Aircraft

Abstract

To provide an aircraft equipped with new and highly convenient functions. [Solution] The flying body disclosed herein comprises an aircraft body equipped with a lift generating unit, and a detachable part that is releasably held to the aircraft body, and the detachable part is detached from the aircraft body in the air by attaching or engaging the detachable part while held to the aircraft body with an external object.

Description

[Technical field]

[0001] The present disclosure relates to air vehicles. [Background technology]

[0002] In recent years, flying objects such as drones have been used in various fields such as facility inspections. For example, Patent Document 1 discloses an flying object capable of performing hammering inspection of structures. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2015-219028 A Summary of the Invention [Problem to be solved by the invention]

[0004] In recent years, there has been a demand for aircraft equipped with new, highly convenient functions.

[0005] Therefore, the present disclosure has been made in consideration of the above-mentioned problems, and its purpose is to provide an aircraft equipped with new, highly convenient functions. [Means for solving the problem]

[0006] According to the present disclosure, an aircraft having a lift generating unit; A detachable part that is detachably held to the aircraft body, A flying vehicle is provided in which the detachable part is detached from the airframe in the air by attaching or engaging the detachable part while held on the airframe with an external object. Effect of the Invention

[0007] According to the present disclosure, it is possible to provide an aircraft equipped with new, highly convenient functions. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a perspective view illustrating a schematic diagram of an aircraft according to an embodiment of the present disclosure. [Diagram 2] FIG. 2 is a front view of the aircraft according to the embodiment. [Diagram 3] FIG. 2 is a plan view of the flying vehicle according to the embodiment. [Figure 4] FIG. 2 is a side view of the aircraft according to the embodiment. [Diagram 5] FIG. 2 is a side view showing an example of use of the aircraft according to the embodiment. [Figure 6] FIG. 2 is a front view showing a schematic structure of the aircraft according to the embodiment. [Figure 7] FIG. 2 is a block diagram showing an example of the configuration of an aircraft according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In this specification and the drawings, components having substantially the same functional configurations are denoted by the same reference numerals, and redundant description will be omitted.

[0010] <Summary> FIG. 1 is a perspective view of an unmanned aerial vehicle (drone) according to an embodiment of the present disclosure, and FIG. 2 is a front view. The unmanned aerial vehicle 1 (hereinafter also simply referred to as "air vehicle") of this example is a rotorcraft that obtains lift and thrust by a plurality of rotors. Note that although the air vehicle 1 of this example is an unmanned aerial vehicle, it may also be applied to a manned air vehicle on which a person boards. The air vehicle 1 may be capable of flying under its own power, or may be suspended from above by a cable or the like. In this case, the cable may be suspended from the roof of a building, a bridge, or another air vehicle.

[0011] The flying object 1 can fly in any space, whether indoors or outdoors. The present invention is particularly effective in environments that are difficult for people to reach or enter, such as small spaces that are difficult for people to enter, closed spaces, dark places, and environments filled with special gases or high-temperature gases.

[0012] The flying body 1 comprises an aircraft 10 having a lift generating section 11, and a detachable section 20 that is held releasably to the aircraft 10, and is characterized in that the detachable section 20, while held on the aircraft 10, is attached or engaged to an external object, thereby causing the detachable section 20 to be detached from the aircraft 10 in the air.

[0013] The airframe 10 is the main body of the flying object 1, and moves by thrust (including lift) generated by a lift generating unit 11. The lift generating unit 11 includes one or more rotors and a control unit (e.g., a flight controller) that controls the rotors. The lift generating unit 11 can generate thrust in the up-down direction, the front-back direction, the left-right direction, and the turning direction.

[0014] Fig. 3 is a plan view showing the state in which the detachable part 20 has been detached from the machine body 10, and Fig. 4 is a side view. The detachable part 20 has a main part 21 for attaching or engaging with an external object, and a connecting part 22 for releasably attaching to the machine body 10.

[0015] When the detachable part 20 is held by the machine body 10, the main part 21 is exposed to the outside. The main part 21 can be provided with an adhesive part for attaching to an external object, or an engagement part for engaging with an external object. The main part 21 of the detachable part 20 protrudes beyond the outer edge of the machine body 10 in the attachment direction (forward of the machine body 10 in this example), and is configured to be easily attached to or engaged with an external object.

