Unmanned aircraft, method for mounting an unmanned aircraft, and method for adjusting the center of gravity of an unmanned aircraft.

Abstract

To provide an unmanned flight vehicle and a method which enable packages and a battery to be mounted thereon efficiently.SOLUTION: An unmanned flight vehicle 1 includes: a package chamber tray 2 for loading packages 100; a package chamber cover 3 which is attached from above the package chamber tray 2 to cover the packages 100 placed on the package chamber tray 2; a battery 4 provided on an upper surface of the package chamber cover 3; and a body 5 which may be attached to or detached from a package chamber 10 formed by the package chamber tray 2 and the package chamber cover 3 and to which rotors 53 each serving as a lift force generation part are connected. The packages 100 and the battery 4 are loaded into the unmanned flight vehicle 1 as described below. Firstly, the packages 100 are placed on the package chamber tray 2 and the package chamber cover 3 is attached to the package chamber tray 2. Then, the battery 4 is placed on the package chamber cover 3. At that time, a centroid position of the entire packages 100 is obtained and a mounting position of the battery 4 is adjusted according to the obtained centroid position. Subsequently, the body 5 is attached to the package chamber 10 in which the packages 100 and the battery 4 are placed.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present disclosure relates to an unmanned aerial vehicle for transporting luggage.

Background Art

[0002] Conventionally, there have been proposals to use unmanned aerial vehicles (also referred to as drones) to transport luggage (see, for example, Patent Documents 1 to 3). For example, Patent Document 1 proposes a technique for moving a battery in a direction at a predetermined angle during flight in order to improve the flight efficiency of an aerial vehicle carrying luggage. Further, Patent Document 2 proposes a luggage receiving and storage device and method for receiving and storing luggage carried by an unmanned aerial vehicle. Further, Patent Document 3 proposes a technique for selecting a battery to be mounted based on location information regarding the delivery destination of the luggage, weight information of the luggage, center-of-gravity information when the unmanned aerial vehicle carries the luggage, and the like.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

[0006] The unmanned aircraft disclosed herein is A loading area for placing luggage, A cargo compartment cover is attached to the aforementioned mounting section and covers the cargo placed on the aforementioned mounting section, and is provided to be detachable from the aforementioned mounting section. A battery for driving an unmanned aircraft is provided on the upper surface of the cargo compartment cover, The cargo compartment, which includes the aforementioned mounting section and the aforementioned cargo compartment cover, comprises a flyable main body that is detachable from the cargo compartment. 、 The upper surface of the cargo compartment cover has a holding portion for holding the first connector, which is the battery connector. The main body has a second connector which is a connector that receives power to the main body, The holding portion is provided at a position where the first connector and the second connector are connected when the luggage compartment containing the battery is attached to the main body. .

[0007] According to this design, the cargo loading area is detachable from the cargo compartment cover, allowing cargo to be placed on the loading area while it is separated from the cover. Then, with the cargo loaded, the cargo compartment cover is attached to the loading area, creating a cargo compartment formed by the loading area and the cover. Furthermore, since the cargo compartment is detachable from the main body, cargo can be loaded into the cargo compartment while it is separated from the main body. Additionally, the battery can be mounted on the top of the cargo compartment while it is separated from the main body. In this way, the cargo compartment, loaded with cargo and battery, can be prepared in advance (pre-configuration) before attaching it to the main body. Then, by attaching the cargo compartment, loaded with cargo and battery, to the main body of the unmanned aerial vehicle, the cargo and battery can be loaded onto the main body simultaneously. Therefore, the loading of cargo and battery onto the unmanned aerial vehicle (main body) can be performed efficiently. Moreover, the ability to pre-configure the cargo compartment allows for the selection of a battery with the minimum necessary capacity (weight) that is sufficiently charged to fly the cargo to its destination. This reduces the need to charge or swap batteries during cargo transport. Furthermore, selecting a battery with the minimum necessary capacity (weight) allows for a lighter unmanned aerial vehicle, which in turn reduces fuel consumption (battery power consumption) during flight, thereby efficiently extending the flight range.

[0008] The method of mounting an unmanned aerial vehicle in this disclosure is: A method for loading cargo onto an unmanned aerial vehicle as disclosed herein, A cargo loading process in which cargo is placed on the aforementioned mounting section, After the cargo loading process, a first joining process is performed in which the aforementioned loading section on which the cargo is placed and the cargo compartment cover are joined together. After the first combining step, a battery mounting step is performed in which the battery is placed on the upper surface of the cargo compartment containing the cargo, A second combining step is performed after the battery mounting step, in which the cargo compartment containing the cargo and the battery mounted on its upper surface is combined with the main body, It is equipped with.

[0009] According to this design, since the cargo loading area is separated from the cargo compartment cover and the main body, the cargo can be placed on the loading area, making the cargo loading process easier. Also, since the battery is mounted on the top of the cargo compartment while it is separated from the main body, the battery installation process is easier. Furthermore, the cargo compartment can be prepared in advance with the cargo and battery loaded before being attached to the main body (pre-setup is possible). Then, in the second joining process, the cargo compartment with the cargo and battery loaded and the main body of the unmanned aerial vehicle are joined together, allowing the cargo and battery to be loaded onto the main body simultaneously. As a result, the loading of cargo and batteries onto the unmanned aerial vehicle (main body) can be performed efficiently. In addition, because pre-setup of the cargo compartment is possible, it is possible to select a battery with the minimum necessary capacity (weight) that is sufficiently charged to fly the cargo to its destination. This reduces the need to charge or replace batteries during cargo transport. Furthermore, by selecting a battery with the minimum necessary capacity (weight), the weight of the unmanned aerial vehicle can be reduced, which reduces fuel consumption during flight and efficiently extends the flight distance.

[0010] The method for adjusting the center of gravity of an unmanned aerial vehicle disclosed herein is: A method for adjusting the center of gravity of an unmanned aerial vehicle according to this disclosure, Before the flight of the unmanned aircraft, the mounting position of the battery on the upper surface of the cargo compartment is adjusted, or the mounting position of the cargo in the aforementioned mounting section is adjusted, or the mounting position of the cargo compartment with the battery on the main body is adjusted.

[0011] This allows for stable flight of the unmanned aerial vehicle. Furthermore, the battery or payload placement can be adjusted during the pre-configuration phase when the payload compartment is separated from the main body. Once the payload compartment, with its adjusted battery or payload placement, is reattached to the main body, the center of gravity of the entire unmanned aerial vehicle is automatically determined. Thus, by adjusting the battery or payload placement during the pre-configuration phase, the center of gravity of the entire unmanned aerial vehicle can be determined during the pre-configuration phase. [Brief explanation of the drawing]

[0012] [Figure 1] It is a top view of the unmanned aerial vehicle in the first to third embodiments as seen from above. [Figure 2] It is a cross-sectional view of the unmanned aerial vehicle taken along line II-II of FIG. 1. [Figure 3] It is a cross-sectional view of the unmanned aerial vehicle taken along line III-III of FIG. 1. [Figure 4] It is an exploded perspective view of the unmanned aerial vehicle in the first to third embodiments. [Figure 5] It is a cross-sectional view of the unmanned aerial vehicle taken along line V-V of FIG. 1. [Figure 6] It is a bottom view of the cargo compartment cover as seen from below. [Figure 7] It is a bottom view of the main body of the unmanned aerial vehicle as seen from below. [Figure 8] It is a diagram showing the base of the unmanned aerial vehicle. [Figure 9] It is a block diagram showing the electrical configuration provided in the base. [Figure 10] It is a diagram showing the state of stacking the cargo compartments in the cargo compartment stacking line provided in the base. [Figure 11] It is a flowchart showing the procedure for loading the unmanned aerial vehicle with luggage and batteries in the first to third embodiments. [Figure 12] It is a flowchart showing the details of step S4 in FIG. 11 in the first embodiment. [Figure 13] It is a diagram showing an example of adjusting the battery mounting position in the cargo compartment. [Figure 14] It is a diagram showing another example of adjusting the battery mounting position in the cargo compartment, different from FIG. 13. [Figure 15] It is a flowchart showing the procedure for separating each part of the unmanned aerial vehicle. [[ID=四十七]] [Figure 16] It is a flowchart showing the details of step S4 in FIG. 11 in the second embodiment. [Figure 17] It is a flowchart showing the details of step S2 in FIG. 11 in the third embodiment. [Figure 18] It is a cross-sectional view of the unmanned aerial vehicle in the fourth embodiment. [Figure 19] This is a perspective view of the cargo compartment cover, battery tray, battery, and a part of the main body cover (main body side connector, mounting part) in the fourth embodiment. [Figure 20] This flowchart shows the procedure for loading cargo and batteries onto an unmanned aerial vehicle in the fourth embodiment. [Figure 21] This figure shows a first modified example of the cargo compartment cover, and is a perspective view of the cargo compartment cover having an opening on the side with a cutout at the lower end. [Figure 22] This diagram shows a second modification of the cargo compartment cover, a perspective view of the cargo compartment cover having an opening on the side that is closed at the lower end. [Modes for carrying out the invention]

[0013] (First Embodiment) Hereinafter, a first embodiment of this disclosure will be described with reference to the drawings. Figures 1 to 4 show an unmanned aerial vehicle 1 (drone) for cargo transport in the first embodiment. The unmanned aerial vehicle 1 shown in Figures 1 to 4 (hereinafter sometimes simply referred to as the aerial vehicle) comprises a cargo tray 2, a cargo cover 3, a battery 4, and a main body 5.

[0014] The cargo tray 2 is a loading section for placing luggage 100 (see Figures 2 to 4). The cargo tray 2 comprises a tray body 21 that forms the loading surface 21a of the luggage 100 (see Figures 2 and 3), and an outer peripheral portion 22 located on the outer periphery of the tray body 21. The tray body 21 is formed, for example, in a flat plate shape. The upper surface 21a of the tray body 21 is set as the loading surface for the luggage 100. The loading surface 21a is formed as a horizontal surface. In this embodiment, the shape of the loading surface 21a in plan view is formed as a right-angled rectangle that is longer in the front-to-back direction (direction of travel) (direction perpendicular to the plane of the paper in Figure 3) than in the left-to-right direction of the aircraft 1 (left-to-right direction of the paper in Figure 3). Note that the loading surface 21a may be formed as a shape other than a right-angled rectangle. The loading surface 21a is set to a size that can accommodate multiple (for example, three) pieces of luggage 100.

[0015] The outer periphery portion 22 is provided so as to protrude downward from the tray body 21 along its entire outer circumference. If the tray body 21 has a right-angled rectangle shape in plan view, the outer periphery portion 22 is provided on each of the four sides that make up the right-angled rectangle. The outer periphery portion 22 is formed with a slight incline so as it extends downward from the tray body 21, it gradually displaces outward (away from the cargo compartment centerline L shown in Figures 2 and 3). The cargo compartment centerline L is a straight line perpendicular to the mounting surface 21a, passing through the center of the mounting surface 21a. The slight incline of the outer periphery portion 22 makes it easier to insert (install) the cargo tray 2 into the space 35 inside the cargo compartment cover 3. Between the tray body 21 and the outer periphery portion 22, a space 24 (see Figures 2 and 3) is formed below the tray body 21, which is open at the bottom and closed in directions other than downward (up and to the sides).

[0016] The cargo tray 2 is detachably attached to the cargo cover 3. Specifically, the cargo tray 2 is attached to the cargo cover 3 from below and can be removed from the cargo cover 3 downwards. More specifically, as shown in Figures 4 and 5, the cargo tray 2 includes mounting parts 23 that attach to the cargo cover 3. The mounting parts 23 are provided, for example, on the outer surface of the outer periphery 22. The mounting parts 23 are also provided at multiple positions along the circumferential direction of the cargo tray 2. In this embodiment, two mounting parts 23 are provided on each of the two sides of the outer periphery 22 that extend in the front-rear direction (direction of travel) of the aircraft 1, which constitute the four sides of the right-angled rectangle (see Figure 4). However, the mounting parts 23 may also be provided on the sides of the outer periphery 22 that extend in the left-right direction, which constitute the four sides of the right-angled rectangle. The number of mounting parts 23 can be any number.

