic diagram illustrating a state in which the thruster device 910 of the delivery system 5 according to the ninth embodiment stores a package in the delivery box 470.

[0693] 81 and 82a and 82b, first, when drone 701 arrives vertically above delivery box 470, which is the delivery destination, processing unit 734 controls wire control module 311 to start letting out suspension wire 792. When wire control module 311 lets out suspension wire 792 and the distance between the package and delivery box 470 reaches a specified distance, delivery box 470 opens the lid and opens the opening.

[0694] Next, when controlling wire control module 311 to let out suspension wire 792, processing unit 734 determines the positions of the package and delivery box 470 and calculates the error in the relative position of the package from delivery box 470. If the error is equal to or greater than a specified value, processing unit 734 corrects the position of the package with respect to opening 471 of delivery box 470 by controlling each of multiple second motors 913 of thruster device 910. Processing unit 734 may also move drone 701 by controlling multiple first motors 711 to correct the position of the package with respect to opening 471 of delivery box 470. Details of correcting the position of the package using thruster device 910 will be described later.

[0695] As shown in c of FIGS. 81 and 82, processing unit 734 aligns thruster device 910 with opening 471 of delivery box 470 while repeatedly correcting the error between thruster device 910 and opening 471 of delivery box 470, and aligns opening 471 of delivery box 470 with thruster device 910. Processing unit 734 causes thruster device 910 to store the package in delivery box 470. Specifically, thruster device 910 descends so as to cover opening 471 of delivery box 470, and stores the package in delivery box 470.

[0696] 81 and 82 d and e, after storing the package in delivery box 470, thruster device 910 separates the package and then rises and is attached to the main body of drone 701. Drone 701 then returns to the delivery origin.

[0697] Next, an example will be given of correcting the position of a load using the thruster device 910.

[0698] Fig. 83 is a top view of thruster device 910 and delivery box 470 of delivery system 5 according to Embodiment 9. Fig. 83 shows thruster device 910 and delivery box 470 as viewed from above.

[0699] 81 and 83 a, opening 471 of delivery box 470 and thruster device 910 partially overlap, but since it is not possible to store a package in delivery box 470 in this state, processing unit 734 controls each of multiple second motors 913 to move thruster device 910 in an XY direction, which is a composite of the X-axis direction and the Y-axis direction. For example, processing unit 734 controls each of the two second motors 913 on the left second side surface unit 911a2 to move drone 701 in the XY direction, resulting in the state of FIG. 83 b.

[0700] In FIG. 81 and FIG. 83 b, opening 471 of delivery locker 470 and thruster device 910 partially overlap, but there is a positional misalignment between opening 471 of delivery locker 470 and the package. Processing unit 734 controls each of multiple second motors 913 to rotate thruster device 910 by a predetermined roll angle on the XY plane. For example, processing unit 734 controls second motor 913 on the right side of rear first side surface portion 911a1 and second motor 913 on the left side of front first side surface portion 911a1, thereby rotating thruster device 910 on the XY plane and resulting in the state shown in FIG. 83 c.

[0701] In c of Figures 81 and 83, opening 471 of delivery box 470 and thruster device 910 still partially overlap, but there is a positional misalignment between opening 471 of delivery box 470 and the package. Processing unit 734 controls each of the multiple second motors 913 to move thruster device 910 in the Y-axis direction. For example, processing unit 734 controls each of the two second motors 913 on the front first side surface portion 911a1 to move drone 701 in the Y-axis direction, and aligns opening 471 of delivery box 470 with thruster device 910 so that the package fits into opening 471 of delivery box 470. This allows thruster device 910 to store the package in delivery box 470.

[0702] FIG. 84 is a schematic diagram illustrating an example of a thruster device 910 of delivery system 5 according to the ninth embodiment delivering a package to an apartment complex.

[0703] As shown in Figures 81 and 84, if there is no delivery box 470 vertically below the rail 400, the processing unit 734 recognizes the delivery box 470 based on image information obtained from the camera sensor 914, and controls the multiple second motors 913 of the thruster device 910 to store the package in the delivery box 470.

[0704] Specifically, in a of Figures 81 and 84, processing unit 734 controls wire control module 311 to start unwinding suspension wire 792, calculates delivery box 470 based on image information, and controls multiple second motors 913. As a result, thruster device 910 moves toward delivery box 470. Then, thruster device 910 moves vertically above opening 471 of delivery box 470.

[0705] 81 and 84b, the processing unit 734 causes the thruster device 910 to store the package in the delivery box 470. Specifically, the thruster device 910 descends toward the opening 471 of the delivery box 470 and stores the package in the delivery box 470.

[0706] As shown in Figures 81 and 84c, after storing the package in delivery box 470, thruster device 910 separates the package, then rises and is attached to main body 712. Drone 701 then returns to the delivery source.

[0707] [Action and effect] Next, the effects of the drone 701 and delivery system 5 in this embodiment will be described.

[0708] The drone 701 further includes a thruster device 910 detachably attached to the cargo, the thruster device 910 having a plurality of propellers 912, a plurality of second motors 913 that respectively rotate the plurality of propellers 912, and a support 911 that supports the plurality of second motors 913.