[0016] The detachable part 20 is held near the camera 12 provided on the body 10. In this example, the detachable part 20 is held in the front of the body 10, but is not limited to this and can be placed in any direction, such as backward, left, right, upward, downward, or in various diagonal directions.

[0017] When the detachable part 20 is held near the camera 12, the detachable part 20 can be easily attached to or engaged with an external object while checking the external object in an image captured by the camera. From this viewpoint, it is preferable that the shooting direction of the camera and the attachment direction or engagement direction of the detachable part 20 are the same or substantially the same. In this example, the shooting direction of the camera 12 and the attachment direction of the detachable part 20 are the same at the front.

[0018] The main part 21 of the detachable part 20 in this example is, for example, plate-shaped. More specifically, the main part 21 is in the shape of a disk with a through hole formed in the center, and is configured so that the camera 12 can capture images of the front through the through hole. In this example, the camera 12 is configured to be located at the center of the main part 21, but is not limited to this, and may be located above, below, to the left, or to the right, etc., of the center of the main part 21. In this case, the position of the through hole of the main part 21 is also formed at a position corresponding to the position of the camera.

[0019] As shown in Figs. 3 and 4, the main part 21 has an outer surface (surface facing outward from the airframe) 21a serving as an adhesive surface (adhesive section), and an inner surface 21b is provided with a connecting section 22 and an annular section 23. The adhesive surface may be provided with one or a combination of adhesive, double-sided tape, hook-and-loop fastener, suction cup, etc. in advance. The annular section 23 is configured to be able to connect a hook or cable. The annular sections 23 in this example are provided on the upper and lower sides of the main part 21, respectively, and are located in the center in the left-right direction. The number and arrangement of the annular sections 23 are not limited to the illustrated example, and may be changed as appropriate.

[0020] The detachable part 20 may be provided with a marker associated with various characters, symbols, signs, colors, or identification information (such as a unique ID). The marker, etc. is preferably provided at a position that is exposed when the detachable part 20 is attached to or engaged with an external object, and is preferably provided, for example, on the inner surface 21b in this example. This makes it possible to provide marks and information when carrying out various construction work. For example, the marker may be a two-dimensional code such as a QR code or an AR marker, and may indicate the construction content, construction purpose, position (two-dimensional coordinates, three-dimensional coordinates), or construction person (construction contractor).

[0021] The ring-shaped portion 23 can be used to pull up or hang an object by passing a cable or rope through the ring-shaped portion 23 while the detachable portion 20 is attached to or engaged with an external object. The cable or rope may be passed through the ring-shaped portion 23 before takeoff. Alternatively, as shown in FIG. 5, the detachable portion 20 with the cable connected to the ring-shaped portion 23 is attached to an external object, and then an operator can pull the hanging cable. According to this, after the detachable portion 20 is attached toward the peeled portion of the outer wall as the external object, an operator can pull the cable, peel off the peeled portion together with the detachable portion 20 from the outer wall, and remove it. In addition, the detachable portion 20 can be easily collected. When the upper ring-shaped portion 23 is used, it is also easy to pull up the detachable portion 20 from the upper side.

[0022] The connecting portion 22 in this example is composed of a pair of left and right rod-shaped portions (e.g., cylinders, etc.). The connecting portion 22 is located above the center of the main portion 21 in the up-down direction. The connecting portion 22 may have only one rod-shaped portion, or may have three or more rod-shaped portions. The connecting portion 22 may have a shape other than a rod shape.

[0023] The connecting portion 22 is configured so as to be insertable into the guide portion 13 provided on the machine body 10. The guide portion 13 has a pair of left and right tubular portions (e.g., cylindrical) corresponding to the connecting portion 22. The guide portion 13 may have a partially cut-out tubular shape, or may be a groove shape that sandwiches the connecting portion 22 from above and below or from the left and right. The guide portions 13 in this example are arranged parallel to each other in the front-rear direction of the machine body. Furthermore, the guide portions 13 extend horizontally, but may also extend obliquely upward or downward.

[0024] The connecting part 22 has a suitable degree of flexibility and is configured to be flexible and deformable when detached from the body 10. As shown in Fig. 5, after the detachable part 20 is attached to the external object A, the body 10 is tilted backward and moved backward to remove the connecting part 22 from the guide part 13. In this case, the body 10 tilts backward relative to the horizontal direction, so that the orientation of the guide part 13 also tilts. Therefore, the connecting part 22 is flexible and deformed (elastically deformed), enabling smooth detachment.