[0017] The mounting portion 23 is shaped to engage (in other words, fit) with the mounting portion 36 on the cargo compartment cover 3 side (see Figure 5). Specifically, the mounting portion 23 is formed in the shape of a projection (convex), and the mounting portion 36 on the cargo compartment cover 3 side is formed in the shape of a groove (concave). When the cargo compartment tray 2 is attached to the cargo compartment cover 3, the projection-shaped mounting portion 23 is fitted into the groove-shaped mounting portion 36. The mounting portions 23 and 36 are configured to maintain their engaged state unless a predetermined release operation is performed. Furthermore, the mounting portions 23 and 36 are configured to release their engaged state when a predetermined release operation is performed. For example, the engagement force (amount of engagement between the projection and the groove) of the mounting parts 23 and 36 is determined such that the engagement of the mounting parts 23 and 36 is released when the cargo compartment cover 3 is pulled upward while the cargo compartment tray 2 is held in place to prevent it from moving upward, or when the cargo compartment tray 2 is pulled downward while the cargo compartment cover 3 is held in place to prevent it from moving downward. Alternatively, the projection of the mounting part 23 may be configured to retract mechanically or electrically. In this case, the engagement of the mounting parts 23 and 36 is released when the projection of the mounting part 23 retracts.

[0018] Furthermore, the mounting portion 23 on the cargo tray 2 side may be formed in a groove shape, and the mounting portion 36 on the cargo cover 3 side may be formed in a projection shape. Also, the engagement form by the mounting portions 23 and 36 may be a form other than fitting of a convex portion and a concave portion, for example, a bolt-like form. When the mounting portions 23 and 36 are configured in a bolt-like form, the mounting portions 23 and 36 include a through hole formed on the cargo tray 2 side, a through hole formed on the cargo cover 3 side, and a rod-shaped portion that is inserted through the two through holes when these two through holes are joined together. When the rod-shaped portion is inserted through the two through holes, the cargo tray 2 and the cargo cover 3 are attached, while when the insertion of the rod-shaped portion through the two through holes is released, the cargo tray 2 and the cargo cover 3 are separated.

[0019] As shown in Figures 2 and 3, the cargo tray 2 is attached to the cargo compartment cover 3 so as to close the lower opening 34 of the cargo compartment space 35 within the cargo compartment cover 3. When the cargo tray 2 is attached to the cargo compartment cover 3, the tray body 21 is located inside the cargo compartment space 35 beyond the lower opening 34 of the cargo compartment cover 3. In addition, the entire outer surface of the outer peripheral portion 22 is in contact with (positioned) the inner surface 32a of the side portion 32 of the cargo compartment cover 3, thereby restricting the relative horizontal movement of the cargo tray 2 with respect to the cargo compartment cover 3. Furthermore, a part of the outer peripheral portion of the upper surface of the tray body 21 is in contact with (positioned) the lower end 33a of the inner projection 33 provided on the cargo compartment cover 3, thereby restricting the relative upward movement of the cargo tray 2 with respect to the cargo compartment cover 3. The relative downward movement of the cargo tray 2 with respect to the cargo compartment cover 3 is restricted by the mounting portions 23 and 36. Furthermore, when the cargo tray 2 is attached to the cargo cover 3, the lower end 22a of the outer periphery 22 is located at approximately the same vertical position as the lower end 34 (downward opening) of the cargo cover 3.

[0020] The cargo compartment cover 3 is detachable from the cargo compartment tray 2. Specifically, the cargo compartment cover 3 is attached to the cargo compartment tray 2 from above, covering the luggage 100 placed on the cargo compartment tray 2. The cargo compartment cover 3 is also provided above the cargo compartment tray 2 in a removable (separable) manner.

[0021] More specifically, the cargo compartment cover 3 is formed in a roughly rectangular parallelepiped shape, for example, but it may be formed in a shape other than a roughly rectangular parallelepiped. The cargo compartment cover 3 comprises a top surface portion 31 and side portions 32. The top surface portion 31 and side portions 32 form a cargo compartment space 35 with an opening 34 at the bottom and closed in all directions except the bottom (sides and top). Thus, when the cargo compartment tray 2 is separated, the cargo compartment cover 3 is formed in a box shape with the bottom open. When the cargo compartment tray 2 is attached to the cargo compartment cover 3, the opening 34 of the cargo compartment space 35 is closed by the cargo compartment tray 2, and the cargo compartment space 35 is closed in all directions (including the bottom). The luggage 100 placed on the cargo compartment tray 2 is stored in this closed cargo compartment space 35. The cargo compartment space 35 is set to a size that can accommodate multiple pieces of luggage 100. Figure 2 shows an example in which three pieces of luggage 100 are stored in the cargo compartment space 35 so that they are lined up in the front-to-back direction of the cargo compartment space 35. However, the number of packages 100 can be any number, and the arrangement direction of the packages 100 can be any horizontal direction (for example, left or right).

[0022] The upper surface 31 is formed, for example, in a plan view, as a flat right-angled rectangle that is longer in the front-to-back direction (direction of travel) than in the left-to-right direction of the aircraft 1. However, it is not limited to this, and the upper surface 31 may be formed in any shape, such as a square (a right-angled rectangle with equal lengths in the left-to-right and front-to-back directions), a right-angled rectangle with longer left-to-right directions than front-to-back directions, or an ellipse. The outer surface 31a (upper surface) of the upper surface 31 is formed as a horizontal surface. The outer surface 31a is configured as a battery mounting surface (in other words, a battery mounting section) on which the battery 4 is placed. The outer surface 31a is configured as a battery mounting section in which the mounting position of the battery 4 can be adjusted when it is placed on the outer surface 31a.

[0023] A connector holder 38 is integrally provided on the outer surface 31a to hold the connector 43 of the battery 4 in place (see Figures 2 and 4). The connector holder 38 protrudes upward from the outer surface 31a and is formed in a shape that surrounds the connector 43. The connector holder 38 has a conductive portion 38a that connects the inside (the space housing the connector 43) and the outside of the connector holder 38 (see Figure 4). The wires 42 of the battery 4 are passed through this conductive portion 38a. The connector holder 38 is also positioned to face the connector 59 provided on the main body 5 when the cargo compartment cover 3 is attached to the main body 5 (see Figure 2). In other words, the connector holder 38 is positioned so that the connector 43 of the battery 4 and the connector 59 of the main body 5 are connected when the cargo compartment 10 (cargo tray 2 and cargo compartment cover 3) equipped with the battery 4 is attached to the main body 5.

[0024] The side portion 32 of the cargo compartment cover 3 is formed in a plate shape that extends downward from the entire outer circumference of the upper portion 31. The side portion 32 has a front portion facing the direction of travel of the aircraft 1, a rear portion facing the opposite direction of travel (rear), a left portion facing to the left in the direction of travel, and a right portion facing to the right in the direction of travel. The side portion 32 is formed with a slight incline so that it gradually displaces outward (away from the cargo compartment centerline L shown in Figures 2 and 3) as it extends downward from the upper portion 31. This slight incline of the side portion 32 makes it easier to insert (attach) the cargo compartment cover 3 into the space 55 inside the main body cover 51, which will be described later. The angle of inclination of the side portion 32 with respect to the cargo compartment centerline L is the same as the angle of inclination of the outer circumference 22 of the cargo compartment tray 2 with respect to the cargo compartment centerline L. This allows the outer surface of the outer circumference 22 and the inner surface of the side portion 32 to be in close contact when the cargo compartment tray 2 is attached to the cargo compartment cover 3. However, the inclination angle of the side portion 32 and the inclination angle of the outer peripheral portion 22 may be different.

[0025] The lower end 34 of the side portion 32 forms an opening that, when viewed from above, has the same shape as the plan view shape of the cargo tray 2. The inner edge of the lower end 34 is formed in a tapered shape 34a, where the diameter of the opening 34 gradually decreases as it goes upwards (see Figure 3). The tapered shape 34a is formed around the entire circumference of the opening 34. This tapered shape 34a makes it easier to insert the cargo tray 2 into the opening 34 when attaching the cargo tray 2 to the cargo cover 3.

[0026] Furthermore, an inner projection 33 is formed on the inner surface 32a of the side portion 32, projecting inward (towards the cargo compartment centerline L) (see Figures 2, 3, and 6). As shown in Figure 6, multiple inner projections 33 are provided at intervals along the circumferential direction of the side portion 32. Specifically, one inner projection 33 is provided on the front and rear portions of the front, rear, left, and right side portions 32, and two inner projections 33 are provided on the left and right portions. The inner projections 33 provided on the front and rear portions are located at the center of the width in the left-right direction of the front and rear portions, respectively.

[0027] As shown in Figures 2 and 3, each inner protrusion 33 has a lower end 33a located at a distance above the lower end 34 (opening) of the side portion 32, and is formed to extend from the lower end 33a to the upper surface portion 31. That is, the upper end of the inner protrusion 33 is connected to the upper surface portion 31. The lower end 33a of the inner protrusion 33 is formed to form a horizontal line when viewed from the direction shown in Figures 2 and 3. As described above, the lower end 33a is in contact with the upper surface 21a of the cargo tray 2. Figures 2 and 3 show an example in which the cargo tray 2 is positioned vertically by ribs (inner protrusions 33) protruding from the inner surface of the side portion 32 of the cargo cover 3, but it may be positioned by means other than ribs. For example, the side portion 32 of the cargo compartment cover 3 may be formed in a convex cross-section, similar to Figure 2, where the remaining portion protrudes inward relative to the lower part of the side portion 32 where the cargo compartment tray 2 is located, regardless of whether the cross-section is viewed along any longitudinal line parallel to the longitudinal center line (II-II line) in Figure 1, or along any lateral line parallel to the lateral center line (III-III line) in Figure 1.

[0028] As described above, the cargo compartment cover 3 is detachable from the cargo compartment tray 2. Specifically, the cargo compartment cover 3 has mounting portions 36 on the inner surface 32a of the side portion 32 that are shaped to engage with mounting portions 23 on the cargo compartment tray 2 side (see Figure 5). As described above, the mounting portions 36 are formed in a groove shape (concave shape) that fits, for example, into a protruding mounting portion 23. The mounting portions 36 are provided on the inner surface 32a at a position below the lower end 33a of the inner protrusion 33. In addition, the mounting portions 36 are provided at multiple positions along the circumferential direction of the cargo compartment cover 3, in accordance with the position of the mounting portions 23 on the cargo compartment tray 2 side.

[0029] Furthermore, the cargo compartment cover 3 is detachable from the main body 5. Specifically, as shown in Figures 4 and 5, the cargo compartment cover 3 is equipped with mounting parts 37 that attach to the main body 5. The mounting parts 37 are provided, for example, on the outer surface of the side portion 32. In addition, the mounting parts 37 are provided at multiple positions along the circumferential direction of the cargo compartment cover 3. In this embodiment, two are provided on each of the left and right side portions 32 of the front, rear, left, and right side portions 32 (see Figure 4). Note that the mounting parts 37 may also be provided on the front and rear portions of the front, rear, left, and right side portions 32. Also, there can be any number of mounting parts 37.

[0030] The mounting portion 37 is shaped to engage (in other words, fit) with the mounting portion 57 on the main body 5 side (see Figure 5). Specifically, the mounting portion 37 is formed in the shape of a projection (convex), and the mounting portion 57 on the main body 5 side is formed in the shape of a groove (concave). When the cargo compartment cover 3 is attached to the main body 5, the projection-shaped mounting portion 37 is fitted into the groove-shaped mounting portion 57. The mounting portions 37 and 57 are configured to maintain their engaged state unless a predetermined release operation is performed. Furthermore, the mounting portions 37 and 57 are configured to release their engaged state when a predetermined release operation is performed. For example, the engagement force (amount of engagement between the projection and the groove) of the mounting parts 37 and 57 is defined such that the engagement of the mounting parts 37 and 57 is released when the main body 5 is pulled upward while the cargo compartment cover 3 is held in place to prevent it from moving upward, or when the cargo compartment cover 3 is pulled downward while the main body 5 is held in place to prevent it from moving downward. Alternatively, the projection of the mounting part 37 may be configured to retract mechanically or electrically. In this case, the engagement of the mounting parts 37 and 57 is released when the projection of the mounting part 37 retracts.

[0031] Furthermore, the mounting portion 37 on the cargo compartment cover 3 side may be formed in a groove shape, and the mounting portion 57 on the main body 5 side may be formed in a projection shape. Also, the engagement form by the mounting portions 37 and 57 may be a form other than fitting of a convex portion and a concave portion, for example, a bolt-like form. When the mounting portions 37 and 57 are configured in a bolt-like form, the mounting portions 37 and 57 include a through hole formed on the cargo compartment cover 3 side, a through hole formed on the main body 5 side, and a rod-shaped portion that is inserted through the two through holes when these two through holes are joined together. When the rod-shaped portion is inserted through the two through holes, the cargo compartment cover 3 and the main body 5 are attached, while when the insertion of the rod-shaped portion through the two through holes is released, the cargo compartment cover 3 and the main body 5 are separated.

