Aircraft equipped with a mounting part having a moving means and the mounting part

Abstract

To provide a flying object capable of improving the accuracy of the arrival position of luggage. [Solution] The aircraft of the present invention has a mounting section for holding a payload, the mounting section is held by a string-like member, and when viewed from the side, the mounting section has a movement means including rotors provided between the upper and lower ends of the mounting section. Furthermore, portions of the rotation axes of the four or more rotors extend in different directions from each other. Furthermore, the angle between the rotation axis of at least one of the four or more rotors and a horizontal axis is smaller than the angle between the rotation axis and a vertical axis.

Description

[Technical field]

[0001] The present invention relates to an aircraft equipped with a mount having a moving means, and the mount. [Background technology]

[0002] In recent years, the practical application of delivery services using drones, unmanned aerial vehicles (UAVs), and other aircraft (collectively referred to as "aircraft") has been progressing. Aircraft equipped with multiple propellers, generally called multicopters (collectively referred to as multicopters), do not require runways for takeoff and landing like general fixed-wing aircraft, making them suitable for delivery services such as delivery, as they can be operated on relatively small land areas.

[0003] When it comes to transportation by multicopters, various methods have been considered for loading and detaching the cargo to be transported, and a well-known method is to connect the cargo to the main body of the aircraft and then detach it by disconnecting it after landing.

[0004] In existing multicopters, the connection and disconnection of the cargo is often performed by human hands. In this case, it is necessary to station a person at the delivery destination of the cargo, which increases the operation cost. In addition, there is a possibility that a person may approach or touch the flying object. Since the multicopter is a precision instrument and the propeller rotates at high speed during operation, there may be a risk of injury or damage to the aircraft, so it is desirable to reduce the opportunities for a person to disconnect the cargo. In consideration of such a situation, Patent Document 1 discloses a cargo disconnection mechanism that connects the flying object and the cargo with a string-like member and can disconnect the connection between the cargo and the string-like member without human intervention (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] US Patent Application Publication No. 2020 / 0094962 Summary of the Invention [Problem to be solved by the invention]

[0006] In Patent Document 1, a delivery system has been developed in which an aircraft and a package are connected by a cable, the package is lowered by letting out the cable, and only the package is lowered to the ground.

[0007] During the unloading of the cargo, the aircraft preferably hovers at a high altitude to reduce the impact of ground effect and the possibility of contact with people or structures on the ground. However, outdoors, there are areas and seasons where the wind blows strongly. Depending on the length of the cable that is unwound, the landing position of the cargo may be significantly shifted, making it difficult to land the cargo precisely on a narrow site or port.

[0008] Therefore, one object of the present invention is to provide an aircraft that can improve the accuracy of the cargo's arrival position with only a small increase in weight by providing a mounting section between the cargo and the cable and equipping the mounting section with a moving means that can move horizontally in the air. [Means for solving the problem]

[0009] According to the present invention, it is possible to provide an aircraft and a mounting part which has a mounting part for holding an object to be mounted, the mounting part is held via a string-like member, and when the mounting part is viewed from the side, the aircraft and the mounting part have a moving means including a rotor provided between the upper and lower ends of the mounting part. Effect of the Invention

[0010] According to the present invention, it is possible to provide an aircraft and an onboard unit that can improve the accuracy of the arrival position of luggage. [Brief description of the drawings]