[0025] The airframe 10 is provided with electronic components constituting a control unit, a memory unit, a communication unit, a sensor unit, an imaging unit (camera), etc., and has a frame that supports them, a cover that covers the electronic components, etc. The center of gravity of the flying object 1 is preferably located approximately in the center of the airframe 10 in a plan view, but is not limited to this.

[0026] As shown in FIG. 1, the rotors in this example are arranged at four locations (front left, front right, rear left, and rear right) around the fuselage 10 in a plan view. The number of rotors is not limited to four, and may be three or less, or five or more. The number of blades constituting the rotors is not particularly limited, and any shape and any number of blades may be employed. Each rotor may have multiple blades provided in the axial direction.

[0027] As shown in Fig. 6, the rotor 11A of the lift generating unit 11 is preferably located toward the center in the vertical direction of the airframe 10, and in particular, is preferably located near the vertical center of the detachable unit 20. Near the center means that in the vertical direction of the airframe 10, the central point of thrust generation by the lift generating unit 11 and the central point in the vertical direction of the detachable unit 20 coincide or are substantially coincident within a small difference range, for example, 5 mm or less. With this configuration, the airframe 10 is less likely to become unstable when the detachable unit 20 is attached to or engaged with an external object.

[0028] In this example, the airframe 10 of the flying object 1 has an upper frame 10A that supports the rotor 11A from above, and a lower frame 10B that is located below the upper frame 10A. Electronic components that constitute a control unit, etc. are provided between the upper frame 10A and the lower frame 10B. The rotor 11A is supported by a rotor support part (upper frame 10A) that extends outward from the center of the airframe 10. The rotor 11A is also held below the rotor support part. In this example, a motor is located above a propeller that constitutes the rotor 11A, and the rotor support part is located above the motor. The lower frame 10B is provided with a propeller guard 11C that is located around the rotor 11A. The propeller guard 11C may be integral with the lower frame 10B, or may be detachable from the lower frame 10B. Each rotor may also be provided with a cylindrical propeller duct that surrounds the rotor. It is preferable that the rotor 11A does not protrude above or below the airframe 10. In other words, it is preferable that the rotor propeller does not contact the ground when the flying body 1 is in a normal upright or upside-down posture. The rotor 11A may be supported from below by the airframe 10. Also, the upper frame 10A in this example is located above the rotor 11A and functions as a protective frame that protects the rotor 11A, but a protective frame may be provided above and below the rotor 11A separately from the upper frame 10A.

[0029] The aircraft 1 of this example includes a base unit 30 that is detachably attached to the underside of the fuselage 10. The base unit 30 is located at the center in the width direction (left-right direction) of the fuselage, but is not limited to this. The base unit 30 is located at the center in the front-rear direction of the fuselage, but is not limited to this.

[0030] The base unit 30 is, for example, a battery pack, and has a built-in battery that can be charged and used repeatedly. By preparing and charging a number of battery packs in advance, after a flight, it is possible to replace a charged battery pack and fly immediately. The battery supplies power to the rotors, control unit, etc. The joint between the base unit 30 and the aircraft 10 is provided with a connector (contact point) for power supply or signal communication. The base unit 30 may have components inside that constitute at least a part of the memory unit, control unit, etc., which will be described later.

[0031] In this example, the aircraft 1 is constructed so that the underside of the base portion 30 touches the ground when landing, but the aircraft may also be provided with, for example, four legs at the four corners of the aircraft (front left, front right, rear left and right), or with a pair of legs extending in the front-to-rear direction, one on each side.

[0032] Here, FIG. 7 is a diagram (plan view) showing an example of the hardware configuration of the flying object 1 according to this embodiment. The airframe 10 of the flying object 1 according to this embodiment has a rotor 11A, a motor 11B, and an ESC (Electric Speed ​​Controller) 11C for generating thrust. The flying object 1 also has a flight controller 14 as a control unit in the airframe 10. The flight controller 14 can have one or more processors 14A, such as a central processing unit (CPU) or a programmable processor such as an FPGA (Field-Programmable Gate Array). The flight controller 14 has a memory 14b and can access the memory 14b. The memory 14b stores logic, code, and / or program instructions that the flight controller 14 can execute to perform one or more steps. The flight controller 14 is an example of a control unit. The flying object 1 of this example also has a camera 12 and a sensor 15 as information acquisition units. The flying object 1 also has a transmission / reception unit 16. It should be noted that the configuration of the aircraft 1 shown in FIG. 7 is just one example, and rotorcraft having a configuration different from the aircraft 10 shown in FIG. 7 may also be included within the scope of the present invention.

