Loading or unloading device

Abstract

To provide a device or a method for stabilizing flight of an unmanned flight vehicle after package reception or package delivery.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 unit are connected. A port serving as a package reception or package delivery device includes: a landing unit on which the flight vehicle 1 is landed; a slider which horizontally moves the landed flight vehicle 1 to an indoor space; a lifting unit on which the package chamber tray 2 unloaded from the flight vehicle 1 in the indoor space is placed; a moving control unit which moves the lifting unit upward or downward; a package moving unit which moves the packages between the package chamber tray placed on the lifting unit and a package storage unit; and a centroid adjustment unit which adjusts a centroid position of the flight vehicle 1 after package reception or package delivery.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present disclosure relates to a device for receiving a load transported by an unmanned aerial vehicle or delivering a load to an unmanned aerial vehicle. to It relates to.

Background Art

[0002] Conventionally, there have been proposals to use unmanned aerial vehicles (also called drones) to transport loads (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 aircraft carrying a load. Further, Patent Document 2 proposes a load receiving and storage device and method for receiving and storing a load 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 a load, weight information of the load, center of gravity information when the unmanned aerial vehicle carries the load, and the like.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0004] When receiving a load mounted on an unmanned aerial vehicle or delivering a load to an unmanned aerial vehicle, the flight of the unmanned aerial vehicle after receiving or delivering the load may become unstable due to a change in the weight balance of the unmanned aerial vehicle before and after receiving or delivering the load.

[0005] Therefore, an object of the present disclosure is to provide a device or method capable of stabilizing the flight of an unmanned aerial vehicle after receiving or delivering a load. [Means for solving the problem]

[0006] The receiving or delivery device of this disclosure is The landing area where the unmanned aircraft will land, Luggage storage area, A transport unit for transporting cargo from the unmanned aircraft that has landed on the landing section to the cargo storage unit, or from the cargo storage unit to the unmanned aircraft, A center of gravity adjustment unit for adjusting the center of gravity of the unmanned aircraft after the delivery of the aforementioned cargo, The system includes a takeoff section from which the unmanned aircraft, whose center of gravity has been adjusted, takes off. 、 The aforementioned unmanned aerial vehicle comprises a cargo compartment for storing cargo and a flyable body to which the cargo compartment is attached. The center of gravity adjustment unit includes a cargo compartment position adjustment unit that adjusts the mounting position of the cargo compartment in the main body. .

[0008] The receiving or delivery device of the present disclosure to Therefore, by adjusting the center of gravity of the unmanned aerial vehicle after receiving or delivering cargo, the flight of the unmanned aerial vehicle after receiving or delivering cargo can be stabilized. [Brief explanation of the drawing]

[0009] [Figure 1] This is a top view of the unmanned aerial vehicle in the first to third embodiments. [Figure 2] Figure 1 shows a cross-sectional view of the unmanned aerial vehicle along line II-II. [Figure 3] Figure 1 shows a cross-sectional view of the unmanned aerial vehicle along line III-III. [Figure 4] These are exploded perspective views of the unmanned aerial vehicles in the first to third embodiments. [Figure 5] Figure 1 is a cross-sectional view of the unmanned aerial vehicle along the VV line. [Figure 6] This is a bottom view of the cargo area cover, seen from below. [Figure 7] This is a bottom view of the unmanned aerial vehicle, seen from below. [Figure 8] This flowchart shows the procedure for loading cargo and batteries onto an unmanned aerial vehicle. [Figure 9] Perspective view of the aircraft port in the first to third embodiments. [Figure 10] Top view of the aircraft port in the first to third embodiments as seen from above. [Figure 11] Cross-sectional view of the aircraft port taken along the line XI-XI of FIG. 10. [Figure 12] Cross-sectional view of the aircraft port taken along the line XII-XII of FIG. 10. [Figure 13] Cross-sectional view of the aircraft port taken along the line XIII-XIII of FIG. 10. [Figure 14] View showing the state in which the consignee is receiving the luggage in the locker room of the aircraft port. [Figure 15] Block diagram showing the electrical configuration of the aircraft port. [Figure 16] Flowchart showing the procedure for receiving luggage from or delivering it to an unmanned aircraft at the aircraft port. [Figure 17] Cross-sectional view of the aircraft port at the same position as the line XII-XII of FIG. 10, showing the state in which the aircraft has landed. [Figure 18] Cross-sectional view of the aircraft port at the same position as the line XII-XII of FIG. 10, showing the state in which the landed aircraft has been moved indoors. [Figure 19] Cross-sectional view of the aircraft port at the same position as the line XII-XII of FIG. 10, showing the state in which the lifting part carrying the luggage lowered from the aircraft has been lowered. [Figure 20] Cross-sectional view of the aircraft port at the same position as the line XIII-XIII of FIG. 10, showing the state in which the lifting part carrying the luggage lowered from the aircraft has been lowered . [Figure 21] Flowchart showing the details of step 17 in FIG. 16 in the first embodiment. [Figure 22] View showing an example of adjusting the battery mounting position in the cargo hold. [Figure 23] Flowchart showing the details of step 17 in FIG. 16 in the second embodiment. [Figure 24] This is a cross-sectional view of the unmanned aerial vehicle in the third embodiment. [Figure 25] 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 third embodiment. [Figure 26] This is a flowchart detailing step 17 in Figure 16 in the third embodiment. [Figure 27] 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 28] 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]

[0010] (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.

[0011] 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.

[0012] 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).

[0013] 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.

[0014] 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.

[0015] 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.

[0016] 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.

[0017] 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.

[0018] 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).

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] Next, we will explain the procedure for loading the cargo 100 and battery 4 onto the aircraft 1 (main body 5). Figure 8 shows a flowchart of this procedure.

[0047] First, an empty cargo tray 2 is prepared (S1). Next, one or more packages 100 are placed on the prepared cargo tray 2 (S2). When multiple packages 100 are placed, for example, multiple packages 100 destined for the same destination may be placed, or multiple packages 100 destined for different destinations may be placed. Also, when multiple packages 100 are placed, 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). Furthermore, when multiple packages 100 are placed, the placement position of each package 100 on the cargo tray 2 may be adjusted according to the weight of each package 100.

[0048] Next, the cargo compartment cover 3 is attached from above to the cargo compartment tray 2 on which the cargo 100 was placed in step S2, thereby joining the cargo compartment tray 2 and the cargo compartment cover 3 (S3). At this time, the mounting portion 23 of the cargo compartment tray 2 and the mounting portion 36 of the cargo compartment cover 3 are engaged (see Figure 5) to prevent the cargo compartment cover 3 from coming off the cargo compartment tray 2.

[0049] Next, the battery 4 is mounted on the top surface of the cargo compartment 10 obtained in step S3 (S4). At this time, a battery 4 with a capacity corresponding to the weight of each piece of cargo 100 and the planned flight distance of the aircraft 1 may be selected. For example, the heavier the cargo 100, the higher the capacity of the battery 4 may be selected. Also, for example, the longer the planned flight distance, the higher the capacity of the battery 4 may be selected. The planned flight distance may be, for example, the total transport distance from when the aircraft 1 departs from the base (the place where the processing in Figure 8 is performed), transports each piece of cargo 100 to its destination, and then returns to the base (the place where the aircraft 1 is recovered). Also, a battery 4 with a capacity that allows the aircraft 1 to fly from the time it departs from the base until it returns without charging the battery 4 or replacing it with another battery 4 may be selected. A fully charged battery 4 (for example, a fully charged (100% charged) battery 4) may also be selected.

[0050] Furthermore, the center of gravity (weight distribution) of the cargo 100 placed on the cargo tray 2 can be obtained, and the mounting position of the battery unit 41 on the upper surface of the cargo compartment 10 can be adjusted according to that center of gravity. This allows the mounting position of the battery 4 to be adjusted in the preliminary setup before the main body 5 and the cargo compartment 10 are combined, thereby determining the center of gravity of the entire aircraft 1 when the cargo compartment 10 with the cargo 100 and battery 4 is combined with the main body 5. This allows for efficient adjustment of the center of gravity of the aircraft 1. The connector 43 is held in the connector holder 38.

[0051] Next, the main unit 5 is attached to the cargo compartment 10, which is loaded with luggage 100 and battery 4, thereby joining the cargo compartment 10 and the main unit 5 (S5). At this time, the attachment part 37 of the cargo compartment cover 3 and the attachment part 57 of the main unit cover 51 are engaged (see Figure 5) to prevent the cargo compartment cover 3 (cargo compartment 10) from coming off the main unit 5. When the cargo compartment 10 and the main unit 5 are attached, the connector 43 of the battery 4 and the connector 59 on the main unit 5 are automatically connected. This makes it possible to supply power to the main unit 5.

[0052] After completing steps S1 to S5 described above, the aircraft 1, equipped with the cargo compartment 10, cargo 100, and battery 4, is completed. The aircraft 1 then departs the base and transports each cargo 100 to its designated location. Note that some or all of steps S1 to S5 may be performed by a robot or by a human.