[0032] The cargo compartment 10 is formed when the cargo compartment tray 2 and the cargo compartment cover 3 are combined. The cargo compartment 10 is detachable from the main body 5 (specifically the main body cover 51, which will be described later). Specifically, the cargo compartment 10 is attached to the main body 5 from below and can be removed from the main body 5 downwards. Furthermore, as shown in Figures 2 and 3, the cargo compartment 10 is attached to the main body 5 so as to be housed in the main body space 55 formed in the main body 5. In this embodiment, when the cargo compartment 10 is attached to the main body 5, the entire cargo compartment 10 is housed in the main body space 55. However, a portion of the lower end of the cargo compartment 10 may be exposed to the outside of the main body space 55. Furthermore, when the cargo compartment 10 is attached to the main body 5, the lower end of the cargo compartment 10 (the lower end 34 of the cargo compartment cover 3 or the lower end 22a of the cargo compartment tray 2) may be located at the same vertical position as the lower opening 54 of the main body space 55, or it may be located inside the main body space 55 beyond the lower opening 54, or it may be located in a position exposed to the outside from the lower opening 54.

[0033] Furthermore, when the cargo compartment 10 is attached to the main body 5, the lower opening 54 of the main body space 55 is closed off by the cargo compartment 10. In addition, when the cargo compartment 10 is attached to the main body 5, the entire outer surface of the left and right side portions 32 of the cargo compartment cover 3 contacts (is positioned) the wall surface of the main body space 55, thereby restricting the relative movement of the cargo compartment 10 in the left-right direction relative to the main body 5 (see Figure 3). Also, when the cargo compartment 10 is attached to the main body 5, a portion of the outer surface of the front and rear side portions 32 of the cargo compartment cover 3 contacts (is positioned) the inner protrusion 56 provided in the main body space 55, thereby restricting the relative movement of the cargo compartment 10 in the front-rear direction relative to the main body 5 (see Figure 2). Furthermore, when the cargo compartment 10 is attached to the main body 5, a portion of the outer surface 31a of the upper portion 31 of the cargo compartment cover 3 contacts (is positioned) the inner protrusion 56, thereby restricting the relative upward movement of the cargo compartment 10 relative to the main body 5 (see Figure 2). Furthermore, the relative downward movement of the cargo compartment 10 relative to the main body 5 is restricted by the mounting parts 37 and 57. Thus, in this embodiment, there is no space within the main body space 55 to adjust the position of the cargo compartment 10.

[0034] As described above, the battery 4 is mounted on the upper surface 31 of the cargo compartment cover 3. The battery 4 is housed in a battery housing space 58 formed by the upper surface 31a of the cargo compartment 10 (cargo compartment cover 3) and the wall surface of the main body space 55 (see Figures 2 and 3). The battery 4 is a battery for driving the aircraft 1, and more specifically, it is a battery for supplying power to the drive unit of the rotor blades 53, which are lift generating units provided on the main body 5. The battery 4 is also a rechargeable secondary battery. Various types of secondary batteries can be used as the battery 4, for example, a nickel-metal hydride battery, a lithium polymer battery, a lithium-ion battery, or a lithium ferrite battery.

[0035] As shown in Figure 2, the battery 4 comprises a battery body 41, electric wires 42, and a connector 43. The battery body 41 supplies power to the outside via the electric wires 42 and the connector 43. The battery body 41 is installed in the battery housing space 58 with space (position-adjustable space) in the horizontal direction (front-to-back and left-to-right direction). Furthermore, the battery body 41 is installed with its vertical movement restricted by the upper surface 31 of the cargo compartment cover 3 and the upper surface of the main body space 55.

[0036] The wire 42 connects the battery body 41 and the connector 43. The length of the wire 42 is designed to allow the battery body 41 to be mounted at any horizontal position in the battery housing space 58. The connector 43 is held in place by the connector holder 38 described above. The connector 43 is also connected to the connector 59 on the main body 5. The connector 43 and the connector 59 are detachable. The connector 43 corresponds to the first connector in this disclosure, and the connector 59 corresponds to the second connector. The connector holder 38 corresponds to the holding part.

[0037] The battery unit 41 can be positioned horizontally within the battery storage space 58 when the battery 4 is mounted on top of the cargo compartment cover 3 (when the battery 4 is mounted on the aircraft 1). On the other hand, it is undesirable for the mounting position of the battery unit 41 to change unintentionally while the aircraft 1 is in flight. Therefore, in order to prevent the battery unit 41 from moving within the upper surface 31a of the cargo compartment cover 3 during flight, the battery unit 41 may be simply fixed to the upper surface 31a with hook-and-loop fasteners or the like.

[0038] The main body 5 is connected to a rotor blade 53 which serves as a lift generating unit and a thrust generating unit. In other words, the main body 5 is configured to be flyable. As shown in Figure 4, the main body 5 comprises a main body cover 51, an arm 52 connected to the main body cover 51, and a rotor blade 53 (propeller) connected to the tip of the arm 52. The arm 52 is provided so as to protrude laterally from the main body cover 51, for example. Multiple arms 52 and rotor blades 53 (four in the example in Figure 4) may be provided.

[0039] Furthermore, the main body 5 includes a drive unit (motor) for driving the rotor blades 53, a communication unit, a sensor unit, a memory unit, and a control unit (not shown). The communication unit is the part that communicates with an external management device (not shown) during flight, for example, by transmitting detected values ​​from the sensor unit (e.g., current value information) to the management device and receiving flight control signals from the management device. The sensor unit may include various sensors, for example, a camera, GPS sensor, acceleration sensor, gyro sensor, infrared sensor, sound sensor, brightness sensor, wind direction and speed sensor, geomagnetic sensor, altitude sensor, displacement sensor, temperature sensor, heat detection sensor, or pressure sensor. The memory unit stores various data necessary for transporting the cargo 100. The memory unit may also store destination information of the cargo 100 to enable autonomous flight when communication with the external management device is impossible. The control unit controls the driving of the rotor blades 53 based on detected values ​​from the sensor unit, flight control signals received by the communication unit, etc.

[0040] The main body cover 51 is formed in a box shape (in other words, roughly a rectangular parallelepiped) with an opening 54 at the bottom. Specifically, as shown in Figures 2 and 3, the main body cover 5 is formed in a shape having a top surface 51a, left and right side surfaces 51b and 51c, a front surface 51d, and a rear surface 51e. Inside these surfaces 51a to 51e, a main body space 55 is formed with an opening 54 at the bottom and closed in directions other than downward (left and right, front and back, and upward). The opening 54 is formed in a shape similar to the plan view shape of the cargo compartment 10 when viewed from above. The main body space 55 is a space for housing the cargo compartment 10 and the battery 4 mounted therein. Of the main body space 55, the space 58 enclosed by the top surface 31a of the cargo compartment 10 and the top surface 51a of the main body cover 51 is set as the battery housing space described above.

[0041] Furthermore, the inner edge of the portion of the main body cover 51 that forms the opening 54 is formed in a tapered shape 54a, where the diameter of the opening 54 gradually decreases as it goes upwards (see Figure 3). The tapered shape 54a is formed around the entire circumference of the opening 54. This tapered shape 54a makes it easier to insert the cargo compartment 10 into the main body space 55 when attaching the cargo compartment 10 to the main body cover 51.

[0042] The wall surface of the main body space 55 has inner protrusions 56 that project inward from the main body space 55 (see Figures 2 and 7). The inner protrusions 56 are formed in a total of four locations: two on the front side and two on the rear side in the front-rear direction (see Figure 7). Specifically, the inner protrusions 56 provided in front of the cargo compartment cover 3 have, as shown in Figure 2, a first protrusion 56a that projects rearward from the inner surface of the front part 51d (the surface facing the main body space 55) and a second protrusion 56b that projects downward from the inner surface of the upper part 51a (the surface facing the main body space 55). These first protrusions 56a and second protrusions 56b are continuous. The first protrusion 56a is formed continuously from the opening 54 of the main body space 55 to the position of the upper part 51a (second protrusion 56b). The first protrusion 56a is formed in a shape in which the amount of rearward projection gradually increases as it goes upward. In other words, the rearward protruding end 56a1 of the first protrusion 56a is formed in an inclined shape that gradually displaces rearward as it extends upward. The inclination angle of the protruding end 56a1 with respect to the cargo compartment centerline L (vertical direction) is the same as the inclination angle of the front part of the cargo compartment cover 3 with respect to the cargo compartment centerline L. That is, when the cargo compartment cover 3 is attached to the main body cover 51, the entire protruding end 56a1 is in contact with the front part of the cargo compartment cover 3.

[0043] Furthermore, the second projection 56b is formed to protrude downward from the front portion of the upper surface 51a. The downward projection end 56b1 of the second projection 56b is formed parallel to the horizontal plane, or in other words, it is formed to form a horizontal line when viewed from the direction shown in Figure 2. That is, when the cargo compartment cover 3 is attached to the main body cover 51, the entire projection end 56b1 is in contact with the upper surface 31a of the cargo compartment cover 3.

[0044] As shown in Figure 2, the inner projection 56, located behind the cargo compartment cover 3, has a third projection 56c that protrudes forward from the inner surface of the rear surface 51e (the surface facing the main body space 55) and a fourth projection 56d that protrudes downward from the inner surface of the upper surface 51a (the surface facing the main body space 55). These third projection 56c and fourth projection 56d are continuous. The third projection 56c is formed in a shape where the amount of forward projection gradually increases as it goes upward. That is, the forward projection end 56c1 of the third projection 56c is formed in an inclined shape that gradually displaces forward as it goes upward. The inclination angle of the projection end 56c1 with respect to the cargo compartment centerline L is the same as the inclination angle of the rear surface of the cargo compartment cover 3 with respect to the cargo compartment centerline L. That is, when the cargo compartment cover 3 is attached to the main body cover 51, the entire projection end 56c1 is in contact with the rear surface of the cargo compartment cover 3.

[0045] Furthermore, the fourth projection 56d is formed to protrude downward from the rear portion of the upper surface 51a. The downward projection end 56d1 of the fourth projection 56d is formed parallel to the horizontal plane, or in other words, it is formed to form a horizontal line when viewed from the direction shown in Figure 2. That is, when the cargo compartment cover 3 is attached to the main body cover 51, the entire projection end 56d1 is in contact with the upper surface 31a of the cargo compartment cover 3.

[0046] In this manner, the four inner protrusions 56 restrict the relative movement of the cargo compartment 10 in the front-rear and upward directions relative to the main body cover 51. The inner protrusions 56 function as positioning parts that determine the position of the cargo compartment 10 in the main body space 55, or in other words, they function as movement restricting parts that restrict the relative movement of the cargo compartment 10 with respect to the main body cover 51. The lateral movement of the cargo compartment 10 is restricted by the left and right side portions 51b and 51c of the main body cover 51 (see Figure 3). Furthermore, as described above, the downward movement of the cargo compartment 10 is restricted by the mounting portions 37 and 57.

[0047] Furthermore, the lower surface 60 (see Figure 2) of the main body cover 51 is located in front of and behind the opening 54, and is provided to form a step below the opening 54. The lower surface 60 is formed as a horizontal surface. The lower surface 60 functions as a contact surface that comes into contact with the ground when the aircraft 1 is on the ground. The lower ends of the cargo compartment 10 (the lower ends 22a of the cargo compartment cover 2 and 34 of the cargo compartment cover 3) are located above the lower surface 60. That is, when the cargo compartment 10 is attached to the main body cover 51, the lower ends 22a and 34 of the cargo compartment 10 are slightly elevated from the ground.

[0048] The main body cover 51 is detachable from the cargo compartment 10 (cargo compartment cover 3). Specifically, the main body cover 51 is designed to be attached to the cargo compartment 10 from above and removed from above the cargo compartment 10. More specifically, the main body cover 51 has mounting portions 57 on the inner surfaces of its left and right side portions 51b and 51c, which are shaped to engage with mounting portions 37 on the cargo compartment cover 3 side (see Figure 5). As described above, the mounting portions 57 are formed in a groove shape (concave shape) that fits into, for example, a protruding mounting portion 37. In addition, the mounting portions 57 are provided at multiple positions along the circumferential direction of the main body cover 51, in accordance with the position of the mounting portions 37 on the cargo compartment cover 3 side.

[0049] The aircraft 1 is used, for example, in a logistics system that transports goods (cargo) one after another. Figure 8 illustrates a base 200 for the aircraft 1, which constitutes a logistics system using the aircraft 1. The base 200 constitutes the aircraft 1's loading system, which mounts a cargo compartment 10 containing cargo 100 and batteries 4 onto the main body 5. The base 200 also constitutes the aircraft 1's separation system, which unloads the cargo compartment 10 and batteries 4 from the aircraft 1 after it has returned from transporting cargo 100, and separates the aircraft 1 into its respective parts 2, 3, 4, and 5.