[0033] The airframe 10 is formed by a frame and the like that constitute the aircraft 1. The material that constitutes the airframe 10 is not particularly limited, and may be, for example, carbon fiber resin, glass fiber resin, magnesium, magnesium alloy, aluminum, aluminum alloy, steel, titanium, or other materials.

[0034] The memory 14b may include, for example, a separable medium such as an SD card or a random access memory (RAM) or an external storage device. Data acquired from the camera / sensor may be directly transmitted to and stored in the memory 14b. For example, still image and video data captured by the camera is recorded in the built-in memory or an external memory. The memory 14b can also store various types of information, such as information acquired from an external information processing device or information transmitted from the control terminal 17, as appropriate.

[0035] The flight controller 14 includes a control module configured to control the state of the aircraft 1. For example, the control module controls the motor 11B, which is a propulsion mechanism of the aircraft 1, via the ESC 11C in order to adjust the spatial arrangement, speed, and / or acceleration of the aircraft 1 having six degrees of freedom (translational motions x, y, and z, and rotational motions θx, θy, and θz). The motor 11B rotates the rotor 11A to generate lift for the aircraft 1 and thrust for rising from an upside-down attitude. The flight controller 14 can adjust the force generated by the rotor 20 by controlling the rotation direction and rotation speed (number of rotations) of the motor 11B. The number of rotations also means the number of rotations per given time.

[0036] The flight controller 14 can communicate with a transceiver 16 configured to transmit and / or receive data from one or more external devices (e.g., a piloting terminal 17). The transceiver 16 can use any suitable communication means, such as wired or wireless communication. The transceiver 16 can utilize one or more of any communication methods, such as, for example, a local area network (LAN), a wide area network (WAN), infrared, radio, WiFi, a point-to-point (P2P) network, a telecommunications network, cloud communication, and the like.

[0037] The transceiver 16 can transmit and / or receive one or more of data acquired by the sensor 15, processing results generated by the flight controller 14, predetermined control data, user commands from a terminal or a remote controller, and the like, and the received information can be stored in a storage unit such as the memory 23a. Information acquired by the camera and the sensor 15 may be output via the transceiver 16 to the piloting terminal 17, an external device, or the like.

[0038] The control terminal 17 is a device for instructing the flying object 1 to take off, hover, move horizontally forward, backward, left and right, turn, land, etc., and to start and stop the camera (i.e., to control the flying object). By operating the control terminal 17, the user can move the flying object 1 forward so that the detachable part 20 of the flying object 1 comes into contact with an external object, and can move the flying object 1 (rearward) so as to move away from the external object after the detachable part 20 has attached to or engaged with the external object.

[0039] The flying object 1 may be controlled by an operator on the ground, or may be automatically or manually controlled based on an autonomous flight program (e.g., a Ground Control Station (GCS)) using flight route information and sensing. The control terminal 17 may be, for example, a transceiver (radio transmitter), a smartphone, a tablet, or other terminal.

[0040] The sensor 15 according to the present embodiment can directly acquire various information such as the inclination of the flying object 1 in three axial directions (including at least an angle relative to the horizontal plane), angular velocity, velocity, and acceleration, or can acquire data for calculating them. The sensor 15 can include, for example, an inertial sensor (an inertial measurement device such as an IMU (Inertial Measurement Sensor)), an acceleration sensor, a gyro sensor, a GPS sensor, a wind sensor, a temperature sensor, a humidity sensor, an air pressure sensor, an altitude sensor, a proximity sensor such as LiDAR (Laser Imaging Detection and Ranging), or a vision / image sensor other than a camera. The camera 12 may be any camera. The camera 12 may be installed at any position such as the rear, left, right, upper, or lower, not limited to one position, and may be installed at multiple positions. For example, the camera may be an infrared camera, a stereo camera, or the like, in addition to a general camera. For example, a camera for use in self-position estimation and a camera for capturing an image of a subject may be provided. In the present embodiment, when the aircraft 1 is not flying, the battery pack can be removed from the airframe 10 and charged. The aircraft 1 may also be equipped with multiple batteries or only one battery.