[0011] [Figure 1] FIG. 2 is a schematic side view of the aircraft according to the present invention during unloading. [Diagram 2] FIG. 2 is a partial top view of the aircraft of FIG. 1. [Diagram 3] FIG. 2 is a partial side view of the aircraft of FIG. [Figure 4] FIG. 4 is a view of the aircraft in FIG. 3 after unloading has been completed. [Diagram 5] FIG. 2 is a schematic side view of the aircraft of the present invention. [Figure 6] FIG. 6 is a diagram of the flying vehicle of FIG. 5 in flight. [Figure 7] FIG. 6 is a top view of the aircraft in FIG. 5. [Figure 8] FIG. 2 is a functional block diagram of the aircraft of FIG. 1. [Figure 9] FIG. 2 is a schematic side view of an example of the configuration of an aircraft and a mounting unit according to the present invention. [Figure 10] FIG. 2 is a side view of the aircraft of the present invention holding the payload. [Figure 11] FIG. 11 is a diagram showing the aircraft of FIG. 10 lowering its payload. [Figure 12] FIG. 11 is an enlarged side view of the mounting portion of FIG. 10 that has reached the vicinity of the port. [Figure 13] FIG. 13 is a front view of the mounting portion of FIG. 12. [Figure 14] FIG. 14 is a view of the loading section of FIG. 13 during unloading. [Figure 15] FIG. 14 is a view of the loading section of FIG. 13 during unloading. [Figure 16] FIG. 14 is a view of the loading section of FIG. 13 after unloading has been completed. [Figure 17] 14 is a diagram showing the port of FIG. 13 with the fall prevention member protruding upward. [Figure 18] FIG. 18 is a top view of the port in FIG. 17. [Figure 19] 5 is a schematic diagram showing a configuration example of a mounting part moving means according to the present invention; FIG. [Figure 20] 11 is another schematic diagram showing a configuration example of the mounting part moving means according to the present invention. FIG. [Figure 21] FIG. 2 is a diagram showing a portion of the internal structure of the aircraft according to the present invention. [Figure 22]FIG. 4 is another diagram showing a portion of the internal structure of the aircraft according to the present invention. [Figure 23] 4 is a side view of an angle correction unit provided in the aircraft according to the present invention. FIG. [Figure 24] 1 is a bottom view of an angle correction unit provided in an aircraft according to the present invention. FIG. [Diagram 25] FIG. 1 is a side view before the angle of the mounting portion is corrected according to the present invention. [Figure 26] FIG. 23 is a side view of the mounting portion of FIG. 22 with the angle corrected. [Figure 27] FIG. 1 is a top view of an example of a configuration of a delivery system according to the present invention. [Figure 28] FIG. 2 is another top view of an example of the configuration of a delivery system according to the present invention. [Figure 29] FIG. 2 is another top view of an example of the configuration of a delivery system according to the present invention. [Diagram 30] FIG. 1 is a side view of an example of a configuration of a delivery system according to the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] The contents of the embodiments of the present invention will be listed and described below. The aircraft equipped with a mounting unit having a moving means and the mounting unit according to the embodiments of the present invention have the following configuration. [Item 1] An air vehicle, A mounting portion for holding a load is provided, The mounting portion is held via a string-like member, When the mounting portion is viewed from the side, the mounting portion has a moving means including a rotor provided between an upper end and a lower end of the mounting portion. An aircraft characterized by: [Item 2] Parts of the rotation shafts of the rotors extend in different directions from each other. 2. The aircraft described in item 1. [Item 3] an angle between a rotation axis of at least one of the rotors and a horizontal axis is smaller than an angle between the rotation axis and a vertical axis; 3. The aircraft described in item 1 or 2. [Item 4] The rotor blades are provided in an even number of four or more, The rotation axes of the two rotors arranged diagonally with respect to the mounting portion extend in the same direction, The rotation axes of adjacent rotors around the mounting portion extend in different directions. 4. The aircraft described in any one of items 1 to 3. [Item 5] The string-like member branches into two or more branches from a predetermined position and is connected to the mounting portion at two or more points. 5. The aircraft described in any one of items 1 to 4. [Item 6] The mounting portion is suspended by the string-like member connected to a suspension mechanism. 6. The aircraft described in any one of items 1 to 5. [Item 7] The suspension mechanism is mounted at a position offset at least in the front-rear direction of the aircraft from the center of gravity of the aircraft or directly above the string-like member extending from the mounting portion. 7. The aircraft described in item 6. [Item 8] The string member extends from the offset position to the mounting portion via a pulley. 8. The aircraft described in item 7. [Item 9] The payload is separated from the vehicle together with the payload. 9. The aircraft described in any one of items 1 to 8. [Item 10] A mounting unit for holding a load, When the mounting portion is viewed from the side, the mounting portion has a moving means including a rotor provided between an upper end and a lower end of the mounting portion, Parts of the rotation shafts of the rotors extend in different directions from each other. A mounting section characterized by: [Item 11] an angle between a rotation axis of at least one of the rotors and a horizontal axis is smaller than an angle between the rotation axis and a vertical axis; 11. The mounting section according to item 10, [Item 12] The rotor blades are provided in four pieces, The rotation axes of the two rotors arranged diagonally with respect to the mounting portion extend in the same direction, The rotation axes of adjacent rotors around the mounting portion extend in different directions. 12. The mounting section according to item 10 or 11,

[0013] <Details of the embodiment of the present invention> Hereinafter, an aircraft equipped with a mounting unit having a moving means according to an embodiment of the present invention and the mounting unit will be described with reference to the drawings.

