Unmanned aerial vehicle operation system

Abstract

To provide an operation system of an unmanned aircraft that can determine a position of an unmanned aircraft, even at a place where it is difficult to use a positioning system using radio wave.SOLUTION: An operation system 10 is provided with: a connection line 13; a winding device 14 that makes tension act on the connection line 13; a feeding-amount detecting part 34 that detects a feeding amount of the connection line 13; a direction detecting part 35 that detects a direction of force acting on a part 13a to be detected of the connection line 13; and a position determining part 52 that determines a position of an unmanned aircraft 20. The position determining part 52 determines a distance from a predetermined reference position to the unmanned aircraft 20 on the basis of a detected result by the feeding-amount detecting part 34, and determines an azimuth direction of the unmanned aircraft 20 with the part 13a to be detected as a reference, on the basis of the detected result by the direction detecting part 35.SELECTED DRAWING: Figure 1

Description

Technical Field

[0006] , ,

[0001] The present invention relates to an operation system for an unmanned aircraft.

Background Art

[0002] An operation system for an unmanned aircraft is known. Patent Document 1 discloses an operation system for an unmanned aircraft in which a base station provides the accurate position of the unmanned aircraft using RTK-GNSS positioning. Hereinafter, the reference numerals shown in parentheses in the description of the background art are those of Patent Document 1.

[0003] In Patent Document 1, an unmanned aircraft (100) and a base station (404) communicate with positioning satellites (410) such as GPS to obtain the coordinates of the unmanned aircraft (100) and the base station (404). Therefore, it has been difficult to determine the position of the unmanned aircraft in a place where it is difficult to use a positioning system using radio waves, such as inside a building.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Therefore, it is desired to realize an operation system for an unmanned aircraft that can determine the position of the unmanned aircraft even in a place where it is difficult to use a positioning system using radio waves.

Means for Solving the Problems

[0006] The unmanned aerial vehicle operation system according to this disclosure comprises: a connecting wire having a connecting portion connected to the unmanned aerial vehicle; a winding device that winds up the excess portion of the connecting wire and applies tension to the connecting wire; a payout amount detection unit that detects the amount of the connecting wire paid out by the winding device; a direction detection unit that detects the direction of the force acting on a detected portion between the connecting portion and the winding device in the connecting wire; and a position determination unit that determines the position of the unmanned aerial vehicle, wherein the position determination unit determines the distance from a predetermined reference position to the unmanned aerial vehicle based on the detection result of the payout amount detection unit, and determines the bearing of the unmanned aerial vehicle with respect to the detected portion based on the detection result of the direction detection unit. The system further comprises a tension detection unit for detecting the magnitude of tension acting on the connecting wire, a state determination unit for determining the state of the unmanned aircraft, and an aircraft control unit for controlling the unmanned aircraft. The state determination unit determines that the unmanned aircraft has not taken off if, despite the aircraft control unit issuing a takeoff command to the unmanned aircraft, the tension detected by the tension detection unit is less than a predetermined flight determination criterion value. do.

[0007] With this configuration, the distance to the unmanned aerial vehicle can be determined based on the amount of wire extended by the wire extension detection unit, and the direction of the unmanned aerial vehicle can be determined based on the direction of the force acting on the detected part of the wire extension detected by the direction detection unit. Therefore, the position of the unmanned aerial vehicle can be determined based on these distances and directions. For this reason, the position of the unmanned aerial vehicle can be determined even in places where it is difficult to use positioning systems using radio waves, such as GPS, due to obstacles that block radio waves, such as inside buildings, underground, inside tunnels, or in the shadows of buildings. Furthermore, this configuration makes it possible to determine whether or not the unmanned aircraft has taken off successfully based on the commands issued to the unmanned aircraft by the aircraft control unit and the magnitude of the tension acting on the connecting line.

[0008] Further features and advantages of the technology relating to this disclosure will become clearer from the following description of exemplary and non-limiting embodiments, with reference to the drawings. [Brief explanation of the drawing]

[0009] [Figure 1] A diagram showing an operating system for an unmanned aerial vehicle according to an embodiment of the present invention. [Figure 2] Figure 1 shows an unmanned aerial vehicle (UAV) landing at the landing port. [Figure 3] A partial cross-sectional view showing an enlarged view of the connecting lines in Figure 1. [Figure 4]Figure 1 shows the building where the takeoff and landing ports are located. [Modes for carrying out the invention]

[0010] In the following, the operation system 10 for the unmanned aerial vehicle 20 according to this embodiment will be described with reference to the drawings. Figures 1 and 2 are side views of the take-off and landing port 18 in the operation system 10. Figure 1 shows the unmanned aerial vehicle 20 in flight, and Figure 2 shows the unmanned aerial vehicle 20 landed at the take-off and landing port 18. The operation system 10 for the unmanned aerial vehicle 20 is used, for example, in facilities such as factories, warehouses, ships, or transport vehicles on which the unmanned aerial vehicle 20 can take off and land. In this embodiment, the operation system 10 is equipped with a take-off and landing port 18 for the unmanned aerial vehicle 20 to take off and land.