[0053] After the aircraft 1 has finished transporting all 100 pieces of cargo and returned to the base, for example, the aircraft 1 is separated into parts 2, 3, 4, and 5, and parts 2, 3, 4, and 5 are recovered. The separation of parts 2, 3, 4, and 5 of the aircraft 1 can be carried out, for example, by the following procedure. First, the cargo compartment 10 is separated from the aircraft 1. Specifically, the cargo compartment 10, which contains the battery 4, is separated from the main body 5 by releasing the engagement between the mounting part 37 of the cargo compartment cover 3 of the aircraft 1 and the mounting 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. Next, the battery 4 that is on top of the cargo compartment 10 is recovered.

[0054] Next, the cargo compartment cover 3 and the cargo compartment tray 2 of the cargo compartment 10 are separated. Specifically, the cargo compartment cover 3 and the cargo compartment tray 2 are separated by releasing the engagement between the mounting part 36 of the cargo compartment cover 3 and the mounting part 23 of the cargo compartment tray 2, and either pulling the cargo compartment cover 3 upwards or pulling the cargo compartment tray 2 downwards. Then, the separated cargo compartment cover 3 and cargo compartment tray 2 are recovered. Note that some or all of the disassembly of the aircraft 1 may be performed by a robot or by a human.

[0055] The aircraft 1, carrying the cargo 100, flies to an aircraft port 500 (drone port), which serves as a cargo receiving or delivery device, as shown in Figures 9 to 13. At the port 500, the cargo 100 is received. In addition to receiving the cargo 100 from the aircraft 1, the port 500 may also have a delivery function to transfer cargo 110 (see Figures 17 to 19) from the port 500 to the aircraft 1. That is, the port 500 is configured as a cargo receiving or delivery device having at least one of a cargo receiving function and a cargo delivery function. The port 500 may be configured as a device having both a cargo receiving function and a cargo delivery function, as a cargo receiving device having only a cargo receiving function, or as a cargo delivery device having only a cargo delivery function. If the port 500 has a delivery function, the aircraft 1 arriving at the port 500 does not need to be carrying cargo 100. In the following explanation, the port 500 will be described as having both a cargo receiving function and a cargo delivery function. Furthermore, in the following, the cargo that port 500 receives from aircraft 1 is indicated by the code "100", and the cargo that port 500 delivers to aircraft 1 is indicated by the code "110".

[0056] The configuration of Port 500 is described below. The aircraft 1 and Port 500 constitute a cargo receiving or delivery system for receiving cargo 100 loaded onto the aircraft 1, or for transferring cargo 110 (see Figures 17-19) stored at Port 500 to the aircraft 1. Port 500 can be located anywhere where cargo 100 can be received or cargo 110 can be deposited. For example, it could be located in a post office, a convenience store, an apartment building, or a local public facility (such as a community center). Furthermore, Port 500 may be provided for each individual house.

[0057] Port 500 includes a take-off and landing section 501, a slider 502, a slider support section 503, an loading / unloading room 504, a lifting section 506, a luggage moving section 507, a luggage locker 510, and a locker room 515.

[0058] The landing and takeoff section 501 is the area where the aircraft 1 lands and takes off. The landing and takeoff section 501 is not covered by a roof and is located outdoors. The landing and takeoff section 501 is composed of a slider 502 and a slider support section 503. The landing and takeoff section 501 corresponds to the landing section and takeoff section in this disclosure.

[0059] The slider 502 is provided to allow horizontal movement between the outdoors where the take-off and landing section 501 is located and the loading / unloading room 504 adjacent to the take-off and landing section 501. The slider 502 has a pair of support parts 502a and 502b that form a support surface to which the lower surface 60 (see Figure 2) of the main body cover 51 of the aircraft 1 contacts when the aircraft 1 is on the ground. One support part 502a contacts the lower surface 60 of one end (e.g., the front side) of the aircraft 1 in the width direction (front-to-back direction in this embodiment) when the aircraft 1 is on the ground. The other support part 502b contacts the lower surface 60 of the other end (e.g., the rear side) in the width direction when the aircraft 1 is on the ground. As shown in Figure 10, the pair of support sections 502a and 502b are provided so as to extend in the sliding direction X, which is the direction from the take-off / landing section 501 toward the loading / unloading compartment 504 and the opposite direction, and are provided with a gap d in the horizontal direction Y perpendicular to the sliding direction X. The gap d is greater than the width of the cargo compartment 10 in the front-rear direction and smaller than the width of the main body cover 51 in the front-rear direction.

[0060] As shown in Figure 11, each support portion 502a, 502b has a fitting portion 502d on its back surface that fits into the fitting portion 503a on the slider support portion 503 side. The fitting portion 502 is formed in a concave shape that extends in the sliding direction X.

[0061] Furthermore, the slider 502 has a connecting portion 502c that connects one end of a pair of 502a and 502b in the sliding direction X (the side furthest from the loading / unloading chamber 504) (see Figures 9 and 10).

[0062] A space 502e is provided between the pair of support parts 502a, 502b and the connecting part 502c, forming the above-mentioned gap d. In other words, the slider 502 (support parts 502a, 502b and connecting part 502c) is provided so as to surround the space 502e. The space 502e is formed to penetrate between the front and back surfaces of the slider 502. The horizontal size (width) of the space 502e is greater than the horizontal size (width) of the cargo compartment 10 and less than the horizontal size (width) of the main body cover 51. When the aircraft 1 is on the ground, the cargo compartment tray 2, which constitutes the bottom of the cargo compartment 10, and the space 502e face each other.

[0063] The slider support section 503 is provided extending from the outdoor area where the take-off and landing section 501 is located to the loading / unloading room 504 (indoors). The upper surface of the slider support section 503 constitutes a support surface for supporting the slider 502. A pair of guide sections 503a (fitting sections) are formed on its upper surface to guide the movement of the slider 502 in the sliding direction X (see Figure 11). One guide section 503a is fitted into one fitting section 502d formed on the back surface of the slider 502. The other guide section 503a is fitted into the other fitting section 502d formed on the back surface of the slider 502. That is, the guide section 503a is formed in a convex shape that fits into the concave fitting section 502d. Furthermore, the guide section 503a is formed to extend in the sliding direction X from the outdoor area where the take-off and landing section 501 is located to the loading / unloading room 504 (indoors).

[0064] Furthermore, the slider support portion 503 has an exposed surface 503b that is exposed from the space portion 502e of the slider 502 when the slider 502 is located outdoors (see Figures 9 to 11). The exposed surface 503b is provided so as to fit into the space portion 502e, for example, so that it is at the same height as the upper surface of the slider 502. That is, the exposed surface 503b is provided in a convex shape with respect to the surface of the slider support portion 503 on which the guide portion 503a is formed. The exposed surface 503b may be marked, for example, with a mark indicating that it is the take-off and landing portion 501.

[0065] The portion of the slider support 503 located outdoors constitutes part of the take-off and landing section 501. Additionally, the slider 502 also constitutes part of the take-off and landing section 501 when located outdoors.

[0066] The loading / unloading room 504 is located adjacent to the take-off / landing section 501 in the sliding direction X. The loading / unloading room 504 forms a space for receiving (loading in) the aircraft 1 that has arrived at the take-off / landing section 501 and sending (unloading out) the aircraft 1 to the take-off / landing section 501 after receiving or delivering the cargo. The loading / unloading room 504 is also a room for unloading the cargo 100 (cargo tray 2) from the aircraft 1 and for reloading the cargo tray 2 onto the aircraft 1 after receiving or delivering the cargo.

[0067] The loading / unloading compartment 504 has an outer wall 505 that covers the space for receiving the aircraft 1. The outer wall 505 includes a roof that covers the top of the loading / unloading compartment 504 and side walls that cover the sides of the loading / unloading compartment 504. The loading / unloading compartment 504 has an opening 504a on the side of the take-off / landing section 501 (see Figure 9). The aircraft 1 is brought into and out of the loading / unloading compartment 504 through this opening 504a.

[0068] The lifting section 506 is a platform (stage) for placing the cargo tray 2 lowered from the aircraft 1. The upper surface of the lifting section 506 has a tray-placing surface 506a (see Figure 12) for placing the cargo tray 2. The lifting section 506 is provided so as to be movable vertically between the loading / unloading room 504 and the lower space 513 (see Figure 12) where the luggage locker 510 is located. When the lifting section 506 is located in the loading / unloading room 504, it constitutes part of the floor of the loading / unloading room 504. Also, when the lifting section 506 is located in the loading / unloading room 504, it is provided between a pair of guide sections 503a of the slider support section 503 (see Figure 13). Furthermore, when the slider 502 is located in the loading / unloading room 504, the lifting section 506 is located in the space 502e of the slider 502. Furthermore, the lifting unit 506 is positioned below the cargo compartment 10 of the aircraft 1, facing the cargo compartment 10 (in other words, the main body space 55 of the aircraft 1) when the aircraft 1 has been loaded into the loading / unloading room 504 (see Figure 18). The port 500 is located in the lower space 513 of the loading / unloading room 504 and includes a guide unit 509 that guides the lifting movement of the lifting unit 506 (see Figure 13).