[0014] <Details of the first embodiment>

[0015] As shown in FIG. 1, an aircraft according to an embodiment of the present invention includes an aircraft 100 that flies, a mounting unit 10 that can hold a payload 11 to be delivered, and a string-like member 20 that is connected to the aircraft 100 and the mounting unit 10 and can be reeled out and wound up.

[0016] The aircraft 100 carrying the payload to be delivered takes off from a takeoff point and flies to a destination (such as a port 30). When the aircraft 100 reaches the destination, it hovers to unload the load. Thereafter, as shown in Figs. 3 and 4, the aircraft 100 pays out the string-like member 20 to lower the loading unit 10 and the payload 11, and when the loading unit 10 has descended to a predetermined position, the loading unit 10 detaches the payload 11, completing the delivery. After detaching the payload 11, the loading unit 10 rises again to the vicinity of the aircraft 100 by reeling in the string-like member 20. When the string-like member 20 has risen to a predetermined position, the aircraft 100 starts moving toward the next destination.

[0017] As shown in FIG. 5, an aircraft 100 according to an embodiment of the present invention has at least a main body, a plurality of rotor units consisting of propellers 110 and motors 111, and a flying unit including elements such as a motor mount and frame that support the rotor units, in order to fly, and it is desirable for the aircraft 100 to be equipped with energy (e.g., secondary batteries, fuel cells, fossil fuels, etc.) to operate these components.

[0018] It should be noted that the illustrated flying object 100 is depicted in a simplified manner in order to facilitate explanation of the structure of the present invention, and detailed configurations of, for example, the control unit, etc. are not shown.

[0019] The forward direction of the aircraft 100 is the direction of arrow D in the figure (-Y direction) (more details will be given later).

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

[0021] The propeller 110 rotates by receiving an output from the motor 111. The rotation of the propeller 110 generates a thrust force for causing the flying object 100 to take off from a departure point, move, and land at a destination. The propeller 110 can rotate in a right direction, stop, and rotate in a left direction.

[0022] The propeller 110 of the aircraft of the present invention has one or more blades. There can be any number of blades (rotors) (e.g., 1, 2, 3, 4, or more blades). The blades can be flat, curved, kinked, tapered, or any combination thereof. The blades can be variable in shape (e.g., extendable, foldable, bent, etc.). The blades can be symmetric (having identical upper and lower surfaces) or asymmetric (having upper and lower surfaces with different shapes). The blades can be formed into airfoils, wings, or any geometry suitable for generating aerodynamic forces (e.g., lift, thrust) as the blade moves through the air. The blade geometry can be selected to optimize the blade's aerodynamic properties, such as increasing lift and thrust and reducing drag.

[0023] The propellers equipped on the aircraft of the present invention may be of fixed pitch, variable pitch, or a combination of fixed pitch and variable pitch, but are not limited to these.

[0024] The motor 111 generates the rotation of the propeller 110; for example, the drive unit may include an electric motor or an engine, etc. The blades may be driven by the motor and rotate around the motor's rotation axis (e.g., the motor's longitudinal axis).

[0025] The blades can all rotate in the same direction, or they can rotate independently. Some blades rotate in one direction and others in the other direction. The blades can all rotate at the same RPM, or they can each rotate at a different RPM. The RPM can be determined automatically or manually based on the dimensions of the moving object (e.g., size, weight) and the control state (speed, direction of movement, etc.).

[0026] The flying object 100 determines the rotation speed of each motor and the flight angle according to the wind speed and direction using a flight controller, a radio control system, etc. This allows the flying object to move by ascending and descending, accelerating and decelerating, and changing direction.

[0027] The aircraft 100 can fly autonomously according to routes and rules set in advance or during flight, or can fly by being controlled using a remote control.

[0028] The above-described flying object 100 has the functional blocks shown in FIG. 8. The functional blocks in FIG. 8 are a minimum reference configuration. The flight controller is a so-called processing unit. The processing unit may have one or more processors, such as a programmable processor (e.g., a central processing unit (CPU)). The processing unit has a memory (not shown) and is accessible to the memory. The memory stores logic, code, and / or program instructions that the processing unit can execute to perform one or more steps. The memory 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 a camera or sensors may be directly transmitted to and stored in the memory. For example, still image and video data captured by a camera or the like is recorded in an internal memory or an external memory.