[0050] Base 200 is both the departure base for the aircraft 1 carrying cargo 100 and the base to which the aircraft 1 returns after completing the transport of cargo 100. More specifically, Base 200 includes a cargo compartment assembly line 201, a shipping line 202, a main unit line 203, and a cargo compartment retrieval line 204. The cargo compartment assembly line 201 is the line for assembling the cargo compartment 10, which is loaded with cargo 100 and battery 4. The cargo compartment assembly line 201 includes, for example, a conveying section 201a such as a belt conveyor whose conveying direction is perpendicular to the conveying direction of the shipping line 202. The cargo compartment assembly line 201 may include, for example, a plurality of conveying sections 201a arranged parallel to each other. The conveying sections 201a are driven to convey toward the shipping line 202.

[0051] The shipping line 202 is a line that receives the cargo compartment 10, which is loaded with cargo 100 and battery 4, from the cargo compartment sequencing line 201, and transports the cargo compartment 10. The shipping line 202 is also a line that receives the main body 5 transported from the main body line 203, and combines the main body 5 with the cargo compartment 10 being transported to form the aircraft 1. Furthermore, the shipping line 202 is a line that departs the aircraft 1 loaded with cargo 100. The shipping line 202 is equipped with a transport section 202a that transports the cargo compartment 10 received from the cargo compartment sequencing line 201 in a direction perpendicular to the transport direction of the cargo compartment sequencing line 201.

[0052] The main line 203 is a line that receives the returned aircraft 1, removes the cargo compartment 10 containing the battery 4 from the main body 5 of the aircraft 1, and transports the main body 5 toward the shipping line 202. The main line 203 is equipped with a transport section 203a that transports toward the shipping line 202. The transport direction of the transport section 203a is, for example, perpendicular to the transport direction of the shipping line 202.

[0053] The cargo compartment recovery line 204 is a line for recovering the cargo compartment 10, which contains the battery 4, after it has been removed from the main body 5 of the returning aircraft 1. More specifically, the cargo compartment recovery line 204 is a line for recovering the cargo compartment 10, which contains the battery 4, while separating it into parts 2, 3, and 4. The cargo compartment recovery line 204 is equipped with a transport section 204a whose transport direction is perpendicular to the transport direction of the main body line 203.

[0054] In addition to the lines 201-204 mentioned above, base 200 also includes a luggage storage section 210, a battery charging section 211, a battery storage section 212, a luggage compartment cover storage section 213, a luggage compartment tray storage section 214, and a main unit storage section 215 (see Figure 8). The luggage storage section 210 is the part (location) where the luggage 100 to be transported is stored. The battery charging section 211 is the part where the battery 4 is charged. The battery 4 is fully charged (e.g., to full charge) by, for example, the battery charging section 211.

[0055] The battery storage section 212 is a place for storing charged batteries 4 or batteries 4 before charging. Multiple types of batteries 4 with different capacities (weights) are stored in the battery storage section 212, namely high-capacity batteries 4, medium-capacity batteries 4, and low-capacity batteries 4. The cargo compartment cover storage section 213 is a place for storing the cargo compartment cover 3. The cargo compartment tray storage section 214 is a place for storing the cargo compartment tray 2. The main unit storage section 215 is a place for storing the main unit 5.

[0056] Furthermore, the base 200 has the electrical configuration shown in Figure 9. Specifically, the base 200 includes a cargo tray placement device 221, a cargo loading device 222, a cargo cover mounting device 223, a battery mounting device 224, a main unit mounting device 225, and a center of gravity position acquisition unit 226. In addition, the base 200 includes a cargo separation device 227, a battery recovery device 228, a cargo cover recovery device 229, a cargo tray recovery device 230, a memory device 231, and a control device 232.

[0057] The cargo compartment tray placement device 221 is located upstream of the cargo compartment sequential line 201. The cargo compartment tray placement device 221 is a device (robot) that grasps the cargo compartment trays 2 stored in the cargo compartment tray storage section 214 and places them on the transport section 201a of the cargo compartment sequential line 201.

[0058] The cargo loading device 222 is located downstream of the cargo tray placement device 221 in the cargo compartment sequential line 201. The cargo loading device 222 is a device (robot) that grasps the cargo 100 stored in the cargo storage section 210 and places it onto the cargo tray 2 that is transported by the transport section 201a.

[0059] The cargo compartment cover mounting device 223 is located downstream of the cargo loading device 222 in the cargo compartment sequencing line 201. The cargo compartment cover mounting device 223 is a device (robot) that grasps the cargo compartment cover 3 stored in the cargo compartment cover storage unit 213 and mounts it onto the cargo compartment tray 2 on which the cargo 100 is being transported by the transport unit 201a.

[0060] The battery loading device 224 is located downstream of the cargo compartment cover mounting device 223 in the cargo compartment sequencing line 201. The battery loading device 224 is a device (robot) that grasps the batteries 4 stored in the battery storage section 212 and places them on the upper surface of the cargo compartment 10 (cargo compartment cover 3) being transported by the transport section 201a.

[0061] The main unit mounting device 225 is installed at the point where the shipping line 202 and the main unit line 203 merge. The main unit mounting device 225 is a device (robot) that grasps the main unit 5 being transported on the main unit line 203 and mounts it onto the cargo compartment 10, which is transported on the shipping line 202 and contains the cargo 100 and battery 4.

[0062] The center of gravity acquisition unit 226 is the part that measures the center of gravity of the cargo 100 being transported on the cargo compartment arranging line 201. The center of gravity acquisition unit 226 is installed upstream of the battery mounting device 224 on the cargo compartment arranging line 201, for example, as shown in Figure 10. The center of gravity acquisition unit 226 measures the weight distribution in the horizontal direction (in other words, in the in-plane direction of the cargo compartment tray 2) of the cargo compartment 10 (cargo compartment tray 2, cargo compartment cover 3, and cargo 100) before the battery 4 is installed. From this weight distribution, the center of gravity of the cargo compartment 10 containing the cargo 100 in the horizontal direction can be obtained, or the center of gravity of the cargo 100 contained in the cargo compartment 10 in the horizontal direction can be obtained. The center of gravity acquisition unit 226 is composed of, for example, a pressure sensor that measures the pressure distribution on the transport unit 201a.

[0063] Furthermore, the center of gravity acquisition unit 226 may be installed upstream of the cargo compartment cover mounting device 223 in the cargo compartment arranging line 201, and may measure the weight distribution (center of gravity) of the cargo compartment tray 2 and the cargo 100 placed on it before the cargo compartment cover 3 is attached. In addition to the weight distribution (center of gravity), the center of gravity acquisition unit 226 may also acquire the total weight of the cargo 100 placed on the cargo compartment tray 2 (or the total weight of multiple cargo 100 if there are multiple cargo 100).

[0064] Furthermore, the center of gravity acquisition unit 226 may acquire the weight of each item 100 placed on the cargo tray 2 and the mounting position of each item 100 on the cargo tray 2, and calculate the center of gravity of the items 100 on the cargo tray 2 (or the center of gravity of all items 100 if there are multiple items 100) based on the acquired weight and mounting position of each item 100. In this case, the weight of each item 100 may be acquired by measurement when calculating the center of gravity, or it may be stored in the storage device 231 in advance. The mounting position of each item 100 may be acquired from the cargo loading device 222 that places the items 100 on the cargo tray 2, or it may be acquired using a sensor such as a camera.

[0065] Returning to the explanation of Figure 9, the cargo compartment separation device 227 is a device (robot) installed on the main body line 203 in Figure 8 that separates the cargo compartment 10 from the main body 5 from the returning aircraft 1.

[0066] The battery recovery device 228 is installed in the cargo compartment recovery line 204 and is a device (robot) that unloads (recovers) the battery 4 from the cargo compartment 10 containing the battery 4 as it flows along the cargo compartment recovery line 204.

[0067] The cargo compartment cover retrieval device 229 is located downstream of the battery retrieval device 228 in the cargo compartment retrieval line 204. The cargo compartment cover retrieval device 229 is a device (robot) that unloads (retrieves) the cargo compartment cover 3 from the cargo compartment 10 flowing through the cargo compartment retrieval line 204.

[0068] The cargo tray retrieval device 230 is located downstream of the cargo cover retrieval device 229 in the cargo retrieval line 204. The cargo tray retrieval device 230 is a device (robot) that retrieves cargo trays 2 flowing through the cargo retrieval line 204.

[0069] The storage device 231 is a non-volatile storage device that stores various types of information. Specifically, the storage device 231 stores, for example, information about the packages 100 to be transported. The package information includes, for example, package identification information (such as an ID number) that identifies each package 100, information indicating the weight of each package 100, information indicating the destination of each package 100 (such as an address), information indicating the transport distance of each package 100, and information indicating the storage location of each package 100 in the package storage unit 210. The above package identification information and other information (weight, destination, transport distance, storage location, etc.) are associated and stored in the storage device 231.

[0070] Furthermore, the storage device 231 stores battery information for each battery 4 stored in the battery storage unit 212, for example. The battery information includes, for example, battery identification information (such as an ID number) that identifies each battery 4, information indicating the capacity of the battery 4, information indicating the charge status of the battery 4, information indicating the weight of the battery 4, and information indicating the storage location of each battery 4 in the battery storage unit 212. The above battery identification information and other information (capacity, charge status, weight, storage location, etc.) are associated and stored in the storage device 231. Generally speaking, there is a correlation between the capacity and weight of the battery 4; that is, the higher the capacity, the heavier the weight.

[0071] The control device 232 is a device that controls each of the devices 221 to 230 shown in Figure 9. For example, when the battery 4 is sufficiently charged by the battery charging unit 211 described above, the control device 232 updates the charge status stored in the storage device 231, which is associated with the identification information of the battery 4, to "charged".

[0072] Next, the method of loading the aircraft 1 at base 200 (a method of loading the cargo compartment 10 containing the cargo 100 and battery 4 onto the main body 5) will be explained. Figure 11 shows a flowchart of this loading method. In Figures 8 and 10, the symbols for each step (S1 to S5) are shown at the locations where each step in Figure 11 is performed.

[0073] First, an empty cargo tray 2 is placed on the conveying section 201a of the cargo compartment sorting line 201 (S1). Specifically, the cargo compartment tray placement device 221 in Figure 9, for example, grasps an empty cargo compartment tray 2 stored in the cargo compartment tray storage section 214 and places the cargo compartment tray 2 onto the conveying section 201a. Alternatively, the conveying section 204a of the cargo compartment recovery line 204 and the conveying section 201a of the cargo compartment sorting line 201 may be connected, allowing the cargo compartment trays 2 flowing through the conveying section 204a of the cargo compartment recovery line 204 to flow directly into the cargo compartment sorting line 201.

[0074] Next, in step S1, one or more packages 100 are placed on the cargo tray 2 which was placed on the transport unit 201a (S2). Specifically, the cargo loading device 222 in Figure 9 selects the packages 100 to be transported from among the packages 100 stored in the cargo storage unit 210, grasps the selected packages 100, and places them on the cargo tray 2. At this time, the control device 232 in Figure 9, for example, refers to the cargo information stored in the storage device 231 and selects several packages 100 (cargo identification information) whose destinations are nearby. Then, for each selected package 100, the control device 232 refers to the storage location stored in the storage device 231 in association with the cargo identification information. Then, the control device 232 causes the cargo loading device 222 to select the package 100 corresponding to the storage location stored in the storage device 231 from among the packages storage unit 210 and place that package 100 on the cargo tray 2.

[0075] Furthermore, when the cargo loading device 222 loads multiple packages 100 onto the cargo tray 2, the multiple packages 100 may be arranged in the in-plane direction (horizontal direction) of the cargo tray 2 (for example, in the front-to-back direction of the cargo tray 2). Steps S1 and S2 correspond to the cargo loading process of this disclosure.

[0076] Next, in step S2, the cargo compartment cover 3 is attached from above to the cargo compartment tray 2 on which the cargo 100 is placed, and the cargo compartment tray 2 and the cargo compartment cover 3 are joined together (S3). Specifically, the cargo compartment cover attachment device 223 in Figure 9 grasps the cargo compartment cover 3 stored in the cargo compartment cover storage unit 213 and attaches the cargo compartment cover 3 to the cargo compartment tray 2 flowing through the transport unit 201a. At this time, the cargo compartment cover attachment device 223 engages the attachment part 23 of the cargo compartment tray 2 with the attachment part 36 of the cargo compartment cover 3 (see Figure 5) to prevent the cargo compartment cover 3 from coming off the cargo compartment tray 2. Steps S1 to S3 result in a cargo compartment 10 containing the cargo 100. Note that step S3 corresponds to the first joining process.