[0069] The luggage movement unit 507 is a component for moving luggage 100 and 110 between the luggage tray 2 placed on the lifting unit 506 and the luggage locker 510. That is, the luggage movement unit 507 is a component for pushing luggage 100 placed on the luggage tray 2 on the lifting unit 506 toward the luggage locker 510, or for pulling luggage 110 stored in the luggage locker 510 toward the luggage tray 2 on the lifting unit 506. The luggage movement unit 507 is composed of an extrusion unit for pushing luggage 100 from the lifting unit 506 toward the luggage locker 510 and a retraction unit for pulling luggage 110 from the luggage locker 510 toward the lifting unit 506. In this case, the luggage movement unit 507 may be configured as a common component in which the extrusion unit and the retraction unit are integrated, or it may be configured in a form in which the extrusion unit and the retraction unit are separate.

[0070] The luggage movement unit 507 is mounted on the lifting unit 506 and moves up and down in conjunction with the lifting unit 506's movement. The luggage movement unit 507 is located on the upper surface of the lifting unit 506, next to the tray mounting surface 506a (see Figure 12). Multiple luggage movement units 507 are provided along a direction corresponding to the arrangement direction of the luggage 100 loaded onto the aircraft 1 or the horizontal arrangement direction of the luggage 110 stored in the luggage locker 510 (in other words, the horizontal arrangement direction of the luggage locker 510 which is divided into multiple sections). The number of luggage movement units 507 may be, for example, the same as the number of luggage that can be loaded onto the aircraft 1. Figure 9 shows an example in which three luggage movement units 507 are provided, but the number of luggage movement units 507 can be any number, as long as it corresponds to the number of luggage items loaded onto the aircraft 1. Thus, each luggage movement unit 507 is configured to push out each luggage 100 individually when multiple luggage 100 are loaded onto the lifting unit 506, that is, to push one of the multiple luggage 100 toward one of the multiple partitioned luggage lockers 510. In addition, each luggage movement unit 507 is configured to pull in each luggage 110 individually when multiple luggage 110 are stored in the luggage locker 510, in other words, to pull the luggage 110 from one of the multiple partitioned luggage lockers 510 toward the lifting unit 506.

[0071] The cargo moving unit 507 is composed of, for example, a pneumatic cylinder, a hydraulic cylinder, a robot hand, a vacuum pad, etc. The cargo moving unit 507 has a movable part 508 that can protrude horizontally from a retracted position (see Figure 12). As shown in Figure 19, when the lifting unit 506 is in a position facing the cargo locker 510, the movable part 508 faces the cargo locker 510 with the tray-mounting surface 506a of the lifting unit 506 in between. The protrusion direction of the movable part 508 is set to the horizontal direction, specifically, to push the cargo 100 placed on the lifting unit 506 toward the cargo locker 510 or to approach the cargo 110 stored in the cargo locker 510.

[0072] The tip of the movable part 508 functions as a contact part that comes into contact with the luggage 100 when pushing the luggage 100 placed on the lifting part 506. The tip of the movable part 508 is also configured as a holding part that holds the luggage 110 so that it does not come loose when pulling in luggage 110 stored in the luggage locker 510. The holding of the luggage 110 by the holding part can be done in any way; for example, the luggage 110 may be sucked up with a vacuum pad, the luggage 110 may be grasped with a robot hand, or the luggage 110 may be hooked onto. The luggage moving part 507 may also be configured to move the luggage 100 and 110 between the luggage locker 510 and the lifting part 506 (luggage tray 2) without lifting the luggage 100 and 110, with the undersides of the luggage 100 and 110 in contact with the ground. However, it is not limited to this, and the luggage moving part 507 may also be configured to lift and move the luggage 100 and 110. The lifting section 506 and the cargo moving section 507 correspond to the transport section in this disclosure. The lifting section 506 corresponds to the cargo loading section in this disclosure.

[0073] The luggage locker 510 is a luggage storage unit for receiving and storing luggage 100 transported from the aircraft 1, or for storing luggage 110 entrusted by a luggage shipper. The luggage locker 510 is located laterally adjacent to the movement space 513 (lower space) of the lifting unit 506. The luggage locker 510 is divided into multiple sections in the vertical and horizontal directions. The luggage lockers 510 may be divided into sections of the same size, or they may be divided into sections of different sizes to accommodate luggage 100, 110 of various sizes. The horizontal arrangement direction of the luggage lockers 510 corresponds to the arrangement direction of the multiple luggage movement units 507 in the lifting unit 506.

[0074] Each luggage locker 510 has an opening 511 facing the lifting mechanism space 513 (see Figure 12). This opening 511 allows electrical communication between the lifting mechanism space 513 and the inside of the luggage locker 510.

[0075] Furthermore, each luggage locker 510 has an opening / closing section 512 that can be opened and closed at a lateral position separate from the opening 511 (for example, a lateral position opposite to the opening 511) (see Figures 12 and 14). The opening / closing section 512 is located on the side of the locker room 515. When the opening / closing section 512 is closed, the inside of the luggage locker 510 is blocked off from the view of the locker room 515. When the opening / closing section 512 is open, the inside of the luggage locker 510 is open (exposed) from the view of the locker room 515.

[0076] Furthermore, each luggage locker 510 has a locking mechanism (not shown) that prevents the opening / closing part 512 from being opened. The locking mechanism can be of any form; it may be a mechanism that is electronically released by ID authentication (for example, by entering a PIN), or a mechanism that is released by inserting a key into a key cylinder and turning it. In the example in Figure 14, the locker room 515 is equipped with an input unit 514 for entering a number. Based on the fact that the number entered into the input unit 514 matches a predetermined PIN, the lock of the corresponding luggage locker 510 is released.

[0077] Each luggage locker 510 is assigned information (for example, a number) to identify it. This identification information is displayed on each luggage locker 510 (for example, the opening / closing part 512) so that it can be seen from the locker room 515.

[0078] The luggage locker 510 has the functions of both a first luggage storage section for receiving and storing luggage 100 from the aircraft 1, and a second luggage storage section for storing luggage 110 to be passed to the aircraft 1. In this case, the first luggage storage section and the second luggage storage section may be a common luggage storage section, or they may be provided separately. If the first luggage storage section and the second luggage storage section are provided separately, for example, the first luggage storage section and the second luggage storage section may be separated vertically in the lifting and lowering space 513.

[0079] The locker room 515 is a room for the consignee to receive luggage 100 that has been placed in the luggage locker 510 from the aircraft 1, or a room for the consignor or port 500 staff to deposit luggage 110 brought in by them into the luggage locker 510. The locker room 515 is set in the space opposite the opening / closing section 512 of the luggage locker 510. The locker room 515 is located on a lower level, for example, below the take-off and landing section 510 and the loading / unloading room 504.

[0080] Furthermore, port 500 has the electrical configuration shown in Figure 15. Specifically, port 500 includes a horizontal drive unit 210, a vertical drive unit 211, a cargo movement unit 507, a cargo tray attachment / detachment device 212, a cargo compartment attachment / detachment device 213, a center of gravity position acquisition unit 214, a battery position adjustment device 215, a cargo position adjustment device 216, a cargo compartment position adjustment device 217, a communication device 218, a storage device 219, and a control device 220.

[0081] The horizontal drive unit 210 is a device that moves the slider 502 horizontally in the sliding direction X. The horizontal drive unit 210 consists of a motor, a cylinder, etc. Note that the slider 502 and the horizontal drive unit 210 correspond to the horizontal movement unit in this disclosure.

[0082] The vertical drive unit 211 is a device that moves the lifting unit 506 in the vertical direction. The vertical drive unit 211 consists of a motor, a cylinder, and the like.

[0083] As described above, the luggage moving unit 507 is provided on the lifting unit 506 and is a device for moving the luggage 100 between the lifting unit 506 and the luggage locker 510.

[0084] The cargo tray attachment / detachment device 212 is installed in the loading / unloading room 504 and is a device (robot) that removes the cargo tray 2 of the aircraft 1 that has been brought into the loading / unloading room 504 from the aircraft 1, and attaches the removed cargo tray 2 to the aircraft 1.

[0085] The cargo compartment attachment / detachment device 213 is installed in the loading / unloading compartment 504 and is a device (robot) that removes the cargo compartment 10 of the aircraft 1 that has been loaded into the loading / unloading compartment 504 from the main body 5, and attaches the removed cargo compartment 10 to the main body 5.

[0086] The center of gravity acquisition unit 214 is a device that acquires the horizontal center of gravity of the aircraft 1. The center of gravity acquisition unit 214 may acquire the overall center of gravity of the cargo tray 2 when it is separated from the cargo tray 3 (including cargo 100 and 110 if cargo 100 and 110 are placed on the cargo tray 2), or it may acquire the overall center of gravity of the cargo compartment 10 when it is separated from the main body 5 (when the cargo tray 2 and cargo cover 3 are combined) (including cargo 100 and 110 if cargo 100 and 110 are stored in the cargo compartment 10), or it may acquire the overall center of gravity of the aircraft 1 when the cargo compartment 10 and the main body 5 are combined (including cargo 100 and 110 if cargo 100 and 110 are loaded). The center of gravity acquisition unit 214 is configured, for example, as a weight distribution measurement unit that measures the horizontal weight distribution of a heavy object placed on the lifting unit 506. In this case, the center of gravity position acquisition unit 214 is composed of a pressure sensor and the like provided on the lifting unit 506.