[0029] The processing unit includes a control module configured to control the state of the rotorcraft. For example, the control module may be configured to control six degrees of freedom (translational motion x, y, and z, and rotational motion θ x , θ y and θ z The control module controls the propulsion mechanisms (e.g., motors) of the rotorcraft to adjust the spatial arrangement, speed, and / or acceleration of the rotorcraft having a rotorcraft with a rotor blade. The control module can control one or more of the onboard components, the state of the sensors, etc.

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

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

[0032] 5 and 6, the plane of rotation of propeller 110 of flying object 100 according to the embodiment of the present invention is tilted forward toward the direction of travel when traveling. The forward-tilted plane of rotation of propeller 110 generates upward lift and thrust in the direction of travel, which propels flying object 100 forward.

[0033] The flying object 100 has a main body that can contain an on-board processing unit, a battery, a payload, and the like. The main body is fixedly connected to the flying part, and the attitude of the main body changes in accordance with the change in attitude of the flying part. By optimizing the shape of the main body and improving the speed in the attitude of the flying object 100 during cruising, which is expected to be maintained for a long time while the flying object 100 is moving, the flight time is efficiently shortened.

[0034] It is desirable for the main body to have an outer skin that is strong enough to withstand flight and takeoff and landing. For example, plastic, FRP, etc. are suitable materials for the outer skin because they are rigid and waterproof. These materials may be the same as the frame 120 (including the arms) included in the flying part, or they may be different materials.

[0035] In addition, the motor mount, frame 120, and main body of the flying unit may be constructed by connecting the respective parts, or may be molded as one piece using a monocoque structure or one-piece molding (for example, the motor mount and frame 120 may be molded as one piece, or the motor mount, frame 120, and main body may all be molded as one piece, etc.). By integrating the parts, it is possible to smooth the joints between the parts, which is expected to reduce drag and improve fuel efficiency in flying bodies such as blended wing bodies and lifting bodies.

[0036] The shape of the flying object 100 may be directional. For example, as shown in Figures 6, 21, and 22, the flying object 100 may have a streamlined main body with less drag when cruising in no wind, or a shape that improves flight efficiency when the nose of the flying object faces the wind directly.

[0037] The mount 10 has at least the function of holding the payload 11 (methods of holding and releasing the payload will be described later). In addition, the mount 10 and the flying section may have one or more rotation axes to allow the payload 11 to assume a predetermined attitude. This allows the payload 11 to change its attitude independently of the attitude of the flying object 100.

[0038] As shown in FIG. 9, the mounting unit 10 is connected to a string-like member 20. The string-like member 20 is a long, flexible material such as a wire, an electric cable, a fishing line, a rope, or a tape. The material is not limited to the examples given, and any material may be used as long as it has the strength to lift the mounting unit and the payload and can be smoothly wound around and unwound from a spool. For example, when an electric cable is used, power can be supplied from the aircraft 100 to the mounting unit 10.

[0039] During flight, the string-like member 20 is wound up so that the mounting unit 10 is in a predetermined position (for example, a position stored inside a cover as shown in Figure 5), and the mounting unit 10 can be raised and lowered by unwinding and reeling in the string-like member 20.

[0040] In addition to the string-like member 20, the flying object 100 may have a function of holding the mounting part 10. For example, as shown in FIG. 5, in the case where the mounting part 10 is located inside the cover of the flying object 100 during flight, a door opening and closing mechanism may be provided at the bottom of the cover. In response to a control signal from a flight controller, the door is opened while the mounting part 10 ascends and descends, and the door is closed after the mounting part 10 reaches the inside of the cover, so that the mounting part 10 is supported from below by the door, and the mounting part 10 is held even when no tension is applied to the string-like member 20. This reduces the load on the string-like member 20 and the winch to which the string-like member 20 is connected. In addition, the flying object 10 and the mounting part 10 may be connected to be rotatable in one or more axial directions, and the mounting part 10 may be capable of controlling its attitude independently of the attitude of the flying object 100. In this case, the string-like member 20 can be sagged to allow it to rotate.

[0041] As shown in Fig. 12 to Fig. 16, the mount 10 includes a mount holding mechanism 12 for holding the mount 11 so that it does not fall unintentionally during the flight of the flying object 100 to which it is connected. The mount holding mechanism 12 also has a function of detaching the mount 11 at the delivery destination. For example, there is a method in which claws are provided on all four sides to support the bottom surface of the mount, and when detaching, the support for the mount 11 is removed by tilting the claws downward or retracting them outward, thereby detaching the mount 11.