[0041] As described above, the flying object 1 of this embodiment is characterized in that it comprises an airframe having a lift generating unit, a detachable part that is detachably held on the airframe, and the detachable part that is held on the airframe is attached to or engaged with an external object, thereby detaching the detachable part from the airframe in the air. In this way, the detachable part 20 can be attached to or engaged with an external object using the flying object 1, and a flying object with a new and highly convenient function can be provided.

[0042] In this embodiment, the detachable part may have an adhesive part exposed to the outside. With this configuration, the detachable part 20 can be attached to an external object. As a result, for example, the detachable part 20 can be attached to an outer wall that is partially peeling off, and the unnecessary part can be removed from the outer wall by the detachable part 20.

[0043] In this embodiment, the detachable part may have an engagement part for engaging with an external object. With such a configuration, the detachable part 20 can be engaged with an external object. For example, a hook-shaped engagement part may be hooked onto a ring-shaped part or the like of the external object to engage with it. The engagement part is not limited to a hook shape, and may have any shape, such as a ring-shaped part, that can engage with the hook part of the external object.

[0044] In this embodiment, the detachable part may be held in the vicinity of a camera provided on the aircraft body, and this configuration allows the detachable part 20 to be easily attached to or engaged with an external object while checking the external object through an image captured by the camera.

[0045] In the present embodiment, the detachable part may be held in the same direction as the camera when viewed from the center of the body. With this configuration, it becomes easier to confirm an external object in the image captured by the camera.

[0046] Also in this embodiment, the detachable part may be held at the front of the vehicle body, such that the vehicle body can be moved forward to cause the detachable part to adhere to or engage an external object.

[0047] In the present embodiment, the detachable part may have a main part for attaching or engaging with an external object and a connecting part for detachably attaching to the aircraft body. With such a configuration, the role of each part can be clarified.

[0048] In addition, in this embodiment, the main part may be provided so as to surround the periphery of the camera when the detachable part is held by the aircraft body, which makes it easier to hold the detachable part near the camera while ensuring the field of view of the camera.

[0049] In addition, in this embodiment, the aircraft body may have a guide part into which the connecting part of the detachable part can be inserted. With this configuration, the user can easily hold the detachable part on the aircraft body by simply inserting the connecting part into the guide part, making it easy to detach the detachable part.

[0050] In the present embodiment, the guide portion may be provided at a plurality of locations on the machine body. With such a configuration, for example, it is possible to hold a plurality of detachable portions on the machine body, or to hold a detachable portion on any of the guide portions depending on the purpose.

[0051] In the present embodiment, the connecting portion may have a pair of rod-shaped portions on the left and right. With this configuration, the detachable portion can be held on the aircraft body in a well-balanced manner on the left and right.

[0052] In the present embodiment, the rod-shaped portion may be configured to be flexible and deformable when detached from the vehicle body, so that the vehicle body can be smoothly detached after the detachable portion is attached to or engaged with an external object.

[0053] In this embodiment, the detachable part may have a loop for connecting a hook or a cable. With this configuration, a cable or rope can be passed through the loop to pull up or hang an object. Also, if a cable is connected to the loop, it becomes easier to retrieve the detachable part after it has been detached from the aircraft.

[0054] In the present embodiment, the detachable part may be provided with a mark or identification information. With such a configuration, the mark or identification information of the detachable part attached to or engaged with the external object can be referred to during construction work. As a result, even if multiple detachable parts are attached to or engaged with the external object, for example, it becomes easier to identify the purpose and position of each part.

[0055] Although the preferred embodiment of the present disclosure has been described in detail above with reference to the attached drawings, the technical scope of the present disclosure is not limited to such examples. It is clear that a person having ordinary knowledge in the technical field of the present disclosure can conceive of various modified or amended examples within the scope of the technical ideas described in the claims, and it is understood that these also naturally belong to the technical scope of the present disclosure.

[0056] In the above embodiment, the guide portion of the body is described as being cylindrical and the connecting portion of the detachable portion is rod-shaped, but the opposite may also be true, with the guide portion of the body being rod-shaped and the connecting portion of the detachable portion being cylindrical.