[0011] The operating system 10 includes a connecting wire 13 with a connecting section 12 connected to the unmanned aerial vehicle 20, and a winding device 14 that winds up the excess portion of the connecting wire 13 and applies tension to the connecting wire 13. In the illustrated example, the operating system 10 has a case 40 in which the winding device 14 is housed. Here, the direction along the vertical direction is defined as the up-down direction Z, one of the horizontal directions is defined as the first direction X, and the direction perpendicular to the first direction X when viewed from the up-down direction is defined as the second direction Y. The space in which the unmanned aerial vehicle 20 flies is defined as the flight space S.

[0012] As the unmanned aerial vehicle 20, for example, a fixed-wing aircraft or rotary-wing aircraft capable of remote control or autonomous flight can be used. In this embodiment, the unmanned aerial vehicle 20 is an electrically powered rotary-wing aircraft capable of vertical takeoff and landing. Preferably, the unmanned aerial vehicle 20 is a multi-rotor (so-called drone) capable of autonomous flight.

[0013] In this embodiment, the unmanned aerial vehicle 20 is equipped with an article holding section 23 capable of holding and releasing an article W. The unmanned aerial vehicle 20 also has a main body section 22 located above the article W held by the article holding section 23. The main body section 22 is the part that enables the flight function of the unmanned aerial vehicle 20. The main body section 22 is provided with a mechanism for generating thrust and lift. The main body section 22 includes, for example, a rotor 21 and an electric motor that drives the rotor 21. The article holding section 23 is configured to hold the article W in a suspended state. In the illustrated example, the connecting section 12 protrudes at least horizontally from the main body section 22 or the article holding section 23. In this way, even if the unmanned aerial vehicle 20 has the article holding section 23 below the main body section 22 and the rotor 21 above the main body section 22, it is easier to apply tension while reducing the likelihood of the connecting wire 13 becoming entangled with the article holding section 23 or the rotor 21.

[0014] Figure 3 is a partially cross-sectional view showing an enlarged view of the connecting wire 13. For example, a metal wire or a cable with an outer sheath can be used as the connecting wire 13. In this embodiment, the operating system 10 includes a power line 15 integrally configured with the connecting wire 13. The connecting wire 13 and the power line 15 may be arranged in parallel, and they may also be twisted together. In the illustrated example, the cable, which is the connecting wire 13, contains the insulated power line 15 and the wiring 17 for data transmission. It is desirable that the connecting wire 13 can withstand the maximum weight of the unmanned aerial vehicle 20 and the item W described later.

[0015] In this embodiment, the operating system 10 is equipped with a power supply 16. The power supply 16 may be housed in the case 40 or installed outside the case 40. The power supply 16 is an uninterruptible power supply that continues to supply power to the unmanned aerial vehicle 20 even when the power is cut off, for example, due to a power outage.

[0016] In this embodiment, the unmanned aerial vehicle 20 is equipped with a powered unit 25. The power supply 16 and the powered unit 25 of the unmanned aerial vehicle 20 are connected by a power line 15. As a result, power from the power supply 16 is constantly supplied to the unmanned aerial vehicle 20 via the power line 15, which is integrally configured with the connecting line 13. An example of the powered unit 25 is a power supply unit that stably supplies power to the electric motor, battery, various sensors, etc. mounted on the unmanned aerial vehicle 20.

[0017] In this embodiment, the operating system 10 includes a tension detection unit 32 that detects the magnitude of the tension acting on the connecting wire 13. The operating system 10 also includes a payout amount detection unit 34 that detects the amount of connecting wire 13 paid out by the winding device 14. The operating system 10 also includes a direction detection unit 35 that detects the direction of the force acting on the detected portion 13a between the connecting portion 12 and the winding device 14 in the connecting wire 13. In the illustrated example, the direction detection unit 35 is positioned between the payout amount detection unit 34 and the connecting portion 12 (on the flight space S side relative to the payout amount detection unit 34) and contacts the detected portion 13a of the connecting wire 13 to detect the direction of the force acting on the detected portion 13a. Preferably, the direction detection unit 35 is positioned between the tension detection unit 32 and the connecting portion 12 (on the flight space S side relative to the tension detection unit 32).

[0018] In this embodiment, the direction detection unit 35 detects the direction of the force acting on the detected part 13a from the pressure, displacement, etc., generated by the contact between the direction detection unit 35 and the detected part 13a. Examples of sensors used in the direction detection unit 35 include piezoelectric, optical, electrical resistance, and capacitance type force sensors. Alternatively, for example, force sensors provided on multiple tension pulleys (not shown) may function as the tension detection unit 32 and the direction detection unit 35. In the illustrated example, the tension detection unit 32, the payout amount detection unit 34, and the direction detection unit 35 are housed in the case 40.