[0042] Other examples of methods for holding and detaching the loaded object by the mounting unit 10 are listed and described below, but the following examples are not intended to limit the method, and any method may be used as long as it can hold and detach the loaded object 11. Furthermore, when the entire mounting unit 10 is detached at the destination, the mounting unit 10 does not need to be equipped with a detachment mechanism, and the mounting unit 10 may have a configuration for releasing the connection with the string-like member 20, for example. (1) Holding by magnetic attraction or suction. For example, in the case of magnetic attraction, a magnetic force generator may be provided on the mounting unit 10, and a magnetized object (such as metal) may be provided on the mounted object 11 to perform magnetic attraction and release, and in the case of suction, air may be sucked into the mounting unit 10, or a suction cup may be used to perform suction and release. (2) Retention by pressure of fastener, etc. For example, the mounting unit 10 may be provided with a fastener such as a band or balloon, and retention and detachment may be performed by increasing or decreasing the pressure of the fastener. (3) Holding by a Door For example, an openable door may be provided at the bottom of the mounting unit 10, and holding and detachment may be performed by opening and closing the door.

[0043] It is desirable that the loading of an item onto the loading unit 10 can be performed from at least one of the bottom, top, and side of the loading unit. In addition, when the loaded item is to be detached at the destination, it is desirable that the loaded item be detached below the loading unit. For example, when loading an item onto the aircraft 100 with the loading unit 10 stored, by allowing the item to be inserted from the side, the item can be inserted without having to look down from a position lower than the aircraft or install the aircraft at a high position, which makes it easy to insert the item into the loading unit.

[0044] The mounting unit 10 is provided with a moving means 13 capable of moving at least in the XY direction in the air. As shown in Fig. 9 and Fig. 10, by providing a plurality of rotors, the mounting unit 10 is prevented from being blown away by the wind or the like and moving away from the designated location, improving the accuracy of the landing position of the payload 11. In addition, by controlling the mounting unit's own position and staying within a predetermined range, it is also possible to prevent a decrease in the stability of the flying object caused by the mounting unit 10 suspended by the string-like member 20 swinging significantly.

[0045] When the moving means 13 is a rotor, it is desirable that the rotor is connected so that at least a part of the rotor is between the upper end and the lower end of the mounted object when the mounting unit 10 is viewed from the side. For example, when there are two rotors, the rotors are arranged so as to sandwich the mounted object when viewed from above. When there are three or more rotors, the rotors are arranged so as to surround the mounted object as shown in Figs. 19 and 20. By providing the rotors within the range of the upper and lower ends of the mounted object, the place pushed and pulled by the rotors is near the center of gravity of the mounting unit 10, so that it is possible to prevent the mounting unit 10 from wobbling. For example, when the rotors are provided further above the upper end of the mounted object, a place away from the center of gravity of the mounting unit 10 is pushed and pulled, which may cause the mounting unit 10 to wobble. Preferably, the rotor is connected to a position that coincides with the center of gravity or approximately the center of gravity of the mounted object when viewed from the side.

[0046] In addition, if the output of the moving means 13 provided in the mounting unit 10 is made larger, the mounting unit 10 can move away from directly under the aircraft. In cases where the destination (receiving port, etc.) is on the side of a house or condominium, if the mounting unit 10 moves only to directly under the aircraft 100, the aircraft 100 needs to approach the structure. The closer the mounting unit 10 is to the structure, the higher the possibility of collision with an obstacle, and the higher the possibility of the aircraft entering an area with turbulent air currents due to updrafts, downdrafts, etc., and becoming unstable. Collisions and reduced stability of the aircraft may lead to accidents such as breakdowns and crashes, so it is preferable to avoid them. If the mounting unit 10 can move away from directly under the aircraft, the mounting unit 10 alone can approach the destination while the aircraft 100 is waiting in a place away from obstacles and areas with turbulent air currents, as shown in Figures 1 to 4.

[0047] It is generally known that when a fixed-pitch rotorcraft enters an updraft, a phenomenon such as hunting occurs. This phenomenon makes the aircraft unstable. However, the mounting unit 10 according to the present invention does not suffer from the same phenomenon because at least a part or all of the weight of the mounting unit 10 is supported by the aircraft 100. Furthermore, since the mounting unit 10 is lighter than the aircraft 100, even if it comes into contact with a structure or the like, the damage will be smaller than if the aircraft 100 were to come into contact with it.