[0087] Furthermore, the center of gravity position acquisition unit 214 may acquire the weight of each item 100, 110 placed on the cargo tray 2 and the mounting position of each item 100, 110 on the cargo tray 2, and calculate the center of gravity position of the items 100, 110 on the cargo tray 2 (or the center of gravity position of all items 100, 110 if there are multiple items 100, 110) based on the acquired weight and mounting position of each item 100, 110. In this case, the weight of each item 100, 110 may be acquired by measurement when calculating the center of gravity position, or it may be stored in the storage device 219 in advance. Also, the mounting position of each item 100, 110 may be acquired using a sensor such as a camera, or it may be stored in the storage device 219 in advance.

[0088] The battery position adjustment device 215 is a device that adjusts the mounting position of the battery 4 which is placed on top of the cargo compartment 10. Specifically, the battery position adjustment device 215 is installed in the loading / unloading compartment 504 and is a device (robot) that grips the battery 4 which is placed on top of the cargo compartment 10 (cargo compartment cover 3) and repositions the main body 41 of the gripped battery 4 to any position on the upper surface of the cargo compartment 10.

[0089] The cargo position adjustment device 216 is a device that adjusts the loading positions of cargo 100 and 110 on the cargo tray 2. Specifically, the cargo position adjustment device 216 is a device (robot) installed in the loading / unloading compartment 504 that grasps the cargo 100 and 110 placed on the cargo tray 2 and repositions the grasped cargo 100 and 110 to any desired position on the cargo tray 2. In the first embodiment, an example is described in which the loading positions of cargo 100 and 110 are not adjusted. Therefore, in the first embodiment, the cargo position adjustment device 216 may not be provided.

[0090] The cargo compartment position adjustment device 217 is a device for adjusting the mounting position of the cargo compartment on the main body. In the aircraft 1 of the first embodiment, the mounting position of the cargo compartment 10 on the main body 5 is not adjustable. In other words, the first embodiment describes an example in which the mounting position of the cargo compartment is not adjusted. Therefore, in the first embodiment, the cargo compartment position adjustment device 217 may not be provided.

[0091] The communication device 218 is a device that communicates with an external management device (not shown). The communication device 218 receives, for example, information from the management device regarding the aircraft 1 scheduled to arrive at port 500. This information includes, for example, the scheduled arrival time of the aircraft 1, luggage information regarding luggage 100 and 110 carried on the aircraft 1 or stored in luggage locker 510, and battery information regarding the battery 4 carried on the aircraft 1. The information received by the communication device 218 (luggage information, battery information, etc.) may be stored in, for example, the storage device 219. The luggage information and battery information received by the communication device 218 may be the same as the luggage information and battery information stored in the storage device 219 described later.

[0092] The storage device 219 is a non-volatile storage device that stores various types of information. Specifically, the storage device 219 stores, for example, luggage information for each piece of luggage 100, 110 that is mounted on the aircraft 1 or stored in the luggage locker 510. The luggage information may include not only information about luggage 100, 110 that are to be received or delivered at port 500, but also information about luggage 100, 110 that are not to be received or delivered.

[0093] The cargo information includes, for example, cargo identification information (such as an ID number) that identifies each cargo 100, 110, information indicating the weight of each cargo 100, 110, information indicating the destination of each cargo 100, 110 (for example, an address or the location of port 500), information indicating the loading position of each cargo 100 in the cargo tray 2 when multiple cargo 100s are loaded into the cargo tray 2, information indicating the storage position of which cargo locker 510 the cargo 100s will be stored in when the cargo 100s are to be stored (received) in a cargo locker 510, and information indicating the storage position of which cargo locker 510 the cargo 110s are stored in when the cargo 110s are to be handed over to the aircraft 1. The loading position information may, for example, indicate whether each cargo 100 is loaded on the front, middle, or rear side of the cargo tray 2 when three cargo 100s are arranged in the front-to-back direction of the cargo tray 2. The storage position information may, for example, be identification information assigned to each cargo locker 510. The above-mentioned cargo identification information is associated with other information (weight, destination, loading location, storage location, etc.) and stored in the memory device 219.

[0094] Furthermore, the memory device 219 stores battery information relating to the batteries 4 mounted on the aircraft 1. The battery information includes, for example, battery identification information (such as an ID number) that identifies each battery 4, information indicating the weight of the battery 4, and information indicating the mounting position of the battery body 41 on the upper surface of the cargo compartment 10. The above battery identification information and other information (weight, mounting position, etc.) are associated and stored in the memory device 219.

[0095] The control device 220 is a device that controls each of the devices 210 to 219 and 507 shown in Figure 15.

[0096] Next, the method for receiving or delivering cargo 100 at port 500 will be described. Figure 16 shows a flowchart of this method. The process in Figure 16 is executed, for example, by the control device 220 in Figure 15.

[0097] First, the aircraft 1 is landed on the takeoff and landing section 501 (S11). At this time, the control device 220 controls the horizontal drive unit 210 to move the slider 502 to the position of the takeoff and landing section 501 in advance. Figure 17 shows the aircraft 1 after it has landed on the takeoff and landing section 501.

[0098] Next, the control device 220 controls the horizontal drive unit 210 to move the slider 502 on which the aircraft 1 is mounted into the loading / unloading room 504 (indoors) (S12). Figure 18 shows the aircraft 1 after it has been moved into the loading / unloading room 504. In this state, the lifting unit 506 is located below the cargo tray 2 mounted on the aircraft 1.

[0099] Next, the control device 220 controls the cargo tray attachment / detachment device 212 to separate the cargo tray 2 downward from the aircraft 1 that has been moved to the loading / unloading compartment 504, and places the separated cargo tray 2 and the cargo 100 on it onto the lifting unit 506 (S13). With the cargo tray 2 on the lifting unit 506, each piece of cargo 100 is positioned in front of the movable part 508 of each cargo moving unit 507. Note that if cargo 110 is to be transferred from port 500 to aircraft 1, the cargo 100 does not need to be on the cargo tray 2 at step S13.

[0100] Next, the control device 220 controls the vertical drive unit 211 to lower the lifting unit 506, on which the cargo tray 2 and cargo 100 are placed, to a position facing the cargo locker 510 in which the cargo 110 to be delivered is stored or to be used for receiving cargo (S14). Note that any of the multiple partitioned cargo lockers 510 can be decided in any way. Figures 19 and 20 show the state in which the lifting unit 506 has been lowered to a position facing the cargo locker 510 to be used for receiving cargo. In this state, the aircraft 1 (main body 5, battery 4 and cargo cover 3) from which the cargo tray 2 has been lowered remains in the loading / unloading room 504, and specifically, for example, the aircraft 1 remains on the slider 502. Note that Figure 19 shows an example in which the cargo 110 to be delivered is stored in a cargo locker 510 different from the cargo locker 510 used for receiving cargo.

[0101] Next, the control device 220 controls the cargo moving unit 507 to push the cargo 100 on the cargo tray 2 towards the cargo locker 510, or to pull the cargo 110 stored in the cargo locker 510 into the cargo tray 2 (S15). At this time, if there are multiple cargo 100 on the cargo tray 2, the control device 220 identifies one or more cargo 100 from among the multiple cargo 100 to be received. Specifically, the control device 220 determines, for example, whether the destination information included in the cargo information stored in the storage device 219 indicates port 500 or another location. The control device 220 then determines that the cargo 100 whose destination indicates port 500 is the cargo to be received. The control device 220 also determines, for example, the position on the cargo tray 2 where the cargo to be received is located, based on the loading position information included in the cargo information stored in the storage device 219. Furthermore, the control device 220 identifies the luggage locker 510 where the luggage to be delivered is stored, based on luggage information stored in the storage device 219, for example.

[0102] The control device 220 then drives the luggage movement unit 507 that is facing the identified luggage 100 to be received, from among the multiple luggage movement units 507 provided on the lifting unit 506. As a result, the luggage 100 to be received is placed from the luggage tray 2 (lifting unit 506) into the luggage locker 510, while luggage 100 that is not to be received remains in the luggage tray 2 (lifting unit 506). Also, as shown in Figure 19, if there is luggage 110 to be handed over, the control device 220 moves the lifting unit 506 to a position facing that luggage 110, and then drives the luggage movement unit 507 facing that luggage 110 to pull the luggage 110 from the luggage locker 510 into the luggage tray 2.

[0103] Furthermore, if there are multiple packages 100 to be received, they may be received in luggage lockers 510 located at the same height among multiple luggage lockers 510 partitioned in the height and horizontal directions, or in luggage lockers 510 located at different heights. Also, packages 100 may be received from luggage lockers 510 located at the same height as the luggage locker 510 in which the packages 110 to be delivered are stored, or packages 100 may be received from luggage lockers 510 located at different heights. In addition, if there are multiple packages 100 to be received, multiple luggage moving units 507 may be driven simultaneously to place multiple packages 100 into separate luggage lockers 510 at the same time, or multiple luggage moving units 507 may be driven with a time delay to place multiple packages 100 into separate luggage lockers 510 with a time delay. Furthermore, if there are multiple packages 110 to be delivered, the multiple packages 110 may be pulled into the cargo tray 2 at the same time by driving multiple package moving units 507 simultaneously, or the multiple packages 110 may be pulled into the cargo tray 2 at different times by driving multiple package moving units 507 at different times.