[0709] With this, even if drone 701 is misaligned with respect to directly above delivery box 470, thruster device 910 can guide the package to delivery box 470. Therefore, drone 701 can reliably lower the package and store it in delivery box 470, thereby more reliably delivering the package to the destination. Even in a situation where opening 471 of delivery box 470 is narrow and it is difficult to insert the package, drone 701 can reliably insert the package into delivery box 470. This eliminates the need for a large space for landing drone 701.

[0710] In particular, with this drone 701, even if the drone 701 moves from directly above the delivery box 470 due to wind or other factors, the thruster device 910 can store the package in the delivery box 470.

[0711] The multiple propellers 912 include a first propeller 912a arranged on a first side surface 911a1 of the support 911 and a second propeller 912b arranged on a second side surface 911a2 of the support 911 that is different from the first side surface 911a1.

[0712] This makes it possible to adjust the position and orientation of the thruster device 910 relative to the delivery box 470. Therefore, in this drone 701, the thruster device 910 can store the package in the delivery box 470 more reliably.

[0713] The processing unit 734 controls the thruster device 910 to drive at least one of the plurality of second motors 913 during at least a portion of the period during which the suspension wire 792 is being let out.

[0714] This makes it possible to adjust the position and orientation of thruster device 910 relative to delivery box 470 when dropping a package from drone 701. Therefore, drone 701 can store the package in delivery box 470 smoothly.

[0715] (Other variations) For example, in the above embodiment or a modified example of the above embodiment, the child drone may have wheels that run on rails like a vehicle. The child drone may be self-propelled by the wheels only while traveling on the rails of the building. In this case, the rails may be plate-shaped on which the child drone can travel. The rails may have a guide rail on the edge opposite the building to prevent the child drone from falling. This ensures safety.

[0716] In each of the above embodiments, each component may be configured with dedicated hardware, or may be realized by executing a software program appropriate for that component. Each component may be realized by a program execution unit such as a CPU or processor reading and executing a software program recorded on a recording medium such as a hard disk or semiconductor memory. Here, the software that realizes the unmanned aerial vehicle and the like in each of the above embodiments is a program such as the following.

[0717] In other words, this program causes a computer to execute 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 method comprising: (A) moving the first and second unmanned aerial vehicles forward; and (B) stopping the forward movement of the first unmanned aerial vehicle when an abnormality occurs in the flight of the second unmanned aerial vehicle.

[0718] The technology described above may be applied to, for example, an autonomous aerial vehicle instead of an unmanned aerial vehicle. In this case, the term "unmanned aerial vehicle" or "drone" in the above description may be appropriately replaced with "autonomous aerial vehicle." Alternatively, the technology described above may be applied to any aircraft, regardless of whether it is unmanned or manned, or whether it is autonomously or manually operated.

[0719] [supplement] A control method according to a first aspect 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, the control method (A) moving the first and second unmanned aerial vehicles forward, and (B) stopping the forward movement of the first unmanned aerial vehicle when an abnormality occurs in the flight of the second unmanned aerial vehicle.

[0720] A control method according to a second aspect is a control method according to the first aspect, in which in (B), the operation of the first unmanned aerial vehicle is changed from forward movement to hovering.

[0721] The control method of the third aspect is a control method according to the first or second aspect, in which in (A), the first unmanned aerial vehicle monitors the tension on the connecting line, and in (B), the first unmanned aerial vehicle detects an abnormality in the flight of the second unmanned aerial vehicle based on changes in the tension.

[0722] The control method of the fourth aspect is a control method according to the third aspect, and in (B), the first unmanned aerial vehicle determines that the flight of the second unmanned aerial vehicle is abnormal when the tension becomes greater than a predetermined value.

[0723] The control method of the fifth aspect is a control method according to the first or second aspect, and in (B), when an abnormality occurs in the flight of the second unmanned aerial vehicle, the second unmanned aerial vehicle outputs an abnormality signal, and the first unmanned aerial vehicle detects that an abnormality has occurred in the flight of the second unmanned aerial vehicle by receiving the abnormality signal.

[0724] A control method according to a sixth aspect is a control method according to the fifth aspect, wherein the connecting line includes a communication cable, and the abnormality signal is transmitted from the second unmanned aerial vehicle to the firs...

Claims

1. A system for delivering packages, comprising: a first drone including a housing; a second drone including multiple wings; a wire connecting the first drone and the second drone; a wire control module configured to pay out and reel in the wire; The second drone is The wire control module is configured to be at least partially housed in the bottom of the housing of the first drone when winding up the wire; and The second drone is configured to adjust its attitude to align with a predetermined direction by actuating the plurality of wings. system.

2. The predetermined direction is determined based on a position of a receiving opening in the housing for at least partially accommodating the second drone. The system of claim 1 .

3. The bottom of the housing includes the receiving opening. The system of claim 2 .

4. The predetermined direction is determined based on the position of a receiving opening of the device for receiving the second drone. The system of claim 1 .

5. The device is deployed at the delivery destination. The system of claim 4.

6. The device further comprises: The system of claim 5.

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