[0048] When the moving means provided on the mounting unit 10 is a rotor, the rotation axis 22 of the rotor may extend in a direction including a vertical component as shown in FIG. 19, or may extend in a direction including a horizontal component as shown in FIG. 20. When the rotation axis 22 extends in a direction including a large vertical component (i.e., when the angle between the rotation axis 22 and the vertical Z axis is smaller than the angle between the rotation axis 22 and the horizontal X axis or Y axis), the mounting unit 10 can support the aircraft's own weight and at the same time generates a force that lifts the aircraft's own weight. Therefore, the load on the aircraft 100 is reduced. On the other hand, when the rotation axis 22 extends in a direction including a large horizontal component (i.e., when the angle between the rotation axis 22 and the horizontal X axis or Y axis is smaller than the angle between the rotation axis 22 and the vertical Z axis), the mounting unit hardly generates a force that lifts the aircraft's own weight. Therefore, most of the force generated by the rotor is used as a moving force (propulsive force), and the movement of the mounting part 10 becomes faster.

[0049] In addition, since the detailed configuration of the rotor of the mounting unit 10 overlaps with the rotor of the previously described flying body 100 and operates in the same manner, a repeated explanation will be omitted.

[0050] The rotation shaft 22 of the rotor provided on the mount 10 may be provided to be rotatable. For example, when storing in the aircraft 100 and when the mount 10 is normally lowered, the rotation shaft 22 is in a position extending horizontally, and the force generated by the rotor is used for movement in the XY directions. When an abnormality occurs in the aircraft 100 and the mount 10 is separated from the aircraft, the rotation shaft 22 is in a position extending in a direction including a vertical component, and the force generated by the rotor can be used for the mount 10 to fly.

[0051] Furthermore, when the rotation axis 22 of the rotor of the mounting unit 10 is extended horizontally, the rotor of the mounting unit 10 may be used as part of the thrust of the aircraft 100 when propelling the aircraft 100. This prevents the rotor and motor of the mounting unit 10 from becoming dead weight, and is also expected to increase the traveling speed of the aircraft.

[0052] A controllable pitch propeller may be used as the rotor of the mounting unit 10. Compared with a fixed pitch propeller, which performs position control by controlling the rotation speed of a motor or the like, controlling the position by changing the pitch of the propeller has higher response performance and allows for more precise position adjustment.

[0053] From the viewpoint of weight reduction, it is desirable that the string-like member 20 connecting the mounting unit 10 and the aircraft 100 be one piece. However, when the mounting unit is suspended from one point, the mounting unit may tilt due to an imbalance in the center of gravity of the load or a collapse of the load. In order to reduce the tilt of the mounting unit, it is desirable to branch the string-like member into two or more pieces from a predetermined position and suspend the mounting unit from two or more points, as shown in FIG. 23. Also, when suspending from three or more points, the tilt of the mounting unit is suppressed even if the load has an imbalance in the center of gravity, making it easier to keep the load horizontal.

[0054] If connected by a single string-like member (point), when the mount 10 rotates and rises due to wind or vibration, it may approach the flying object 100 in an unintended orientation, resulting in contact with the flying object or being unable to enter the space where it is to be stored. If the string-like member is branched into two or more points, it becomes easy to correct the direction of the mount 10 so that it is in a suitable orientation when the mount 10, which has descended once, is raised again near the flying object.

[0055] As an example of a method for correcting the orientation of the mounting unit 10, there is a method using an angle adjustment unit 24 as shown in Fig. 23-26. By providing a slit 25 on the bottom surface of the angle adjustment unit 24 provided on the flying object 100, when the two-branched string-like member 20 is drawn into the slit 25, if the branched string-like member 20 enters at an angle close to a right angle to the slit 25 in a top view, the force that the string-like member 20 tries to spread due to tension is suppressed by the slit 25. As it is drawn further in, the force that the string-like member 20 tries to spread becomes stronger, and it rotates so as to be parallel to the slit 25. This makes it possible to adjust the mounting unit 10 that is facing in an unintended direction to a specified orientation. The strength and speed of the adjustment are adjusted by the width of the slit and the attachment angle of the two branched string-like members 20. In addition, if the string-like member 20 is split into three or more branches, the shape of the slit 25 can be a shape that matches the shape of the branched string-like member 20 viewed from above.

[0056] Other methods for correcting the orientation of the mounting unit 10 include, but are not limited to, a method in which the mounting unit 10 controls its own position using the moving means 13 while it is being reeled in, a method in which the orientation of the mounting unit 10 as the flying body 100 approaches is monitored and the orientation (yaw direction) of the flying body is adjusted, and a method in which a guide member is used to prompt position adjustment by contacting a frame or arm provided on the mounting unit 10.