[0019] In this embodiment, the take-off and landing port 18 is positioned so as to overlap with at least one of the winding device 14 and the direction detection unit 35 in a vertical view. This arrangement makes it easier to keep the installation space of the operating system 10 smaller compared to the case where the take-off and landing port 18 is positioned so as to not overlap with both the winding device 14 and the direction detection unit 35 in a vertical view. In the illustrated example, the take-off and landing port 18 is positioned so as to overlap with the direction detection unit 35 in a vertical view. Also, the take-off and landing port 18 is provided integrally with the case 40. In the illustrated example, the take-off and landing port 18 is located below the direction detection unit 35 and the winding device 14, but it may also be located above the direction detection unit 35 and the winding device 14. If it is located above, it becomes easier to reduce the chance of the connecting wire 13 getting entangled with the rotor blade 21.

[0020] In this embodiment, the operation system 10 includes a control device 50. In this embodiment, the control device 50 includes an arithmetic processing device such as a CPU (Central Processing Unit), and a main storage device such as a RAM (Random Access Memory) and a ROM (Read Only Memory) that can be referenced by the arithmetic processing device. Each function of the control device 50 is realized by the cooperation of the hardware included in the control device 50 and a program executed on the hardware such as the arithmetic processing device. Specifically, when the control device 50 executes a program stored in a storage device (main storage device or separately provided storage unit, etc.), each function of the control device 50 is realized. In other words, a program (for example, a conveyance control program) for realizing each function of the control device 50 on a computer is stored in a storage device that can be referenced by the computer. This program is provided, for example, by a storage medium or via a communication network. Then, the provided program is stored in a storage device that can be referenced by the computer. In this embodiment, the control device 50 (specifically, the arithmetic processing device included in the control device 50) functions as a "computer". Preferably, the control device 50 is a host control device installed in a control room not shown, but the control device 50 may be provided in the unmanned aircraft 20. Also, when the control device 50 includes a plurality of hardware that can communicate with each other, a part of the hardware may be provided in the unmanned aircraft 20 and the remaining hardware may be installed in a control room not shown.

[0021] In this embodiment, the operation system 10 includes a position determination unit 52 that determines the position of the unmanned aircraft 20. Also, the operation system 10 includes a state determination unit 54 that determines the state of the unmanned aircraft 20. Also, the operation system 10 includes a winding control unit 56 that controls the winding device 14. Also, the operation system 10 includes an aircraft control unit 58 that controls the unmanned aircraft 20. In the example shown in FIG. 1, the control device 50 is provided with a position determination unit 52, a state determination unit 54, a winding control unit 56, and an aircraft control unit 58.

[0022] In this embodiment, the position determination unit 52 determines the distance from a predetermined reference position to the unmanned aircraft 20 based on the detection result of the payout amount detection unit 34. Further, the position determination unit 52 determines the orientation of the unmanned aircraft 20 with respect to the detected unit 13a based on the detection result of the direction detection unit 35. The reference position used by the position determination unit 52 may be the position of the detected unit 13a, or may be set in the take-up device 14 or the case 40. Further, the position determination unit 52 may determine the distance to the unmanned aircraft 20 and the orientation of the unmanned aircraft 20 using the detection results of the payout amount detection unit 34 and the direction detection unit 35, and other information. Examples of other information include GPS (Global Positioning System), RTK (Realtime Kinematic), coordinate information obtained by processing an image captured by an imaging device, position information obtained by an optical sensor such as an infrared sensor, and an ultrasonic sensor.

[0023] In this embodiment, when the tension detected by the tension detection unit 32 is less than a predetermined flight determination reference value even though the aircraft control unit 58 has issued a take-off command to the unmanned aircraft 20, the state determination unit 54 determines that the unmanned aircraft 20 has not taken off. Further, when the state determination unit 54 determines that the unmanned aircraft 20 has not taken off, the control device 50 notifies the administrator. The aircraft control unit 58 may control the unmanned aircraft 20 using the data transmission wiring 17 built in the cable that is the connection line 13, or may control the unmanned aircraft 20 wirelessly. Further, in order to reduce the weight of the connection line 13 and avoid wireless control, it may be configured to control the unmanned aircraft 20 by power line communication (PLC) using the power line 15.

[0024] In this embodiment, when the tension detected by the tension detection unit 32 becomes equal to or greater than a predetermined fall determination reference value, the state determination unit 54 determines that the unmanned aircraft 20 has fallen. Further, when the state determination unit 54 determines that the unmanned aircraft 20 has fallen, the control device 50 notifies the administrator.