[0104] When package 100 is placed in a luggage locker 510, the recipient of package 100 may be notified that package 100 has arrived at port 500 and which luggage locker 510 it is in. Any means of notification to the recipient is acceptable, such as email. Upon receiving the notification, the recipient can retrieve package 100 by opening the corresponding luggage locker 510 in the locker room 515 at port 500.

[0105] Returning to the explanation of Figure 16, the control device 220 then controls the vertical drive unit 211 to raise the lifting unit 506 to the position of the loading / unloading room 504 (S16).

[0106] Next, the center of gravity of the aircraft 1 after the transfer of cargo 100 and 110 is adjusted to the optimal center of gravity position (S17). Specifically, as step S17, the process shown in Figure 21 is executed. In Figure 21, first, the control device 220 has the center of gravity position acquisition unit 214 shown in Figure 15 measure or calculate the center of gravity position of the aircraft 1 after the transfer of cargo 100 and 110, and acquires that center of gravity position from the center of gravity position acquisition unit 214 (S21). In this case, the center of gravity position acquisition unit 214 may acquire, as described above, the horizontal weight distribution of the cargo tray 2 when it is separated from the cargo cover 3 (including cargo 100 and 110 if cargo 100 remains or if cargo 110 is newly loaded), or the horizontal weight distribution of the cargo tray 2 and the cargo cover 3 when they are combined (including cargo 100 and 110 if cargo 100 remains or if cargo 110 is newly loaded), or the horizontal weight distribution of the cargo compartment 10 and the main body 5 when they are combined (including cargo 100 and 110 if cargo 100 remains or if cargo 110 is newly loaded). Furthermore, the center of gravity position acquisition unit 214 may acquire the weight distribution in the horizontal direction of the cargo compartment 10 with the battery 4 installed (including cargo 100 and 110 if cargo 100 remains or if cargo 110 is newly installed) as the center of gravity position, or it may acquire the weight distribution in the horizontal direction of the cargo compartment 10 with the battery 4 installed and the main body 5 when they are combined (including cargo 100 and 110 if cargo 100 remains or if cargo 110 is newly installed).

[0107] In step S21, if luggage 100 and 110 are loaded on luggage tray 2, the center of gravity of the aircraft 1 may be obtained while the loading positions of luggage 100 and 110 on luggage tray 2 are maintained at their original positions (the loading positions at the time of landing in step S11 or the position of luggage 110 on luggage tray 2 when luggage 110 was moved from luggage locker 510 to luggage tray 2 in step S15). Alternatively, if the loading positions of luggage 100 and 110 are changed from their original positions, the center of gravity of the aircraft 1 may be obtained in the changed state. Furthermore, in step S21, if luggage 100 is not remaining on luggage tray 2 and there is no new luggage 110 to be loaded, the center of gravity (weight distribution) of the aircraft 1 in the state without luggage 100 and 110 is obtained.

[0108] Next, the control device 220 obtains the weight of the battery 4 mounted on the aircraft 1 (S22). For example, the weight of the battery 4 can be read from the memory device 219.

[0109] Next, the control device 220 calculates the optimal mounting position of the battery 4 on the upper surface of the cargo compartment 10 based on the center of gravity position after cargo transfer obtained in step S21 and the weight of the battery 4 obtained in step S22 (S23). At this time, the control device 220 calculates the mounting position of the battery 4 such that the horizontal center of gravity position of the cargo compartment 10 or the aircraft 1 (in the state where the cargo compartment 10 and the main body 5 are combined) with the battery 4 mounted on the upper surface of the cargo compartment 10 becomes a predetermined target center of gravity position. In addition, the control device 220 calculates the center position or center of gravity position of the battery body 41 on the upper surface of the cargo compartment 10 as the mounting position of the battery 4. The target center of gravity position is set to the center of the cargo compartment 10, for example.

[0110] For example, in Figure 22, two packages 100A and 100B remain in the cargo tray 2 (cargo compartment 10), with the weights of packages 100A and 100B increasing in the order of package 100A followed by package 100B, and the packages are arranged in the front-to-back direction in the order of package 100A followed by package 100B. The center of gravity position indicated by the symbol "301" is the center of gravity position obtained in step S21, 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 optimal mounting position for the battery 4 calculated in step S23 (in other words, the center position or center of gravity position of the battery 4). Furthermore, since package 100B is heavier than package 100A, the center of gravity position 301 is shifted from the target center of gravity position 300 towards package 100B. In this case, the optimal mounting position 302 for the battery 4 is calculated to be a position shifted from the target center of gravity position 300 toward the cargo 100A. At this time, the greater the shift of the center of gravity position 301 relative to the target center of gravity position 300, the greater the shift of the optimal mounting position 302 for the battery 4 relative to the target center of gravity position 300. Also, the optimal mounting position 302 for the battery 4 may be set closer to the target center of gravity position 300 as the weight of the battery 4 increases.

[0111] Figure 22 shows an example where the optimal mounting position 302 of the battery 4 changes in the longitudinal direction within the horizontal direction, depending on the weight of the battery 4 and the center of gravity position 301 of the aircraft 1 (cargo 100). If the center of gravity position 301 is shifted laterally relative to the target center of gravity position 300, the optimal mounting position 302 of the battery 4 will also be shifted laterally relative to the target center of gravity position 300.

[0112] Here, the center of gravity position (weight distribution) obtained in step S21 changes depending on the weight of each item 100, 110 remaining in or newly loaded on the cargo tray 2, and the loading position of each item 100, 110 on the cargo tray 2. Therefore, the optimal loading position obtained in step S23 changes depending on the weight of each item 100, 110 remaining in or newly loaded on the cargo tray 2, the loading position of each item 100, 110 on the cargo tray 2, and the weight of the battery 4. In other words, step S23 is equivalent to calculating the optimal loading position of the battery 4 based on the weight of the items 100, 110 on the cargo tray 2, the loading position of each item 100, 110 on the cargo tray 2, and the weight of the battery 4.

[0113] Returning to the explanation of Figure 21, the control device 220 then corrects the mounting position of the battery 4 on the upper surface of the cargo compartment 10 to the optimal mounting position calculated in step S23 (S24). Specifically, the control device 220 controls the cargo compartment attachment / detachment device 213 (see Figure 15) to remove the cargo compartment 10 (cargo compartment cover 3) from the main body 5. Then, the control device 220 controls the battery position adjustment device 215 to grip the main body 41 of the battery 4 which is resting on the removed cargo compartment cover 3, and adjusts the position of the gripped battery main body 41 to the optimal mounting position calculated in step S23. In Figure 22, the reference numeral "303" indicates the initial mounting position of the battery 4. In step S24, the mounting position of the battery main body 41 is corrected from the position indicated by reference numeral "303" to the position indicated by reference numeral "302".

[0114] Next, the control device 220 attaches the cargo compartment 10, which contains the battery 4, to the main body 5 (S25). Specifically, the control device 220 controls the cargo tray attachment / detachment device 212 and the cargo compartment attachment / detachment device 213 (see Figure 15) to combine the cargo tray 2 and the cargo cover 3, and also combine the cargo cover 3 and the main body 5 (S25). As a result, the center of gravity of the aircraft 1 after the cargo transfer can be set to the optimal center of gravity position (target center of gravity position).

[0115] Returning to Figure 16, the control device 220 then controls the horizontal drive unit 210 to move the slider 502, which carries the aircraft 1 with its center of gravity adjusted, to the outside where the takeoff and landing unit 501 is located (S18). After that, the aircraft 1 takes off towards its next destination (S19). At this time, if the aircraft 1 is carrying cargo 100 and 110, the aircraft 1 flies towards the destination of the cargo 100 and 110. If the aircraft 1 is not carrying cargo 100 and 110, the aircraft 1 returns to the base.

[0116] Furthermore, the control device 220 and battery position adjustment device 215 that perform step S17 in Figure 16 (specifically steps S21 to S25 in Figure 21) correspond to the center of gravity adjustment unit and battery position adjustment unit of this disclosure. Also, step S17 in Figure 16 corresponds to the center of gravity adjustment process of this disclosure. The control device 220 and vertical drive unit 211 that perform steps S14 and S16 in Figure 16 correspond to the movement control unit. Also, the control device 220 and vertical drive unit 211 that perform step S14 correspond to the first movement control unit. The control device 220 and vertical drive unit 211 that perform step S16 correspond to the second movement control unit. Also, steps S12 to S16 correspond to the receiving or delivery process. Steps S18 and S19 correspond to the takeoff process. Also, step S14 corresponds to the first transport process. Step S15 corresponds to the cargo moving process. Step S16 corresponds to the second transport process.

[0117] 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 before the main body 5 is prepared (pre-setup is possible). This allows the cargo 100 and battery 4 to be quickly loaded onto the main body 5 when the main body 5 is ready, improving the efficiency of the loading work time. In addition, the cargo 100 and battery 4 can be loaded onto the main body 5 simultaneously. Furthermore, by pre-setting up the cargo compartment 10 equipped with the battery 4 and cargo 100, operational management of the aircraft 1 at the base becomes easier, and for example, the main body 5 that has returned to the base can be immediately combined with the next cargo compartment 10 and flown. This allows the aircraft 1 (main body 5) to take off one after another without waiting time, and the turnover rate (operation rate) of the main body 5 can be increased.