[0077] Next, the battery 4 is mounted on the upper surface of the cargo compartment 10 obtained in step S3 (S4). At this time, the mounting position of the battery 4 is changed according to the center of gravity of the cargo compartment 10 before the battery 4 is mounted, with the cargo 100 contained within. Specifically, as step S4, for example, the process shown in Figure 12 is executed. The process shown in Figure 12 is executed, for example, by the control device 232 in Figure 9. In Figure 12, the control device 232 first obtains the weight of each piece of cargo 100 contained in the cargo compartment 10 obtained in step S3 (S11). Specifically, the weight of each piece of cargo 100 can be obtained, for example, from the storage device 231 in Figure 9. The weight of each piece of cargo 100 may also be obtained by communication from the headquarters' management device (not shown).

[0078] Next, the control device 232 obtains the planned flight distance of the aircraft 1 (S12). Specifically, the planned flight distance is obtained as the total transport distance from when the aircraft 1 departs from base 200, transports each piece of cargo 100 to its destination, and then returns to base 200. More specifically, the control device 232 reads the destination and transport distance corresponding to each piece of cargo 100 stored in the cargo compartment 10 from the storage device 231. Then, it calculates the total transport distance based on the read destination and transport distance. In this case, if the destinations of each piece of cargo 10 stored in cargo compartment 10 are different (if the aircraft passes through multiple locations (intermediates) from departure to return), the total transport distance is calculated based on the longest transport distance among the transport distances of each piece of cargo 10. The planned flight distance (total transport distance) may also be obtained by communication from the headquarters' management device (not shown).

[0079] Next, the control device 232 selects a battery 4 to be installed in the cargo compartment 10 (S13). Specifically, based on the weight of each piece of luggage 10 obtained in step S11 and the planned flight distance obtained in step S12, the control device 232 selects a battery 4 from among the multiple batteries 4 stored in the battery storage unit 212 that has a capacity that will allow the aircraft to fly, for example, from departure from base 200 to return, without charging the battery 4 or replacing it with another battery 4. At this time, the control device 232 selects a higher capacity battery 4 the greater the total weight of the luggage 10. Also, the control device 232 selects a higher capacity battery 4 the longer the planned flight distance. Furthermore, for example, the memory or storage device 231 in the control device 232 stores the correspondence between the total weight of the luggage 10, the planned flight distance, and the capacity of the battery 4, and the control device 232 identifies the minimum battery capacity required for this transport based on this correspondence and the total weight of the luggage 10 and the planned flight distance obtained in steps S11 and S12. The control device 232 then selects a battery 4 with a capacity equal to or greater than the specified minimum required capacity. In this case, the battery 4 with the lowest capacity among the batteries 4 with a capacity equal to or greater than the minimum required capacity may be selected. Note that the above correspondence may be obtained by communication from the headquarters' management device (not shown).

[0080] Furthermore, the control device 232 may select a fully charged battery 4 (for example, fully charged (100% charged)) based on the information indicating the charge status of the battery stored in the storage device 231.

[0081] Furthermore, the control device 232 may select the battery 4 by considering other conditions (such as current weather, wind speed, and manufacturing date of battery 4) in addition to the weight of the cargo 100 and the planned flight distance. For example, if the current weather is rainy, the power consumption of battery 4 may increase due to the resistance of the rain. Therefore, if the current weather is rainy, a higher capacity battery 4 may be selected compared to the case of sunny weather. Also, for example, the higher the wind speed, the higher the power consumption of battery 4 may increase. Therefore, a higher capacity battery 4 may be selected if the wind speed is high. Also, for example, the older the manufacturing date of battery 4, the higher the power consumption of battery 4 may increase. Therefore, a higher capacity battery 4 may be selected if the manufacturing date of battery 4 is old. Note that the acquisition of the weight of each cargo 100, the acquisition of the planned flight distance, and the selection of the battery 4 to be installed in steps S11 to S13 may be performed by the headquarters' management device (not shown). In this case, the control device 232 may acquire information on the battery 4 selected by the headquarters' management device via communication.

[0082] Next, the control device 232 instructs the center of gravity acquisition unit 226 in Figure 9 to measure or calculate the center of gravity (weight distribution) of the entire cargo 100 contained in the cargo compartment 10 obtained in steps S1 to S3, and acquires that center of gravity (S14). The control device 232 may acquire the center of gravity of the entire cargo compartment 10 containing the cargo 100 as the center of gravity of the cargo 100.

[0083] Next, the control device 232 calculates the optimal mounting position for the battery 4 on the upper surface of the cargo compartment 10 (cargo compartment cover 3) based on the weight of the battery 4 selected in step S13 and the center of gravity position of the cargo 100 obtained in step S14 (S15). At this time, the control device 232 calculates the mounting position of the battery 4 such that, for example, the horizontal center of gravity position of the cargo compartment 10 after the battery 4 is mounted on the upper surface of the cargo compartment 10 becomes a predetermined target center of gravity position. As the mounting position of the battery 4, for example, the control device 232 calculates the center position or center of gravity position of the battery body 41 on the upper surface of the cargo compartment 10. The target center of gravity position is set to, for example, the center of the cargo compartment 10.

[0084] For example, in Figure 13, the cargo compartment 10 contains three items 100A, 100B, and 100C, with the weights of each item increasing in the order of 100A, 100B, and 100C, and the items being arranged at equal intervals in the front-to-back direction in the order of 100A, 100B, and 100C. The center of gravity position indicated by the symbol "301" is the center of gravity position of the items obtained in step S14, and the position indicated by the symbol "300" is the target center of gravity position in the front-to-back direction. The position indicated by the symbol "302" is the mounting position of the battery 4 calculated in step S15 (in other words, the center position or center of gravity position of the battery 4). In this case, since item 100C is heavier than item 100A, the center of gravity position 301 of the items will be shifted from the target center of gravity position 300 towards item 100C. Furthermore, the mounting position 302 of the battery 4 is set to a position shifted from the target center of gravity position 300 toward the cargo 100A. In this case, the greater the shift of the cargo center of gravity position 301 relative to the target center of gravity position 300, the greater the shift of the battery 4 mounting position 302 relative to the target center of gravity position 300. Also, the mounting position 302 of the battery 4 may be set closer to the target center of gravity position 300 as the weight of the battery 4 increases. Also, the mounting position 302 of the battery 4 may be set further away from the target center of gravity position 300 as the weight of the cargo added to the cargo center of gravity position 301 increases.

[0085] Furthermore, for example, in Figure 14, three pieces of luggage 100D, 100E, and 100F are stored in the luggage compartment 10, and each piece of luggage 100D, 100E, and 100F has an equal weight, and they are arranged in the front-to-back direction at equal intervals in the order of luggage 100D, luggage 100E, and luggage 100F. The center of gravity position indicated by the symbol "303" is the center of gravity position of the luggage obtained in step S14, and the position indicated by the symbol "300" is the target center of gravity position in the front-to-back direction. Also, the position indicated by the symbol "304" is the mounting position of the battery 4 calculated in step S15 (in other words, the center position or center of gravity position of the battery 4). In this case, since luggage 100D, 100E, and 100F have equal weights, the center of gravity position of the luggage 303 will be close to the target center of gravity position 300. Consequently, the mounting position of the battery 4 304 will also be close to the target center of gravity position 300.

[0086] Figures 13 and 14 show examples where the battery mounting positions 302 and 304 change in the front-to-back direction within the horizontal direction according to the weight of the battery 4 and the center of gravity positions 301 and 303 of the cargo. If the center of gravity positions 301 and 303 are shifted laterally relative to the target center of gravity position 300, then the battery mounting positions 302 and 304 will also be shifted laterally relative to the target center of gravity position 300.

[0087] Here, the center of gravity position (weight distribution) obtained in step S14 changes depending on the weight of each item 100 on the cargo tray 2 and the mounting position of each item 100 on the cargo tray 2. Therefore, the optimal mounting position obtained in step S15 changes depending on the weight of each item 100 on the cargo tray 2, the mounting position of each item 100 on the cargo tray 2, and the weight of the battery 4. In other words, step S15 is equivalent to calculating the optimal mounting position of the battery 4 based on the weight of each item 100 on the cargo tray 2, the mounting position of each item 100 on the cargo tray 2, and the weight of the battery 4.

[0088] Returning to the explanation of Figure 12, the control device 232 then causes the battery mounting device 224 in Figure 9 to grasp the battery 4 selected in step S13 from the battery storage unit 212 (S16). Then, the battery mounting device 224 places the battery body 41 of the grasped battery 4 at the battery mounting position calculated in step S15 on the upper surface of the cargo compartment 10 (S16). Specifically, the battery 4 is placed on the upper surface of the cargo compartment 10 so that the center position or center of gravity of the battery body 41 coincides with the battery mounting position calculated in step S15. The location in the battery storage unit 212 where the battery 4 selected in step S13 is stored can be determined by referring to the storage position information among the battery information stored in the storage device 231.

[0089] The battery mounting device 224 mounts the battery body 41 of the battery 4 on the upper surface of the cargo compartment 10, while holding the connector 43 of the battery 4 in the connector holder 38 (see Figure 10). In this manner, step S4 in Figure 11 is executed. Step S4 and the processes in Figure 12 (steps S11 to S16) correspond to the battery mounting process, the center of gravity adjustment process, and the battery position adjustment process.

[0090] Steps S1 to S4 described above result in a cargo compartment 10 loaded with cargo 100 and battery 4. This cargo compartment 10 is sent from the transport section 201a of the cargo compartment sequential line 201 to the transport section 202a of the shipping line 202. This cargo compartment 10 is transported by the transport section 202a to the junction with the main body line 203. At this junction, the main body 5 sent from the main body line 203 is attached to the cargo compartment 10 from above, and the cargo compartment 10 and the main body 5 are combined (step S5 in Figure 11). Specifically, the main body mounting device 225 in Figure 9 grasps the main body 5 sent from the transport section 203a of the main body line 203, or the main body 5 stored in the main body storage section 215 (see Figure 8), and attaches the main body 5 to the cargo compartment 10. At this time, the main unit mounting device 225 engages the mounting portion 37 of the cargo compartment cover 3 with the mounting portion 57 of the main unit cover 51 (see Figure 5) to prevent the cargo compartment cover 3 (cargo compartment 10) from coming off the main unit 5.

[0091] Furthermore, in step S5, the cargo compartment 10 and the main unit 5 are fitted together, automatically connecting the connector 43 of the battery 4 to the connector 59 on the main unit 5. This enables power supply to the main unit 5. Step S5 corresponds to the second assembly process.

[0092] Steps S1 to S5 in Figure 11 complete the aircraft 1, which is equipped with the cargo compartment 10, cargo 100, and battery 4. The aircraft 1 is then transported further downstream to the departure position by the transport section 202a of the shipping line 202, and begins flight toward the destination.

[0093] Next, we will explain the method for separating the aircraft 1 into its parts 2, 3, 4, and 5, which is carried out at base 200. Figure 15 shows a flowchart of this separation method. In Figure 8, the symbols for each step (S21 to S24) are shown at the locations where each step in Figure 15 is performed.

[0094] First, the aircraft 1, which has returned to base 200, is received into the main line 203. Then, the cargo compartment 10 is separated from the aircraft 1 (S21). Specifically, the cargo compartment separation device 227 in Figure 9 separates the cargo compartment 10, which contains the battery 4, from the main body 5 by releasing the engagement between the attachment part 37 of the cargo compartment cover 3 of the aircraft 1 and the attachment part 57 of the main body cover 51, and either pulling the main body 5 up above the cargo compartment 10 or pulling the cargo compartment 10 down below the main body 5. The cargo compartment separation device 227 then either sends the separated main body 5 directly into the transport section 203a of the main line 203, or moves it to the main body storage section 215. Furthermore, the cargo compartment separation device 27 places the separated cargo compartment 10 (including the battery 4) into the transport section 204a of the cargo compartment recovery line 204.

[0095] Next, in step S21, the battery 4 is recovered from the cargo compartment 10 placed on the transport unit 204a (S22). Specifically, the battery recovery device 228 in Figure 9 grasps the battery 4 on top of the cargo compartment 10 and sends it to the battery storage unit 212 or the battery charging unit 211. After the battery 4 has been recovered, the cargo compartment 10 is carried downstream by the transport unit 204a.