[0057] 10 and 11, one end of the string-like member 20 is connected to a mechanism such as a winch, reel, or hoist (hereinafter collectively referred to as a hanging mechanism 21) that can pay out and reel in the string-like member 20. The other end is connected to the mounting part 10.

[0058] The suspension mechanism 21 operates using a motor, an engine, compressed air, etc. These power sources may be the same as the energy (e.g., secondary batteries, fuel cells, fossil fuels, etc.) used for the flight of the aircraft 100, or may be provided separately for the operation of the winch. In addition, the up and down direction control of the mount unit by the winch is performed by at least one of the aircraft 100, the mount unit 10, and the port.

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

[0060] Furthermore, string-like member 20 extending from hanging mechanism 21 is hooked onto one or more pulleys 23, and is connected to mounting unit 10 without coming into contact with components of aircraft 100. In particular, in a configuration in which hanging mechanism 21 is provided below the connection position between mounting unit 10 and string-like member 20, using two or more pulleys 23 prevents string-like member 20 from coming into contact with mounting unit 10.

[0061] The suspension mechanism 21 used by the aircraft of the present invention may be provided on the mounting unit 10 in addition to the aircraft 100. By connecting the mounting unit 10 and the payload 11 with a string-like member and allowing the aircraft 100 to ascend and descend, precise control of ascent and descent becomes possible even when the aircraft 100 and the mounting unit 10 are far apart.

[0062] Ports that are one of the destinations of the loading unit 10 include pads or ports installed on the ground or rooftop, and ports installed in the windows or balconies of buildings, which are known in the art. It is easy to install a port on the premises of a house or facility with a garden. Well-known ports can also be used in the delivery system of the present invention. However, when delivering to a residence that does not have a privately owned garden (for example, an apartment room on the second floor or higher, or an office in a building), individual delivery using a window or balcony is desired.

[0063] As shown in Figs. 1 to 4, the port 30 of the present invention comprises a cargo receiving section 31 on which cargo is placed or connected to receive the cargo, and a rotating section 33 that rotates the cargo receiving section 31 independently of the building 200. The port 30 is preferably provided in a location that is easily accessible from the sky outside the building, such as a balcony, veranda, window, or exterior wall of the building 200. The port 30 may be movable, but is preferably fixed to the building 200 to reduce the possibility of it falling over and to improve reliability. In addition, when the cargo receiving section 31 and the rotating section 33 are spaced apart, a support section 32 that connects to and supports the cargo receiving section and the rotating section may be provided.

[0064] As shown in Fig. 2 and Figs. 27-29, the port 30 has at least a standby mode in which no cargo is received, and a cargo receiving mode in which cargo is received from an aircraft or the like. In the standby mode, the cargo receiving section 31 is in a state close to the building 200. Desirably, this is a position where people in the building can easily unload cargo placed on the cargo receiving section, and where the cargo receiving section is less likely to be affected when the wind blows. In the cargo receiving mode, the rotation of the rotating section 33 causes the cargo receiving section 31 or the support section 32 to rotate in an approximately horizontal direction, and the cargo receiving section moves to a position farther away from the building than in the standby mode.

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

[0066] Near the walls of the building 200, wind that collides with the walls creates updrafts and downdrafts at the front (collision surface) and creates strong horizontal winds on the sides. It is desirable for the load receiving section 31 in load receiving mode to be located farther outward than the strong wind flow. However, when the load receiving section 31 is located away from the building 200, the support section 32 becomes longer. The optimal configuration is determined based on the strength and manufacturing cost of the support section, the area of ​​the balconies and windows, etc. For example, as shown in FIG. 28, it may be provided on a strong member such as the framework of the building 200.

[0067] The cargo receiving section 31 may have a flat surface shape on which the aircraft can land or on which the cargo 11 can be placed, or may have an arm or a robot hand for receiving the cargo. In addition, in the case of a system in which the cargo is suspended from an aircraft or the like by a string-like member and descends, a connection mechanism for grabbing and connecting the cargo 11 or the string and a function for cutting the string-like member above the connection mechanism are provided, so that a cargo detachment mechanism does not need to be provided on the aircraft or the mounting section, and an increase in the weight of the aircraft can be suppressed.