[0118] 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.

[0119] 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.

[0120] 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.

[0121] 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.

[0122] 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.

[0123] 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.

[0124] 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.

[0125] 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 mounting and retrieving the battery 4 easier. It also makes it easier to adjust the mounting position of the battery 4.

[0126] 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.

[0127] Furthermore, since the mounting position of the battery 4 is adjustable, the center of gravity of the aircraft 1 can be set to an optimal position, thereby stabilizing flight. This stable flight also reduces unnecessary rotation of the rotor blades 53 for attitude control, thus reducing fuel consumption during flight and extending the flight range. Since the aircraft 1 itself does not have a mechanism (such as a servo motor or other electric component) to adjust the mounting position of the battery 4, the structure of the aircraft 1 can be simplified, and its weight can be reduced. 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 aircraft 1's center of gravity.

[0128] 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.

[0129] 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.

[0130] Furthermore, cargo 100 loaded onto aircraft 1 can be automatically received at aircraft port 500, or cargo 110 (see Figures 17-19) stored at aircraft port 500 can be automatically transferred to aircraft 1. At port 500, cargo 100 and 110 are transferred with the cargo tray 2 separated from aircraft 1, making the transfer easy. Also, cargo 100 to be received remains on cargo tray 2 until it is placed in cargo locker 510, and cargo 100 not to be received also remains on cargo tray 2, making it easy to unload cargo 100 from aircraft 1 and to reload cargo 100 onto aircraft 1.

[0131] Furthermore, since the luggage 100 and 110 are placed into the luggage locker 510 or on the luggage tray 2 by an extrusion or retraction operation by the luggage moving unit 507, and it is not necessary to grasp and lift the luggage 100 and 110 with a robot hand, the mechanism for moving the luggage 100 and 110 between the luggage tray 2 and the luggage locker 510 can be simplified, and the operation of moving the luggage 100 and 110 can be easily performed automatically.

[0132] Since multiple luggage transfer units 507 are provided along the direction corresponding to the arrangement direction of luggage 100 in the luggage tray 2, when multiple luggage 100 are placed in the luggage tray 2, it is possible to place only a portion of the luggage 100 into the luggage locker 510, or to place all of the luggage 100 into different luggage lockers 510. Furthermore, since multiple luggage transfer units 507 are provided along the horizontal arrangement direction of luggage 110 in the luggage locker 510, it is possible to select whether or not to transfer one or more luggage 110 stored in the luggage locker 510 individually.

[0133] Furthermore, at Port 500, the center of gravity of aircraft 1 is adjusted after the cargo is handed over. Therefore, even if the weight balance of aircraft 1 changes due to the cargo handover, the flight of aircraft 1 after the cargo is stabilized.

[0134] Furthermore, since the takeoff and landing section 501 does not have a roof, landing and takeoff are easy. Also, once the aircraft 1 has landed in the takeoff and landing section 501, it can be moved into the loading / unloading room 504, which has a roof, by the slider 502, so that the cargo and battery 4 mounted on the aircraft 1 can be protected from rain, wind, etc.

[0135] Furthermore, since the lifting unit 506 is positioned to face the cargo tray 2 mounted on the aircraft when the aircraft 1 is placed in the loading / unloading room 504, the cargo tray 2 separated downward from the aircraft 1 can be easily placed on the lifting unit 506, and the cargo tray 2 after receiving or delivering the cargo can be easily attached to the aircraft 1.

[0136] (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 of adjusting the mounting position of the battery 4 was shown in step S17 of Figure 16. In this embodiment, an example of adjusting the loading position of luggage will be described in step S17 of Figure 16. In this embodiment, as step S17 of Figure 16, the process in Figure 23 is performed instead of or in addition to the process in Figure 21. Also, the port 500 of this embodiment has the same electrical configuration as in the first embodiment, as shown in Figure 15. However, in this embodiment, the port 500 is equipped with a luggage position adjustment device 216, but it is not required to be equipped with a battery position adjustment device 215 and a luggage compartment position adjustment device 217. Except for the process in Figure 23 and the luggage position adjustment device 216, it is the same as in the first embodiment.

[0137] The process shown in Figure 23 will now be explained. The process shown in Figure 23 is executed, for example, by the control device 220 in Figure 15. As a premise of this embodiment, when the aircraft 1 arrives at port 500, multiple packages 100 are loaded onto the aircraft 1 (cargo tray 2). In step S15 of Figure 16, only a portion of the multiple packages 100 are placed into the luggage locker 510, and one or more packages 100 remain in the luggage tray 2 when the center of gravity is adjusted in step S17. Alternatively, in step S15 of Figure 16, new packages 110 are loaded from the luggage locker 510 onto the luggage tray 2 on the lifting unit 506.

[0138] In the process shown in Figure 23, the weight of each remaining item 100 in the cargo tray 2 or each newly loaded item 110 is obtained (S31). The weights of the items 100 and 110 may be obtained from values ​​previously stored in the storage device 219 (see Figure 15), or from values ​​measured by a weight measuring device during the execution of the process shown in Figure 23.

[0139] Furthermore, the weight of the battery 4, which is placed on top of the cargo compartment 10, is obtained (S32). The weight of the battery 4 may be obtained from a value previously stored in the storage device 219 (see Figure 15), or it may be obtained from a weight measuring device measured during the execution of the process shown in Figure 23.

[0140] Furthermore, the mounting position of the battery 4 on the upper surface of the cargo compartment 10 is obtained (S33). The mounting position of the battery 4 may be obtained from a value previously stored in the storage device 219 (see Figure 15), or from a value measured by a camera or the like during the execution of the process shown in Figure 23. If the mounting position of the battery 4 is changed from its initial position (the mounting position at the time of landing in step S11), the changed mounting position is obtained in step S33. Note that steps S31 to S33 may be executed in any order.

[0141] Next, based on the weights of each piece of luggage 100 and 110, the weight of the battery 4, and the mounting position of the battery 4 obtained in steps S31 to S33, the optimal mounting position for each piece of luggage 100 and 110 in the luggage tray 2 is calculated (S34). Specifically, the optimal mounting position for each piece of luggage 100 and 110 in the luggage tray 2 is calculated such that the horizontal center of gravity of the entire aircraft 1 (luggage 100 and 110, luggage tray 2, luggage cover 3, battery 4, and main body 5) or the entire luggage compartment 10 (luggage 100 and 110, luggage tray 2, luggage cover 3, and battery 4) after the luggage 100 and 110 have been re-loaded becomes a predetermined target center of gravity.

[0142] Next, the control device 220 controls the cargo position adjustment device 216 (see Figure 15) to correct the loading positions of each cargo item 100, 110 remaining in the cargo tray 2 or newly loaded so that they become the optimal loading positions calculated in step S34 (S35).

[0143] Subsequently, the control device 220 controls the cargo tray attachment / detachment device 212 shown in Figure 15 to attach the cargo tray 2, on which the luggage 100 and 110 are placed, to the cargo cover 3, which remains attached to the main body 5, thereby attaching the cargo compartment 10 containing the luggage 100 and 110 to the main body 5 (S36). If the cargo cover 3 has been removed from the main body 5, the control device 220 controls the cargo tray attachment / detachment device 212 and the cargo compartment attachment / detachment device 213 shown in Figure 15 to combine the cargo tray 2 and the cargo cover 3, and also combine the cargo cover 3 and the main body 5.

[0144] As a result, the center of gravity of the aircraft 1 after the cargo transfer can be set to the optimal center of gravity (target center of gravity). Thus, the same effects as in the first embodiment can be obtained with this embodiment as well. Furthermore, by adjusting the mounting positions of the cargo 100 and 110 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, loaded with cargo 100, 110 and the 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.

[0145] Furthermore, the control device 220 and the cargo position adjustment device 216 that perform steps S31 to S36 in Figure 23 correspond to the center of gravity adjustment unit and cargo position adjustment unit of this disclosure. Also, steps S31 to S36 correspond to the center of gravity adjustment process of this disclosure.

[0146] (Third embodiment) Next, a third embodiment of this disclosure will be described, focusing on the differences from the first and second embodiments described above. In the first and second embodiments, an example was shown in step S17 of Figure 16 where the mounting position of the battery 4 or the mounting positions of the luggage 100 and 110 was adjusted. In this embodiment, an example will be described in step S17 of Figure 16 where the mounting position of the luggage compartment in the main body is adjusted.

[0147] Figure 24 shows a cross-sectional view of the unmanned aerial vehicle according to this embodiment. In Figure 24, the same components as in the first and second embodiments are denoted by the same reference numerals. The aircraft 6 in Figure 24 includes a cargo tray 2, a cargo cover 7, a battery 4, and a main body 8, similar to the first and second embodiments. Furthermore, the aircraft 6 is equipped with a battery tray 9.

[0148] The cargo tray 2 and battery 4 are the same as those in the first and second embodiments.

[0149] 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 25) that attaches to an attachment portion 83 (see Figure 25) 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 and second 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 and second embodiments. The cargo compartment 15 is composed of the cargo compartment tray 2 and the cargo compartment cover 7.