[0096] Next, the cargo compartment cover 3 is recovered from the cargo compartment 10 after battery recovery, which is being transported to the transport unit 204a (S23). Specifically, the cargo compartment cover recovery device 229 in Figure 9 separates the cargo compartment cover 3 and the cargo compartment tray 2 by releasing the engagement between the mounting portion 36 of the cargo compartment cover 3 and the mounting portion 23 of the cargo compartment tray 2, and either pulling the cargo compartment cover 3 upwards or pulling the cargo compartment tray 2 downwards. The cargo compartment cover recovery device 229 then moves the separated cargo compartment cover 3 to the cargo compartment cover storage unit 213. The cargo compartment tray 2 is left on top of the transport unit 204a.

[0097] Next, the cargo trays 2 that are being transported to the transport section 204a are collected (S24). Specifically, the cargo tray collection device 230 in Figure 9 grasps the cargo trays 2 that are on the transport section 204a and sends them to the cargo tray storage section 214 or to the transport section 201a of the cargo tray sorting line 201.

[0098] The effects of the first embodiment are described below. Since the cargo compartment 10 is detachable from the main body 5 of the aircraft 1, the cargo compartment 10 equipped with the cargo 100 and battery 4 can be prepared in advance (pre-setup is possible) before the main body 5 is prepared. As a result, when the main body 5 is ready, the cargo 100 and battery 4 can be quickly loaded onto the main body 5, improving the efficiency of the loading work time. In addition, the loading of the cargo 100 and battery 4 onto the main body 5 can be done simultaneously. Furthermore, by pre-setting up the cargo compartment 10 equipped with the battery 4 and cargo 100, the operational management of the aircraft 1 at the base 200 becomes easier, and for example, when the main body 5 returns to the base 200 it can be immediately combined with the next cargo compartment 10 and flown. As a result, the aircraft 1 (main body 5) can take off one after another without waiting time, and the turnover rate (operation rate) of the main body 5 can be increased.

[0099] Furthermore, since the cargo tray 2 (the area for placing luggage 100) of the cargo compartment 10 is detachable from the cargo cover 3, luggage 100 can be placed on the cargo tray 2 while it is detached from the cargo cover 3, and luggage 100 can be unloaded from the cargo tray 2. This allows for efficient loading and unloading of luggage 100. It also provides a cargo compartment structure that facilitates automated loading and unloading of luggage 100 by robots. Moreover, by separating the cargo tray 2 from the cargo cover 3, it is easier to place multiple pieces of luggage 100 on the cargo tray 2, and the position of the luggage 100 on the cargo tray 2 can also be easily adjusted.

[0100] The cargo compartment cover 3 is attached to the cargo compartment tray 2 from above and separates from the cargo compartment tray 2, making it easy for a robot to automatically attach and detach the cargo compartment cover 3 from the cargo compartment tray 2.

[0101] Since the cargo space 35 of the cargo compartment 10 is a closed space on all sides, the luggage 100 can be protected from rain (water), etc. Also, since the cargo compartment 10 has no openings other than the bottom, it is possible to prevent rainwater from entering the cargo space 35 through gaps in the openings of the cargo compartment 10.

[0102] When the cargo tray 2 is attached to the cargo cover 3, the tray body 21 is located inside the cargo space 35 beyond the lower opening 34 of the cargo cover 3 (see Figures 2 and 3), thus providing even greater protection for the luggage 100 placed on the tray body 21 from rain and other elements. Furthermore, when the cargo tray 2 is attached to the cargo cover 3, the entire circumference of the outer perimeter 22 of the cargo tray 2 is in contact with the inner surface 32a of the side surface 32 of the cargo cover 3. In other words, the outside of the outer perimeter 22 is covered by the side surface 32, providing even greater protection for the luggage 100 placed on the tray body 21 from rain and other elements.

[0103] Furthermore, when the cargo compartment 10 is attached to the main body 5, it is housed in the space 55 of the main body cover 51, thus providing even greater protection for the luggage 100 stored in the cargo compartment 10 from rain and other elements. Since this main body space 55 is closed off in all directions except downwards, it is possible to prevent rain falling from above from entering the main body space 55.

[0104] The main unit 5 is mounted on the cargo compartment 10 from above and is detachable from the top of the cargo compartment 10, making it easy for a robot to automatically attach and detach the main unit 5 from the cargo compartment 10.

[0105] The parts 2, 3, 4, and 5 that make up the aircraft 1 are nested in a structure that is attached one after another from above and integrated into a single unit, making the integration process easy and providing waterproofing during rainfall.

[0106] Since the battery 4 is mounted on the top surface of the cargo compartment 10, it can be mounted and retrieved from the cargo compartment 10 with the cargo compartment 10 separated from the main unit 5. This makes it easier to mount and retrieve the battery 4.

[0107] Since the battery 4 is selected considering the weight of the cargo 100 stored in the cargo compartment 10 and the planned flight distance, it is possible to avoid charging or replacing the battery 4 during transport. This allows for efficient use of the aircraft body 5. It also prevents the installation of an unnecessarily heavy (high-capacity) battery 4. This prevents flight instability caused by the weight of the battery 4, reduces fuel consumption (power consumption of the battery 4) during flight due to the lighter weight, and ultimately extends the flight distance.

[0108] Furthermore, since the mounting position of the battery 4 in the cargo compartment 10 is adjusted according to the center of gravity of the cargo compartment 10 containing the cargo 100, the center of gravity of the aircraft 1 can be set to an optimal position, thereby stabilizing flight. In addition, stable flight suppresses unnecessary rotation of the rotor blades 53 for attitude control of the aircraft 1, which reduces fuel consumption during flight and consequently extends the flight distance. The aircraft 1 itself does not have a mechanism (electric part such as a servo motor) to adjust the mounting position of the battery 4, so the structure of the aircraft 1 can be simplified and the aircraft 1 can be made lighter. Moreover, by adjusting the mounting position of the battery 4 in the preliminary setup before combining the main body 5 and the cargo compartment 10, the center of gravity of the entire aircraft 1 when the cargo compartment 10 containing the cargo 100 and battery 4 is combined with the main body 5 can be determined in the preliminary setup. This allows for efficient adjustment of the center of gravity of the aircraft 1.

[0109] When the battery 4 is mounted in the main unit 5, it is housed in the space 58 between the top surface of the cargo compartment 10 and the wall surface of the main unit space 55, thus protecting the battery 4 from rain and other elements.

[0110] Furthermore, the connector holder 38 provided on the cargo compartment cover 3 is positioned opposite the connector 59 provided on the main body 5, so that when the cargo compartment 10 and the main body 5 are joined together, the connector 43 of the battery 4 and the connector 59 of the main body 5 can be automatically connected.

[0111] (Second Embodiment) Next, a second embodiment of this disclosure will be described, focusing on the differences from the first embodiment. In the first embodiment, an example was shown in which the process in Figure 12 was performed as step S4 in Figure 11, but in this embodiment, the process in Figure 16 is performed instead of the process in Figure 12. Otherwise, it is the same as the first embodiment. The process in Figure 16 will be described below.

[0112] The process shown in Figure 16 is performed, for example, by the control device 232 in Figure 9. First, the control device 232 obtains the weight of each piece of luggage 100 stored in the luggage compartment 10 (S31). Step S31 is the same as step S11 in Figure 12. Next, the control device 232 obtains the planned flight distance (S32). Step S32 is the same as step S12 in Figure 12. Next, the control device 232 selects the battery 4 to be installed in the luggage compartment 10 based on the weight and planned flight distance obtained in steps S31 and S32 (S33). Step S33 is the same as step S13 in Figure 12.

[0113] Next, the control device 232 instructs the battery mounting device 224 shown in Figure 9 to mount the battery 4 selected in step S33 onto the upper surface of the cargo compartment 10 (S34). The battery mounting device 224 grasps the battery 4 selected in step S33 from the battery storage section 212. The battery mounting device 224 then mounts the battery body 41 of the battery 4 onto the upper surface of the cargo compartment 10 and holds the connector 43 in the connector holder 38. At this time, the mounting position of the battery body 41 on the upper surface of the cargo compartment 10 may be a predetermined position (for example, the center of the upper surface of the cargo compartment 10) regardless of the center of gravity of the cargo 100.

[0114] Next, the control device 232 acquires the center of gravity of the cargo compartment 10 with the cargo 100 and battery 4 installed (S35). Specifically, for example, the center of gravity acquisition unit 226 shown in Figure 9 is positioned at the same location as the battery mounting device 224 in the cargo compartment arranging line 201 (see Figure 8), and configured to measure the horizontal weight distribution of the cargo compartment 10 with the cargo 100 and battery 4 installed. The control device 232 may then acquire the measured value (weight distribution) measured by the center of gravity acquisition unit 226 as the center of gravity. Alternatively, the control device 232 may acquire the horizontal mounting position and weight of the cargo 100 placed on the cargo compartment tray 2 in step S2 of Figure 11, and the horizontal mounting position and weight of the battery 4 installed in step S34 of Figure 16. The control device 232 may then calculate the horizontal center of gravity of the entire cargo 100 and battery 4 based on the respective mounting positions and weights of the cargo 100 and battery 4.

[0115] Next, the control device 232 calculates the amount of deviation of the center of gravity position acquired in step S35 from a predetermined target center of gravity position (S36). The target center of gravity position may be set to, for example, the center of the cargo compartment 10.

[0116] Next, the control device 232 calculates the mounting position of the battery 4 so that the center of gravity of the entire cargo compartment 10 becomes the target center of gravity, based on the amount of center of gravity displacement calculated in step S36, the weight of the battery 4, and the weight of the cargo 100 (S37). As the mounting position of the battery 4, for example, the center position or center of gravity position of the battery body 41 on the upper surface of the cargo compartment 10 is calculated. The weight of the battery 4 and the weight of the cargo 100 may be values ​​that have been stored in advance in the storage device 231 (see Figure 9), or their respective weights may be measured during the calculation in step S37.

[0117] Next, the control device 232 instructs the battery mounting device 224 shown in Figure 9 to remount the battery 4 to the mounting position calculated in step S37 (S38). In other words, it corrects the mounting position of the battery 4.

[0118] This also provides the same effects as the first embodiment. Note that the process in Figure 16 (steps S31 to S38) corresponds to the battery mounting process, the center of gravity adjustment process, and the battery position adjustment process.

[0119] (Third embodiment) Next, a third embodiment of this disclosure will be described, focusing on the differences from the first and second embodiments. In the first and second embodiments, an example was shown in which the mounting position of the battery 4 was adjusted according to the center of gravity of the cargo 100, but in this embodiment, an example is shown in which the mounting position of the cargo 100 is adjusted. Specifically, in this embodiment, the process shown in Figure 17 is performed as step S2 in Figure 11. Also, in step S4 in Figure 11, the battery 4 may be mounted at a predetermined position on the upper surface of the cargo compartment 10 without adjusting the mounting position of the battery 4, or the process shown in the first and second embodiments (the process shown in Figure 12 or Figure 16) may be performed. Except for steps S2 and S4 in Figure 11, it is the same as in the first and second embodiments. The process shown in Figure 17 will be described below.

[0120] The process shown in Figure 17 is performed, for example, by the control device 232 in Figure 9. First, the control device 232 selects one or more packages 100 to be loaded onto the cargo tray 2 (S41). That is, the control device 232 selects the packages 100 to be transported from among the packages 100 stored in the cargo storage unit 210. For example, it may select multiple packages 100 with nearby destinations by referring to the cargo information stored in the storage device 231.

[0121] Next, the weight is obtained for each of the 100 packages selected in step S41 (S42). The weight of the 100 packages may be obtained from a value previously stored in the storage device 231 (see Figure 9), or from a value measured by a weight measuring device during the execution of the process shown in Figure 17.

[0122] Next, based on the weight of each package 100 obtained in step S42, the optimal mounting position (optimal mounting position) for each package 100 in the cargo tray 2 is calculated such that the horizontal center of gravity of the entire package 100 becomes a predetermined target center of gravity when each package 100 is placed on the cargo tray 2 (S43). The target center of gravity may be set, for example, to the center of the cargo compartment 10.

[0123] For example, if there are two packages 100 (the first package and the second package), and the weights of the first package 100 and the second package 100 are the same, the loading position of the first package 100 may be set in front of the target center of gravity, and the loading position of the second package 100 may be set behind the target center of gravity. The loading positions of the first package 100 and the second package 100 may be calculated so that the amount of deviation of the loading position of the first package 100 from the target center of gravity is the same as the amount of deviation of the loading position of the second package 100 from the target center of gravity.