[0068] If the cargo receiving section 31 has a shape that allows cargo to be placed thereon, it is desirable to provide a function to prevent the placed cargo from being shifted or dropped by wind, etc. Examples of the configuration of the cargo receiving section are listed below. (1) Install movable walls or fences around the cargo receiving area. (2) Creating a step or angle on the floor of the cargo receiving area. (3) Suction by negative pressure. (4) Temporarily fix the device in place using magnets, adhesives, hook-and-loop fasteners, etc. (5) Install permanent walls or fences around the cargo receiving area. 17 and 18, when a fall prevention member 34 such as a fence or wall is provided, if the fall prevention member 34 is always installed high, it may hinder the landing operation of the flying object 100 or the operation of placing the baggage 11, so it is desirable to be able to adjust the length that protrudes above the plane using a mechanism for extending, closing, etc. In addition, in the case of baggage that can be dropped a short distance, the fall prevention member may not be movable and may be dropped into an enclosed space.

[0069] As shown in Fig. 30, the port 30 may have a function (e.g., an elevator, conveyor, etc.) to draw the luggage 11 after receiving it to a place where people can easily receive the luggage, such as inside the balcony 210 or inside a room, or to a place where the luggage can be safely stored. This not only prevents the received luggage from being lost, but also makes it easier for people to access the luggage. In addition, after the luggage 11 is drawn in, the luggage receiving section 31 is ready to receive luggage again, improving the efficiency of luggage receiving.

[0070] The support portion 32 has a strength sufficient to withstand the weight of the luggage 11 placed on it and the pressure of the wind. The material and shape are selected based on the weight of the luggage to be supported and the conditions of the installation location. For example, when a plate-shaped member is used, it is possible to reduce the pressure of the wind by drilling multiple holes in the member to create spaces for air to pass through.

[0071] In addition, when the structure is made up of a combination of pipes (for example, a truss structure), the cross-sectional shape of the pipes can be made elliptical or symmetrical wing-shaped rather than circular, thereby reducing the pressure received from wind coming from a certain direction.

[0072] <Details of the second embodiment> In the details of the second embodiment of the present invention, components that overlap with those of the first embodiment operate in the same manner, so repeated explanations will be omitted.

[0073] The mounting unit 10 may have a function of flying by itself. For example, when an abnormality occurs in the flying object 100, the mounting unit 10 can be detached and the flying object can fly by itself, thereby reducing the total weight of the flying object and reducing the impact when it crashes.

[0074] If the rotation axis of the rotor of the mounting unit 10 is rotatable, the rotation axis is extended horizontally in normal times as shown in Figure 20, and when the mounting unit is detached from the aircraft, the rotation axis is extended vertically as shown in Figure 19, which allows efficient movement in the XY axis directions in normal times while enabling the aircraft to fly on its own in an emergency.

[0075] The configuration of the aircraft in each embodiment can be implemented by combining multiple configurations. It is desirable to consider an appropriate configuration according to the manufacturing cost of the aircraft and the environment and characteristics of the place where the aircraft is operated.

[0076] The above-described embodiment is merely an example for facilitating understanding of the present invention, and is not intended to limit the present invention. The present invention can be modified or improved without departing from the spirit of the present invention, and it goes without saying that the present invention includes equivalents thereof. [Explanation of symbols]

[0077] 10 Mounting section 11 Payload (luggage) 12 Load holding mechanism 13. Means of moving the mounting part 20 String-like member 21 Suspension mechanism 22 Rotating shaft 23 Pulley 24 Angle correction unit 25 Slit 30 Ports 31 Receiving section 32 Support part 33 Rotating part 34 Fall prevention parts 100 Flying Objects 110a~110d Propeller 111a~111d Motor 120 frames 130 Landing leg 100 Damper 200 Buildings 210 Balcony

Claims

1. An air vehicle, A mounting portion for holding a load is provided, The mounting portion is held via a string-like member, The mounting unit includes: A structure containing the load; and a moving means including a rotor having a rotation shaft provided between an upper end and a lower end of a structure that contains the mounted object when the mounting unit is viewed from the side, The mounting portion has a configuration for separating the mounted object from a lower portion thereof. An aircraft characterized by:

2. A mounting unit for holding a load, A structure for connecting a string-like member extending from the aircraft; A structure containing the load; and a moving means including a rotor having a rotation shaft provided between an upper end and a lower end of a structure that contains the mounted object when the mounting unit is viewed from the side, The mounting portion has a configuration for separating the mounted object from a lower portion thereof. A mounting section characterized by:

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