[0150] 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 24 and 25, the width of the main body space 82 in the front-rear direction (direction of travel of the aircraft 6) is greater than the width of the cargo compartment cover 7 in the front-rear direction. That is, the mounting position of the cargo compartment cover 7 in the front-rear direction within the main body space 82 is adjustable. In this embodiment, the width of the main body space 82 in the left-right direction is set to be the same as the width of the cargo compartment cover 7 in the left-right direction. However, the width of the main body space 82 in the left-right direction may be set to be greater than the width of the cargo compartment cover 7 in the left-right direction, and the mounting position of the cargo compartment cover 7 in the left-right direction may also be configured to be adjustable. Alternatively, the mounting position of the cargo compartment cover 7 in the front-rear direction within the main body space 82 may be immovable, while the mounting position of the cargo compartment cover 7 in the left-right direction may be adjustable.

[0151] 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 25). These mounting portions 83 differ from the mounting portions 57 of the first and second 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 and second embodiments.

[0152] 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.

[0153] In the example shown in Figure 25, 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. Also, 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.

[0154] Furthermore, similar to the first and second embodiments described above, the engagement state of the mounting portions 71 and 83 is released when a predetermined release operation is performed.

[0155] 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.

[0156] The shape of the connector holder 92 is the same as that of the connector holder 38 in the first and second embodiments (see Figures 2 and 4).

[0157] 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.

[0158] Furthermore, in this embodiment, as step S17 in Figure 16, the process in Figure 26 is performed in place of or in addition to the process in Figure 21, or in place of or in addition to the process in Figure 23. Also, the port 500 in this embodiment has the same electrical configuration as in the first and second embodiments as shown in Figure 15. However, in this embodiment, the port 500 is equipped with a cargo compartment position adjustment device 217, but it does not need to be equipped with a battery position adjustment device 215 and a cargo compartment position adjustment device 216. Except for the configuration of the aircraft 6, the process in Figure 26, and the cargo compartment position adjustment device 217, it is the same as in the first and second embodiments.

[0159] The cargo compartment position adjustment device 217 is a device (robot) that adjusts the mounting position of the cargo compartment 15 in the main body space 82 by adjusting the mounting positions of the mounting parts 71 and 83 while attaching the cargo compartment 15 to the main body cover 81. The cargo compartment position adjustment device 217 also includes a battery tray position adjustment device 217a. The battery tray position adjustment device 217a is a device (robot) that adjusts 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) while maintaining the relative positional relationship between the battery body 41 and the cargo compartment 15.

[0160] The process shown in Figure 26 will now be explained. The process in Figure 26 is performed, for example, by the control device 220 in Figure 15. In this embodiment, during the process in Figure 26, there may or may not be luggage 100 remaining in the luggage tray 2. Also, during the process in Figure 26, there may or may not be new luggage 110 (see Figures 17 to 19) loaded onto the luggage tray 2.

[0161] In the process shown in Figure 26, first, the center of gravity of the aircraft 6 after the cargo has been handed over, in other words, the center of gravity of the aircraft 6 after the cargo has been handed over between the cargo tray 2 and the cargo locker 510 in step S15 is obtained (S41). Specifically, the control device 220 has the center of gravity acquisition unit 214 in Figure 15 measure or calculate the horizontal center of gravity of the aircraft 6 after the cargo has been handed over, and obtains that center of gravity from the center of gravity acquisition unit 214. At this time, the center of gravity position acquisition unit 214 may acquire the weight distribution in the horizontal direction of the cargo tray 2 when it is separated from the cargo cover 7 (including cargo 100 and 110 if cargo 100 and 110 are placed on it) as the center of gravity position, or it may acquire the weight distribution in the horizontal direction of the cargo tray 2 and cargo cover 7 when they are combined (including cargo 100 and 110 if cargo 100 and 110 are placed on it), or it may acquire the weight distribution in the horizontal direction of the cargo compartment 15 and main body 8 when they are combined (including cargo 100 and 110 if cargo 100 and 110 are placed on it). Furthermore, the center of gravity position acquisition unit 214 may acquire the weight distribution in the horizontal direction of the cargo compartment 15 with the battery 4 installed (including luggage 100 and 110 if luggage 100 and 110 are installed), or it may acquire the weight distribution in the horizontal direction of the cargo compartment 15 with the battery 4 installed and the main body 8 when they are combined (including luggage 100 and 110 if luggage 100 and 110 are installed).

[0162] In step S41, if luggage 100 and 110 are placed in the luggage tray 2, the center of gravity of the aircraft 6 may be obtained while the loading positions of luggage 100 and 110 in the luggage tray 2 are maintained at their original positions (the loading positions at the time of landing in step S11 or the position of luggage 110 on the luggage tray 2 when luggage 110 was moved from the luggage locker 510 to the luggage tray 2 in step S15). Alternatively, if the loading positions of luggage 100 and 110 are changed from their original positions, the center of gravity of the aircraft 6 may be obtained in the changed state. Furthermore, in step S41, if luggage 100 and 110 are not placed in the luggage tray 2, the center of gravity (weight distribution) of the aircraft 6 without luggage 100 and 110 is obtained. In step S41, the center of gravity of the aircraft 6 may be obtained while the battery 4 in the cargo compartment 15 is kept in its original position (the position at the time of landing in step S11), or, if the battery 4 is moved from its original position, the center of gravity of the aircraft 6 may be obtained in the modified state.

[0163] Next, the control device 220 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 S41 (S42). Specifically, for example, the optimal mounting position of the cargo compartment 15 in the main body space 82 is calculated to be the position in which the center of gravity position acquired in step S41 coincides with a predetermined target center of gravity position in the main body space 82.

[0164] For example, in Figure 24, let's assume that the center of gravity position obtained in step S41 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.

[0165] Here, the center of gravity position (weight distribution) obtained in step S41 changes depending on the weight of each item 100 remaining on the cargo tray 2 or each newly loaded item 110, the loading position of each item 100 and 110 on the cargo tray 2, the weight of the battery 4 mounted in the cargo compartment 15, and the loading position of the battery 4 on the upper surface of the cargo compartment 15. Therefore, the optimal mounting position obtained in step S42 changes depending on the weight of the items 100 and 110 on the cargo tray 2, the loading position of each item 100 and 110 on the cargo tray 2, the weight of the battery 4, and the mounting position of the battery 4. In other words, step S42 is equivalent to calculating the optimal mounting position of the cargo compartment 15 based on the weight of each item 100 and 110, the loading position of each item 100 and 110, the weight of the battery 4, and the mounting position of the battery 4.

[0166] Next, the control device 220 instructs the cargo compartment position adjustment device 217 (Figure 15) to mount the cargo compartment 15 onto the main body 8, while adjusting the mounting position of the cargo compartment 15 in the main body space 82 to the optimal mounting position calculated in step S42 (S43). At this time, the battery tray position adjustment device 217a maintains the relative positional relationship between the battery body 41 and the cargo compartment 15 to the state calculated in step S42 for the optimal mounting position (for example, the initial state when the aircraft 6 arrives at port 500), 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 in 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 body 8 side. This makes it possible to connect the connector 43 of the battery 4 and the connector 84 on the main body 8 side, regardless of the mounting position of the cargo compartment 15 in the main body space 82. As a prerequisite for step S43, the control device 220 causes the cargo tray attachment / detachment device 212 shown in Figure 15 to attach the cargo tray 2, which has returned from the lower space 513 in step S16 shown in Figure 16, to the cargo cover 7.

[0167] Thus, in this embodiment, the mounting position of the cargo compartment 15 in the main body 8 is adjusted after the cargo is handed over, so that the center of gravity of the aircraft 6 after the cargo is handed over can be set to an optimal position. This makes it possible to obtain the same effects as in the first and second embodiments described above.

[0168] Furthermore, the control device 220 and cargo compartment position adjustment device 217 that perform steps S41 to S43 in Figure 26 correspond to the center of gravity adjustment unit and cargo compartment position adjustment unit of this disclosure. Also, steps S41 to S43 correspond to the center of gravity adjustment process.

[0169] This disclosure is not limited to the above embodiments, and various modifications are possible. For example, although the above embodiments show an example in which each step in Figure 16 is performed automatically, at least some of the steps may be performed by a human. For example, the attachment and detachment of the cargo tray to the aircraft may be performed by a human. Also, the correction of the battery mounting position in step S24 in Figure 21 may be performed by a human. In this case, for example, the optimal mounting position obtained in steps S21 to S23 in Figure 21 may be output by displaying it on a display device, and a human may correct the battery mounting position based on the outputted optimal mounting position. Also, step S25 in Figure 21 (attaching the cargo compartment and main body cover after correcting the battery mounting position) may be performed by a human.

[0170] Furthermore, the correction of the cargo loading position in step S35 of Figure 23 may be performed by a human. In this case, the optimal loading position obtained in steps S31 to S34 of Figure 23 may be output by displaying it on a display device, and a human may correct the cargo loading position on the cargo tray based on the outputted optimal loading position. Also, step S36 of Figure 23 may be performed by a human.

[0171] Furthermore, the correction of the cargo compartment mounting position in step S43 of Figure 26 may be performed by a human. In this case, the optimal mounting position obtained in steps S41 and S42 of Figure 26 may be output by displaying it on a display device, and a human may then mount the cargo compartment onto the main body based on the outputted optimal mounting position.