[0057] In the above embodiment, the autonomous flight control is described as being executed by the flight controller 14 of the flying object 1, but the present technology is not limited to such an example. That is, the autonomous flight control method is not limited to an example in which the autonomous flight control method is processed at an edge in the flying object, and the above-mentioned correction process may be performed remotely by another autonomous flight control device, the processing result may be transmitted to the flying object, and the drive unit may be controlled based on the result. That is, the subject of the hardware that executes the autonomous flight control method is not particularly limited, and the above-mentioned functional unit may be executed by multiple hardware.

[0058] In addition, the effects described in this specification are merely descriptive or exemplary and are not limiting. In other words, the technology according to the present disclosure may achieve other effects that are apparent to a person skilled in the art from the description of this specification, in addition to or in place of the above effects.

[0059] Note that the following configurations also fall within the technical scope of the present disclosure. (Item 1) An aircraft having a lift generating unit; A detachable part that is detachably held to the aircraft body, An aircraft in which the detachable part is detached from the airframe in the air by attaching or engaging the detachable part while held on the airframe to an external object. (Item 2) 2. The aircraft described in item 1, wherein the detachable portion has an adhesive portion exposed to the outside. (Item 3) 2. The flying vehicle described in item 1, wherein the detachable portion has an engagement portion for engaging with an external object. (Item 4) 3. The aircraft described in item 1 or 2, wherein the detachable part is held in the vicinity of a camera provided on the aircraft. (Item 5) 3. The air vehicle described in item 1 or 2, wherein the detachable part is held in the same direction as the camera when viewed from the center of the aircraft. (Item 6) 3. The flying object described in item 1 or 2, wherein the detachable part is held at the front of the aircraft body. (Item 7) The detachable portion is a main portion for attaching to or engaging with the external object; 3. The air vehicle described in item 1 or 2, having a connection portion for detachably attaching to the airframe. (Item 8) In a state in which the detachable part is held by the airframe, 8. The flying vehicle described in item 7, wherein the main part is arranged to surround the camera. (Item 9) The airframe is 8. The aircraft described in item 7, having a guide portion into which the connecting portion of the detachable portion can be inserted. (Item 10) 10. The aircraft described in item 9, wherein the guide portion is provided at multiple locations on the aircraft. (Item 11) Item 8. The aircraft described in item 7, wherein the connecting portion has a pair of left and right rod-shaped portions. (Item 12) Item 12. The flying object described in item 11, wherein the rod-shaped portion is configured to be capable of flexibly deforming when detached from the airframe. (Item 13) The detachable portion is 3. The aircraft according to item 1 or 2, having a loop for connecting a hook or cable. (Item 14) 3. The aircraft described in item 1 or 2, wherein the detachable part is provided with a mark or identification information. [Explanation of symbols]

[0060] 1 Unmanned aerial vehicles (aircraft) 10 Aircraft 11 Lift generating section 20 Detachable part

Claims

1. An aircraft having a lift generating unit; A detachable part that is detachably held to the aircraft body, detaching the detachable part from the airframe in the air by attaching or engaging the detachable part held on the airframe to an external object; The detachable portion is a main portion for attaching to or engaging with the external object; A connecting portion for releasably attaching the aircraft to the aircraft body, In a state in which the detachable part is held by the airframe, The main portion is configured to surround a camera mounted on the aircraft.

2. The flying vehicle according to claim 1 , wherein the main portion has an adhesive portion exposed to the outside.

3. The flying vehicle according to claim 1 , wherein the main portion has an engagement portion for engaging with an external object.

4. The flying vehicle according to claim 1 or 2, wherein the main section is held at a front of the fuselage.

5. The airframe comprises: The aircraft according to claim 1 or 2, further comprising a guide portion into which the connecting portion of the detachable portion can be inserted.

6. The flying object according to claim 5 , wherein the guide portion is provided at a plurality of locations on the airframe.

7. The aircraft according to claim 1 or 2, wherein the connecting portion has a pair of left and right rod-shaped portions.

8. The flying object according to claim 7 , wherein the rod-shaped portion is configured to be capable of flexibly deforming when separated from the airframe.

9. The detachable portion is 3. The flying vehicle according to claim 1 or 2, comprising a loop for connecting a hook or a cable.

10. The flying object according to claim 1 or 2, wherein the detachable portion is provided with a mark or identification information.

Images