[0124] Furthermore, for example, if there are two packages 100 (a first package and a second package), and the second package 100 is heavier than the first package 100, the loading position of the first package 100 may be set in front of the target center of gravity, and the loading position of the second package 100 may be set behind the target center of gravity, and the loading positions of the first and second packages 100 may be calculated such that the deviation of the loading position of the second package 100 from the target center of gravity is smaller than the deviation of the loading position of the first package 100 from the target center of gravity. In this case, the smaller the weight of the first package 100, the further away from the target center of gravity it may be set to. Also, the larger the weight of the second package 100, the closer the loading position of the second package 100 may be set to the target center of gravity.

[0125] Next, the control device 232 instructs the cargo loading device 22 shown in Figure 9 to load the cargo 100 selected in step S41 onto the loading position calculated in step S43 on the cargo tray 2 (S44). This makes it possible to align the center of gravity of the entire cargo 100 with the target center of gravity.

[0126] In step S4 of Figure 11, the battery 4 may be mounted, for example, on the upper surface of the cargo compartment 10, at a position that coincides with the center of gravity of the entire cargo 100 (target center of gravity). In step S4, the process shown in Figure 12 or Figure 16, as described in the first and second embodiments, may also be performed.

[0127] Note that the process in Figure 17 is an example in which the optimal loading position of the cargo 100 is calculated before placing the cargo 100 on the cargo tray 2, and the cargo 100 is then loaded at that optimal position. Instead of the process in Figure 17, the loading position of the cargo 100 may be adjusted as follows.

[0128] Specifically, the cargo 100 is first placed on the cargo tray 2. Next, the horizontal center of gravity of the entire cargo 100 placed on the cargo tray 2 is measured or calculated. Next, the difference between the measured or calculated center of gravity and the target center of gravity is calculated. Next, based on this difference, the optimal mounting position for the cargo 100 is calculated so that the center of gravity of the entire cargo 100 becomes the target center of gravity. Finally, the cargo 100 is remounted in the optimal mounting position.

[0129] Thus, the same effects as those of the first and second embodiments can be obtained with this embodiment as well. Furthermore, by adjusting the loading position of the cargo 100 in the preliminary setup before combining the main body 5 and the cargo compartment 10, the center of gravity of the entire aircraft 1 when the cargo compartment 10, which is loaded with the cargo 100 and battery 4, is combined with the main body 5 can be determined in the preliminary setup. This allows for efficient adjustment of the center of gravity of the aircraft 1. Note that the process in Figure 17 (steps S41 to S44) corresponds to the center of gravity adjustment process and the cargo position adjustment process.

[0130] (Fourth Embodiment) Next, a fourth embodiment of this disclosure will be described, focusing on the differences from the first to third embodiments described above. In the first to third embodiments, an example was shown in which the mounting position of the battery or cargo was adjusted so that the center of gravity of the cargo compartment was optimal. In this embodiment, an example is shown in which the mounting position of the cargo compartment on the main body is adjusted.

[0131] Figure 18 shows a cross-sectional view of the unmanned aerial vehicle according to this embodiment. In Figure 18, the same components as in the first to third embodiments are denoted by the same reference numerals. The aircraft 6 in Figure 18 includes a cargo tray 2, a cargo cover 7, a battery 4, and a main body 8, similar to the first to third embodiments. Furthermore, the aircraft 6 is equipped with a battery tray 9.

[0132] The cargo tray 2 and battery 4 are the same as those in the first to third embodiments.

[0133] The cargo compartment cover 7 is detachably attached to the main body cover 81 of the main body 8. The cargo compartment cover 7 has an attachment portion 71 (see Figure 19) that attaches to an attachment portion 83 (see Figure 19) provided on the main body cover 81 when it is attached to the main body cover 81. This attachment portion 71 differs from the attachment portion 37 (see Figures 4 and 5) in the first to third embodiments in that it has the function of adjusting the mounting position of the cargo compartment cover 7 in the space 82 (main body space) of the main body cover 81 in relation to the attachment portion 83 of the main body cover 81. The structure of the cargo compartment cover 7 other than the attachment portion 71 is the same as the cargo compartment cover 3 in the first to third embodiments. The cargo compartment 15 is composed of the cargo compartment tray 2 and the cargo compartment cover 7.

[0134] The main body space 82 is configured to allow adjustment of the horizontal mounting position of the cargo compartment cover 7. Specifically, as shown in Figures 18 and 19, the width of the main body space 82 in the longitudinal direction (direction of travel of the aircraft 6) is greater than the width of the cargo compartment cover 7 in the longitudinal direction. That is, the mounting position of the cargo compartment cover 7 in the longitudinal direction within the main body space 82 is adjustable. In this embodiment, the width of the main body space 82 in the lateral direction is set to be the same as the width of the cargo compartment cover 7 in the lateral direction. However, the width of the main body space 82 in the lateral direction may be set to be greater than the width of the cargo compartment cover 7 in the lateral direction, and the mounting position of the cargo compartment cover 7 in the lateral direction may also be adjustable. Alternatively, the mounting position of the cargo compartment cover 7 in the longitudinal direction within the main body space 82 may be immovable, while the mounting position of the cargo compartment cover 7 in the lateral direction may be adjustable.

[0135] Mounting portions 83 are provided on the wall surface of the main body space 82, which are attached to the mounting portions 71 of the cargo compartment cover 7 (see Figure 19). These mounting portions 83 differ from the mounting portions 57 of the first to third embodiments (see Figure 5) in that they have the function of adjusting the mounting position of the cargo compartment cover 7 in the main body space 82 in relation to the mounting portions 71 of the cargo compartment cover 7. The size of the main body space 82 and the structure of the main body 8 other than the mounting portions 83 are the same as the main body 5 of the first to third embodiments.

[0136] As described above, the mounting portions 71 and 83 function as mounting position adjustment portions that adjust the mounting position of the cargo compartment cover 7 in the main body space 82. For example, the mounting portions 71 and 83 have the function of adjusting the mounting position of the cargo compartment cover 7 in the front-rear direction in the main body space 82. In this case, the mounting portions 71 and 83 are provided in positions opposite each other in the left-right direction when the cargo compartment cover 7 and the main body cover 81 are mounted together. One of the mounting portions 71 and 83 is formed in a convex shape (projection shape), and the other is formed in a concave shape, and the engagement of these convex and concave shapes holds the cargo compartment cover 7 so that it does not come off downward from the main body cover 81. Furthermore, the concave shape extends in the front-rear direction (mounting position adjustment direction), and as the convex shape moves in the front-rear direction while engaged with the concave shape, the cargo compartment cover 7 is held by the main body cover 81, while the mounting position of the cargo compartment cover 7 in the front-rear direction changes.

[0137] In the example shown in Figure 19, the mounting portion 71 of the cargo compartment cover 7 is formed in a convex shape, and the mounting portion 83 of the main body cover 81 is formed in a concave shape. However, the mounting portion 71 may be formed in a concave shape and the mounting portion 83 may be formed in a convex shape. In this embodiment, the mounting portions 71 and 83 are provided in a total of four locations: two on the front and rear of the left side and two on the front and rear of the right side, but they may be provided in any number of locations.

[0138] Furthermore, similar to the first to third embodiments described above, the engagement state of the mounting portions 71 and 83 is released when a predetermined release operation is performed.

[0139] The battery tray 9 is detachably mounted on the upper surface of the cargo compartment cover 7. The battery tray 9 comprises a mounting portion 91 on which the battery body 41 of the battery 4 is placed, and a connector holder 92 (holding portion) that holds the connector 43 (first connector) of the battery 4. The mounting portion 91 is formed, for example, in the shape of a flat plate. The upper surface of the mounting portion 91 is formed as a horizontal surface and constitutes the mounting surface for the battery body 41. The connector holder 92 is provided integrally with the mounting portion 91 on the upper surface of the mounting portion 91.

[0140] The shape of the connector holder 92 is the same as that of the connector holder 38 in the first to third embodiments (see Figures 2 and 4).

[0141] The battery tray 9 is provided so that its mounting position on the upper surface of the cargo compartment cover 7 can be adjusted. Specifically, when the cargo compartment cover 7 is attached to the main body cover 81, the mounting position of the battery tray 9 on the upper surface of the cargo compartment cover 7 is adjusted so that the connector holder 92 is positioned to face the connector 84 (second connector) provided on the main body cover 81. When the cargo compartment cover 7 is attached to the main body cover 81, the connector 43 of the battery 4 held by the connector holder 92 is connected to the connector 84 on the main body 8. The battery tray 9 functions as a connector position adjustment unit that adjusts the position of the connector holder 92 (in other words, the connector 43 of the battery 4) on the upper surface of the cargo compartment 15 so that it faces the connector 84 on the main body 8, regardless of the mounting position of the cargo compartment 15 on the main body 8. Furthermore, the connector holder 92 is configured as a connector holder whose mounting position on the upper surface of the cargo compartment 15 can be adjusted.

[0142] The loading of the cargo compartment 15 (including luggage and battery 4) onto the aircraft body 8 in this embodiment is performed, for example, at the base 200 shown in Figure 8, similar to the first to third embodiments. In addition to the configuration in Figure 9, the base 200 is equipped with a battery tray mounting device (not shown) for placing the battery tray 9 on the upper surface of the cargo compartment cover 7. This battery tray mounting device is provided on the cargo compartment stacking line 201 in Figure 8. The loading of the cargo compartment 15 (including luggage and battery 4) onto the aircraft body 8 is performed according to the flowchart in Figure 20, for example, instead of the flowchart in Figure 11. The loading method shown in Figure 20 will be described below.

[0143] First, prepare an empty cargo tray 2 (S51). Step S51 is the same as step S1 in Figure 11. Next, place the cargo onto the cargo tray 2 prepared in step S51 (S52). Step S52 is the same as step S2 in Figure 11. Next, attach the cargo cover 7 to the cargo tray 2 with the cargo on it (S53). Step S53 is the same as step S3 in Figure 11.

[0144] Next, a battery 4 to be mounted on the top surface of the cargo compartment cover 7 (cargo compartment 15) is selected (S54). Step S54 is performed, for example, by the control device 232 in Figure 9. Also in step S54, similar to steps S11 to S13 in Figure 12, the weight of the cargo and the planned flight distance are obtained, and based on these cargo weight and planned flight distance, a battery 4 with the capacity required for this transport is selected.

[0145] Next, the battery tray 9 is placed on the upper surface of the cargo compartment cover 7 that was installed in step S53 using a battery tray mounting device (not shown) (S55).

[0146] Next, the battery mounting device 224 (see Figure 9) places the battery 4 selected in step S54 onto the battery tray 9 mounted in step 55 (S56). At this time, the battery mounting device 224 holds the connector 43 of the battery 4 in the connector holder 92.

[0147] Next, the horizontal center of gravity of the entire cargo compartment 15, which is loaded with the battery 4 and luggage, is obtained (S57). Specifically, for example, the center of gravity acquisition unit 226 in Figure 9 is configured to measure the horizontal weight distribution of the cargo compartment 15 with the luggage and battery 4 installed. The control device 232 in Figure 9 may then acquire the measured value (weight distribution) measured by the center of gravity acquisition unit 226 as the center of gravity. Alternatively, the control device 232 may acquire the horizontal mounting position and weight of the luggage placed on the cargo tray 2 in step S52 of Figure 20, and the horizontal mounting position and weight of the battery 4 installed in step S56. The control device 232 may then calculate the horizontal center of gravity of the entire cargo compartment 15 based on the respective mounting positions and weights of the luggage and battery 4.

[0148] Next, the control device 232 calculates the optimal mounting position of the cargo compartment 15 in the main body space 82 based on the center of gravity position acquired in step S57 (S58). Specifically, for example, it calculates the optimal mounting position of the cargo compartment 15 in the main body space 82 where the center of gravity position acquired in step S57 matches a predetermined target center of gravity position in the main body space 82.

[0149] For example, in Figure 18, let's assume that the center of gravity position obtained in step S57 is the position indicated by the symbol "401". Also, let's assume that the target center of gravity position is the position indicated by the symbol "400". In this case, the optimal mounting position is calculated to be the cargo compartment mounting position 410 where the center of gravity position 401 coincides with the target center of gravity position 400.

[0150] Here, the center of gravity position (weight distribution) obtained in step S57 changes depending on the weight of each item on the cargo tray 2, the mounting position of each item on the cargo tray 2, the weight of the battery 4 mounted in the cargo compartment 15, and the mounting position of the battery 4 on the upper surface of the cargo compartment 15. Therefore, the optimal mounting position obtained in step S58 changes depending on the weight of the items on the cargo tray 2, the mounting position of each item on the cargo tray 2, the weight of the battery 4, and the mounting position of the battery 4. In other words, step S58 is equivalent to calculating the optimal mounting position of the cargo compartment 15 based on the weight of each item, the mounting position of each item, the weight of the battery 4, and the mounting position of the battery 4.