[0172] Furthermore, the first to third embodiments showed examples in which multiple luggage moving units are provided along the direction of luggage arrangement for moving luggage between the lifting unit and the luggage locker. However, the invention is not limited to this, and one luggage moving unit may be moved within the plane of the lifting unit to match the position of the luggage to be received or delivered, thereby individually moving (pushing out or pulling in) one or more luggage with a single luggage moving unit. In addition, the luggage moving unit may be composed of a belt conveyor, a roller conveyor, or the like.

[0173] 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.

[0174] Furthermore, if the battery mounting position needs to be corrected after receiving or delivering the cargo, the battery may be mounted on the aircraft in any way as long as the structure allows for adjustment of the battery mounting position. Similarly, if the cargo compartment mounting position needs to be corrected after receiving or delivering the cargo, the cargo compartment may be mounted on the aircraft in any way as long as the structure allows for adjustment of the cargo compartment mounting position.

[0175] In the above embodiment, an example was shown in which a cargo tray was placed on the lifting section. However, it is also possible to place the cargo to be received or delivered directly on the lifting section without placing a cargo tray on it.

[0176] Furthermore, although the above embodiment shows an example where the luggage locker (luggage storage section) is located on a lower level than the loading / unloading room (in other words, the take-off and landing section), it may also be located on a higher level than the loading / unloading room (in other words, the take-off and landing section). In this case, in step S14 of Figure 16, the lifting section should be raised, and in step S16, the lifting section should be lowered. Alternatively, the luggage locker (luggage storage section) may be located on the same floor (at the same height) as the loading / unloading room (in other words, the take-off and landing section). In this case, a horizontal movement section can be provided instead of a lifting section, and in step S14 of Figure 16, the horizontal movement section should be moved horizontally to a position opposite the luggage locker with the luggage tray placed on it. Alternatively, in step S16 of Figure 16, the horizontal movement section should be moved horizontally to the position of the unmanned aerial vehicle.

[0177] 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 27 and 28, 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 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 27 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 28 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 in the side portion 32. In Figures 27 and 28, an example is shown in which the side openings 391 and 392 are formed in the front side portion 32 of the cargo compartment covers 3A and 3B, but they may also be formed in 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 with the cargo compartment tray 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.

[0178] Furthermore, in the third embodiment, an example was shown in which the battery body is placed on the top surface of the cargo compartment with a battery tray in between. However, if the position of the connector holder that holds the battery connector is adjustable, the battery body may be mounted directly on the top surface of the cargo compartment. In other words, in Figure 25, the portion 91 on which the battery body 41 is placed in the battery tray 9 may be omitted.

[0179] Furthermore, although the above embodiment shows an example of adjusting the center of gravity of the unmanned aerial vehicle after the delivery of the cargo, a configuration in which the center of gravity is not adjusted is also possible. In other words, the receiving or delivery device of this disclosure is A landing section for unmanned aircraft capable of carrying multiple loads, Luggage storage area, A luggage loading section for loading luggage unloaded from the aforementioned unmanned aircraft or luggage stored in the aforementioned luggage storage section, the luggage loading section being capable of carrying multiple pieces of luggage, A movement control unit moves the cargo loading section between the position of the unmanned aircraft and a position opposite the cargo storage section, A luggage moving unit that moves luggage placed on the luggage loading section to the luggage storage section, or moves luggage stored in the luggage storage section to the luggage loading section, in the aforementioned opposing positions, and a luggage moving unit that allows each piece of luggage to be moved individually when multiple pieces of luggage are placed on the luggage loading section or multiple pieces of luggage are stored in the luggage storage section, It may be configured as a receiving or delivery device equipped with the following: In this case, the luggage moving units may be provided in multiples on the luggage loading unit or luggage storage unit, along the direction of arrangement of the luggage on the luggage loading unit or luggage storage unit. According to this, it is possible to efficiently transfer multiple packages, or a portion of multiple packages, between an unmanned aerial vehicle and a port. [Explanation of symbols]

[0180] 1.6 Unmanned aircraft 2. Cargo area tray 3, 3A, 3B, 7 Cargo area cover 4 Batteries 5.8 Main body of the unmanned aerial vehicle 10, 15 Cargo area 100, 110 luggage 500 aircraft ports 501 Takeoff and Landing Section 510 Luggage lockers (luggage storage area) 506 Lifting section 507 Luggage handling section 220 Control device 215 Battery position adjustment device 216 Luggage position adjustment device 217 Cargo area position adjustment device

Claims

1. The landing area where the unmanned aircraft will land, Luggage storage area, A transport unit for transporting cargo from the unmanned aircraft that has landed on the landing section to the cargo storage unit, or from the cargo storage unit to the unmanned aircraft, A center of gravity adjustment unit for adjusting the center of gravity of the unmanned aircraft after the delivery of the aforementioned cargo, The system includes a takeoff section from which the unmanned aircraft, whose center of gravity has been adjusted, takes off. The aforementioned unmanned aerial vehicle comprises a cargo compartment for storing cargo and a flyable body to which the cargo compartment is attached. The center of gravity adjustment unit is a cargo receiving or transfer device having a cargo compartment position adjustment unit for adjusting the mounting position of the cargo compartment on the main body.

2. A landing section on which an unmanned aircraft lands, Luggage storage area, A transport unit for transporting cargo from the unmanned aircraft that has landed on the landing section to the cargo storage unit, or from the cargo storage unit to the unmanned aircraft, A center of gravity adjustment unit for adjusting the center of gravity of the unmanned aircraft after the delivery of the aforementioned cargo, The system includes a takeoff section from which the unmanned aircraft, whose center of gravity has been adjusted, takes off. The aforementioned transport unit is A luggage loading section for loading luggage unloaded from the aforementioned unmanned aircraft, or luggage stored in the aforementioned luggage storage section, A movement control unit moves the cargo loading section between the position of the unmanned aircraft and a position opposite the cargo storage section, A luggage moving unit that moves luggage placed on the luggage loading section to the luggage storage section, or moves luggage stored in the luggage storage section to the luggage loading section, at the aforementioned opposing positions, and comprising a luggage moving unit that allows each piece of luggage to be moved individually when multiple pieces of luggage are placed on the luggage loading section or multiple pieces of luggage are stored in the luggage storage section, The aforementioned cargo moving section is a plurality of cargo receiving or transferring devices provided on the cargo loading section or cargo storage section along the direction of arrangement of cargo in the cargo loading section.

3. The load receiving or delivery device according to claim 2, wherein the center of gravity adjustment unit has a battery position adjustment unit that adjusts the mounting position of the battery mounted on the unmanned aerial vehicle.

4. The cargo receiving or delivery device according to claim 2, wherein the center of gravity adjustment unit has a cargo position adjustment unit that adjusts the mounting position on the unmanned aerial vehicle of cargo remaining on the unmanned aerial vehicle or cargo newly loaded onto the unmanned aerial vehicle.

5. The aforementioned unmanned aerial vehicle comprises a cargo compartment for storing cargo and a flyable body to which the cargo compartment is attached. The cargo receiving or transferring device according to claim 2, wherein the center of gravity adjustment unit has a cargo compartment position adjustment unit for adjusting the mounting position of the cargo compartment in the main body.

6. The aforementioned transport unit is A luggage loading section for loading luggage unloaded from the aforementioned unmanned aircraft, or luggage stored in the aforementioned luggage storage section, A movement control unit moves the cargo loading section between the position of the unmanned aircraft and a position opposite the cargo storage section, A luggage moving unit that moves luggage placed on the luggage loading section to the luggage storage section, or moves luggage stored in the luggage storage section to the luggage loading section, in the aforementioned opposing positions, and a luggage moving unit that allows each piece of luggage to be moved individually when multiple pieces of luggage are placed on the luggage loading section or multiple pieces of luggage are stored in the luggage storage section, A loading or unloading device according to claim 1, comprising:

7. The cargo receiving or transferring device according to claim 6, wherein the cargo moving units are provided in a plurality on the cargo loading unit along the direction of arrangement of cargo in the cargo loading unit or the cargo storage unit.

8. The aforementioned unmanned aerial vehicle is equipped with a loading section for carrying cargo, The aforementioned cargo loading section loads the aforementioned loading section that was lowered from the unmanned aircraft. The aforementioned movement control unit, A first movement control unit moves the luggage loading unit on which the loading unit is placed to a position facing the luggage storage unit, The system includes a second movement control unit that moves the luggage loading unit on which the luggage loading unit is placed to the position of the unmanned aerial vehicle after the luggage has been transferred from the loading unit to the luggage storage unit, or from the luggage storage unit to the loading unit, The unmanned aircraft, having re-mounted the aforementioned mounting unit that was returned by the second movement control unit, takes off from the takeoff unit. A loading or unloading device according to claim 2 or claim 6.

9. The aforementioned landing section is located outdoors. The system includes a horizontal movement unit for horizontally moving the unmanned aircraft that has landed on the landing area to an indoor area adjacent to the landing area. The cargo receiving or delivery device according to claim 1 or 2, wherein the transport unit transports cargo between the unmanned aircraft that has moved indoors and the cargo storage unit.

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