[0151] Next, the control device 232 mounts the main unit 8 onto the main unit mounting device 225 shown in Figure 9 from above the cargo compartment 15, thereby combining the cargo compartment 15 loaded with the battery 4 and luggage with the main unit 8 (S59). At this time, the cargo compartment 15 is mounted on the main unit 8 so that its mounting position in the main unit space 82 becomes the optimal mounting position calculated in step S58. Furthermore, when adjusting the mounting position of the cargo compartment 15 within the main unit space 82, the relative positional relationship between the battery body 41 and the cargo compartment 15 is maintained at the positional relationship when the battery 4 was mounted in the cargo compartment 15 in step S56, while adjusting the mounting position of the battery tray 9 on the upper surface of the cargo compartment 15 (in other words, the mounting position of the battery body 41 on the battery tray 9) so that the connector holder 92 (connector 43 of the battery 4) is positioned facing the connector 84 on the main unit 8 side. This allows the connector 43 of the battery 4 and the connector 84 on the main unit 8 to be connected regardless of the mounting position of the cargo compartment 15 in the main unit space 82.

[0152] Thus, in this embodiment, the mounting position of the cargo compartment 15 on the main body 8 is adjusted according to the center of gravity of the battery 4 and the cargo compartment 15, so that the center of gravity of the aircraft 6 can be set to an optimal position. This makes it possible to obtain the same effects as in the first to third embodiments described above. In other words, the flight of the aircraft 6 can be stabilized and the flight distance can be extended.

[0153] Steps S51 and S52 in Figure 20 correspond to the cargo loading process. Step S53 corresponds to the first assembly process. Steps S54 to S56 correspond to the battery installation process. Steps S57 to S59 correspond to the second assembly process, the center of gravity adjustment process, and the cargo compartment position adjustment process.

[0154] This disclosure is not limited to the embodiments described above, and various modifications are possible. For example, the embodiments described above show an example in which a robot automatically performs all processes of loading cargo and batteries onto the unmanned aerial vehicle and all processes of separating each part of the unmanned aerial vehicle (cargo tray, cargo cover, main body, battery), but at least some of these processes may be performed by a human. That is, for example, a human may load cargo onto the cargo tray, attach and detach the cargo tray and cargo cover, load and unload batteries onto the top of the cargo compartment, and attach and detach the cargo compartment and the main body. Also, in the first and second embodiments, a human may adjust the battery mounting position on the top of the cargo compartment. In this case, for example, the optimal mounting position obtained in steps S11 to S15 in Figure 12 or steps S31 to S37 in Figure 16 may be output by displaying it on a display device, and a human may mount the battery 4 based on the outputted optimal mounting position.

[0155] Furthermore, in the third embodiment, the adjustment of the loading position of luggage on the luggage tray may be performed by a human. In this case, the optimal loading position obtained in steps S41 to S43 of Figure 17 may be output by displaying it on a display device, and a human may load luggage onto the luggage tray based on the outputted optimal loading position. Furthermore, in the fourth embodiment, the adjustment of the loading position of the luggage compartment on the main unit may be performed by a human. In this case, the optimal loading position obtained in step S58 of Figure 20 may be output by displaying it on a display device, and a human may load the luggage compartment onto the main unit based on the outputted optimal loading position. Furthermore, the selection of luggage to be placed on the luggage tray may be performed by a human, and the selection of batteries to be installed in the luggage compartment may also be performed by a human.

[0156] Furthermore, although the above embodiment shows an example where the main body cover of the unmanned aerial vehicle is formed in a box shape with an opening at the bottom, the main body of the unmanned aerial vehicle can be any shape as long as it is detachable from the cargo compartment and can ensure waterproofing of the battery placed in the cargo compartment.

[0157] Furthermore, the above embodiment shows an example in which the cargo tray is attached to the cargo cover from below and removed from the cargo cover downwards. However, it is not limited to this, and for example, as shown in Figures 21 and 22, side openings 391 and 392 are provided on the side portions 32 of the cargo covers 3A and 3B, which are conductive to the inner space (cargo space) of the cargo covers 3A and 3B. Then, the cargo tray and the luggage placed on it may be attached to the cargo covers 3A and 3B by sliding from the side (side) through these side openings 391 and 392, and removed from the cargo covers 3A and 3B by sliding from the side (side). The side opening 391 shown in Figure 21 is configured as a notch cut out at the lower end of the cargo cover 3A. That is, the side opening 391 is formed in a shape that is open at the bottom. The side opening 392 shown in Figure 22 is configured as a hole formed at a distance from the lower end of the cargo cover 3B. That is, the side opening 392 is formed in a shape that is closed at the bottom. The cargo compartment covers 3A and 3B are formed in the same manner as the cargo compartment cover 3 of the first embodiment or the cargo compartment cover 7 of the third embodiment, except that side openings 391 and 392 are formed on the sides (side portion 32). In Figures 21 and 22, an example is shown in which the side openings 391 and 392 are formed on the front side portion 32 of the cargo compartment covers 3A and 3B, but they may also be formed on the left, right, or rear side portion 32. The cargo compartment covers 3A and 3B may also have a lid that closes the side openings 391 and 392. With this, the cargo compartment tray can be attached to and detached from the cargo compartment covers 3A and 3B via the side openings 391 and 392 with the lid open (with the side openings 391 and 392 exposed), and by closing the lid when the cargo compartment tray is attached to the cargo compartment covers 3A and 3B, it is possible to prevent foreign matter such as water from entering the cargo compartment from the side. Furthermore, the cargo compartment covers 3A and 3B may have a bottom portion that seals off the inner space. This further prevents foreign matter such as water from entering the cargo compartment covers 3A and 3B from below.

[0158] Furthermore, in the fourth embodiment, an example was shown in which the battery body is mounted on the top surface of the cargo compartment with a battery tray interposed between them. However, if the mounting position of the connector holder that holds the battery connector on the top surface of the cargo compartment is adjustable, the battery body may be mounted directly on the top surface of the cargo compartment. In other words, in Figure 19, the portion 91 on which the battery body 41 is mounted in the battery tray 9 may be omitted. [Explanation of symbols]

[0159] 1.6 Unmanned aircraft 2. Cargo area tray 3, 7 Cargo area cover 4 Batteries 5.8 Main body of the unmanned aerial vehicle 10, 15 Cargo area 100 pieces of luggage

Claims

1. A loading area for placing luggage, A cargo compartment cover is attached to the aforementioned mounting section and covers the cargo placed on the aforementioned mounting section, and is provided to be detachable from the aforementioned mounting section. A battery for driving an unmanned aircraft is provided on the upper surface of the cargo compartment cover, The cargo compartment, which includes the mounting section and the cargo compartment cover, comprises a flyable body that is detachable from the cargo compartment, The upper surface of the cargo compartment cover has a holding portion for holding the first connector, which is the connector for the battery. The main body has a second connector which is a connector that receives power to the main body, The holding portion is provided in an unmanned aerial vehicle at a position where the first connector and the second connector are connected when the cargo compartment, which is equipped with the battery, is attached to the main body.

2. A loading area for placing luggage, A cargo compartment cover is attached to the aforementioned mounting section and covers the cargo placed on the aforementioned mounting section, and is provided to be detachable from the aforementioned mounting section. A battery for driving an unmanned aircraft is provided on the upper surface of the cargo compartment cover, The cargo compartment, which includes the mounting section and the cargo compartment cover, comprises a flyable body that is detachable from the cargo compartment, The main body and the cargo compartment are equipped with a mounting position adjustment unit for adjusting the mounting position of the cargo compartment relative to the main body.

3. The unmanned aerial vehicle according to claim 1 or 2, wherein the mounting position of the battery is adjustable within the upper surface.

4. The aforementioned cargo compartment cover forms a cargo compartment space having an opening at the bottom or side. The unmanned aerial vehicle according to claim 1 or 2, wherein the mounting portion is located inside the cargo compartment space beyond the opening when the cargo compartment cover is attached.

5. The unmanned aerial vehicle according to claim 1 or 2, wherein the main body forms a main body space having an opening at the bottom, the cargo compartment is mounted so as to house the cargo compartment in the main body space, and a battery housing space is formed between the upper surface of the cargo compartment provided in the main body space and the wall surface of the main body space.

6. A method for loading cargo onto an unmanned aerial vehicle according to claim 1 or 2, A cargo loading process in which cargo is placed on the aforementioned mounting section, After the aforementioned cargo loading process, a first joining process is performed in which the aforementioned loading section on which the cargo is placed and the cargo compartment cover are joined together. After the first combining step, a battery mounting step is performed in which the battery is placed on the upper surface of the cargo compartment containing the cargo, A second combining step is performed after the battery mounting step, in which the cargo compartment containing the cargo and the battery mounted on its upper surface is combined with the main body, A method for mounting an unmanned aerial vehicle equipped with the necessary components.

7. The method for mounting an unmanned aerial vehicle according to claim 6, further comprising a center of gravity adjustment step for adjusting the center of gravity of the unmanned aerial vehicle before the flight of the unmanned aerial vehicle.

8. The method for mounting an unmanned aerial vehicle according to claim 7, wherein the center of gravity adjustment step comprises a battery position adjustment step for adjusting the mounting position of the battery on the upper surface of the cargo compartment.

9. A mounting section for placing luggage, A cargo compartment cover is attached to the aforementioned mounting section and covers the cargo placed on the aforementioned mounting section, and is provided to be detachable from the aforementioned mounting section. A battery for driving an unmanned aircraft is provided on the upper surface of the cargo compartment cover, A method for loading cargo onto an unmanned aerial vehicle comprising a flyable body that is detachable from a cargo compartment comprising the aforementioned mounting section and the aforementioned cargo compartment cover, A cargo loading process in which cargo is placed on the aforementioned mounting section, After the aforementioned cargo loading process, a first joining process is performed in which the aforementioned loading section on which the cargo is placed and the cargo compartment cover are joined together. After the first combining step, a battery mounting step is performed in which the battery is placed on the upper surface of the cargo compartment containing the cargo, A second combining step is performed after the battery mounting step, in which the cargo compartment containing the cargo and the battery mounted on its upper surface is combined with the main body, The system includes a center of gravity adjustment step for adjusting the center of gravity of the unmanned aerial vehicle before its flight, The method for mounting an unmanned aerial vehicle includes a center of gravity adjustment step, which is a cargo position adjustment step for adjusting the loading position of the cargo in the aforementioned mounting section.

10. A mounting section for placing luggage, A cargo compartment cover is attached to the aforementioned mounting section and covers the cargo placed on the aforementioned mounting section, and is provided to be detachable from the aforementioned mounting section. A battery for driving an unmanned aircraft is provided on the upper surface of the cargo compartment cover, A method for loading cargo onto an unmanned aerial vehicle comprising a flyable body that is detachable from a cargo compartment comprising the aforementioned mounting section and the aforementioned cargo compartment cover, A cargo loading process in which cargo is placed on the aforementioned mounting section, After the aforementioned cargo loading process, a first joining process is performed in which the aforementioned loading section on which the cargo is placed and the cargo compartment cover are joined together. After the first combining step, a battery mounting step is performed in which the battery is placed on the upper surface of the cargo compartment containing the cargo, A second combining step is performed after the battery mounting step, in which the cargo compartment containing the cargo and the battery mounted on its upper surface is combined with the main body, The system includes a center of gravity adjustment step for adjusting the center of gravity of the unmanned aerial vehicle before its flight, The method for mounting an unmanned aerial vehicle includes a center of gravity adjustment step, which is a cargo compartment position adjustment step, which adjusts the mounting position of the cargo compartment on the main body, where the cargo and the battery are placed.

11. A mounting section for placing luggage, A cargo compartment cover is attached to the aforementioned mounting section and covers the cargo placed on the aforementioned mounting section, and is provided to be detachable from the aforementioned mounting section. A battery for driving an unmanned aircraft is provided on the upper surface of the cargo compartment cover, A method for adjusting the center of gravity of an unmanned aerial vehicle comprising a flyable body that is detachable from a cargo compartment which includes the mounting section and the cargo compartment cover, Before the flight of the unmanned aerial vehicle, adjust the mounting position of the cargo in the aforementioned mounting section, or adjust the mounting position of the cargo compartment containing the battery in the main body. Method for adjusting the center of gravity of an unmanned aerial vehicle.

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