[0025] In this embodiment, the winding control unit 56 also executes a recovery process to wind up the connecting wire 13 if the status determination unit 54 determines that the unmanned aerial vehicle 20 has crashed. The control device 50 also notifies the administrator if the winding control unit 56 does not complete the recovery process within a predetermined recovery time after executing the recovery process. The control device 50 also notifies the administrator when the winding control unit 56 has completed the recovery process.

[0026] Figure 4 shows a building on which the takeoff and landing port 18 is located. In this embodiment, the unmanned aerial vehicle 20 is configured to fly in a passage space S1 surrounded by a cylindrical wall 62 extending in the vertical direction Z, and to transport goods W, and the takeoff and landing port 18 is located at a position connected to the passage space S1. The direction detection unit 35 is located above the center in the vertical direction Z of the passage space S1. The case 40 housing the winding device 14 and the direction detection unit 35 is located at the very top of the passage space S1. This makes it easier to avoid collision with the ground if the unmanned aerial vehicle 20 crashes due to the recovery process by the winding control unit 56. Preferably, the maximum unwinding amount of the connecting wire 13 is such that the unmanned aerial vehicle 20 and goods W do not come into contact with the bottom surface located at the very bottom of the passage space S1.

[0027] In this embodiment, the passage space S1 is provided with a transport device 61 capable of handling the takeoff and landing of the unmanned aerial vehicle 20 and the transfer of goods W. The transport device 61 can transport goods W between the inside and outside of the passage space S1. Note that the transport device 61 may be capable of either the takeoff and landing of the unmanned aerial vehicle 20 or the transfer of goods W, or only one of them. If the transport device 61 is capable of transferring goods W, it is desirable that multiple transport devices 61 be provided at multiple locations in the vertical direction Z along the passage space S1. In this way, goods W can be transported in the vertical direction Z by the unmanned aerial vehicle 20 which flies stably. Therefore, for example, goods W can be efficiently transported across multiple floors of a building.

[0028] [Other Embodiments] Next, other embodiments of the operating system 10 will be described.

[0029] (1) In the above embodiment, the operating system 10 was described as having a power line 15 that is integrally configured with the connection line 13 as an example. However, the invention is not limited to such an example, for example, the operating system 10 may have a connection line 13 but not a power line 15, and the unmanned aerial vehicle 20 may have a storage battery and fly using the power of that battery. Alternatively, the landing and takeoff port 18 may have a wireless power supply unit. Furthermore, the unmanned aerial vehicle 20 may be configured in a way that it cannot transport goods W.

[0030] (2) In the above embodiment, the operating system 10 was described as having a configuration that includes a tension detection unit 32 and a state determination unit 54. However, the operating system 10 is not limited to such an example, and may have a configuration that does not include a tension detection unit 32 and a state determination unit 54. Alternatively, the operating system 10 may not have a tension detection unit 32, and the state determination unit 54 may determine whether the unmanned aerial vehicle 20 has crashed based on an image captured by an imaging device.

[0031] (3) In the above embodiment, a configuration was described as in which the tension detection unit 32, the payout amount detection unit 34, and the direction detection unit 35 are housed in a case 40 that houses the winding device 14, and the take-off and landing port 18 is provided integrally with the case 40. However, the invention is not limited to such an example, and the tension detection unit 32, the payout amount detection unit 34, the direction detection unit 35, etc. may be arranged outside the case 40. Also, the direction detection unit 35, the case 40, and the take-off and landing port 18 may be arranged separately from each other. Furthermore, the operating system 10 does not have to include the case 40 and the take-off and landing port 18. Also, the tension detection unit 32 may be provided on the unmanned aerial vehicle 20. Also, the direction detection unit 35 may be provided on the unmanned aerial vehicle 20.

[0032] (4) In the above embodiment, a configuration in which the operating system 10 includes a winding control unit 56 that controls the winding device 14 was described as an example. However, the operating system 10 is not limited to such an example, and the operating system 10 may not include a winding control unit 56, and for example, the excess portion of the connecting wire 13 may be wound up by the elastic force of an elastic member provided in the winding device 14, thereby applying tension to the connecting wire 13.

[0033] (5) The configurations disclosed in the embodiments described above can be applied in combination with configurations disclosed in other embodiments, as long as no inconsistencies arise. With regard to other configurations, the embodiments disclosed herein are merely illustrative in all respects. Therefore, various modifications can be made as appropriate without departing from the spirit of this disclosure.

[0034] [Summary of the above embodiment] The following describes the operational equipment for the unmanned aerial vehicles mentioned above.

[0035] The unmanned aerial vehicle operation system according to this disclosure comprises: a connecting wire having a connecting portion connected to the unmanned aerial vehicle; a winding device that winds up the excess portion of the connecting wire and applies tension to the connecting wire; a payout amount detection unit that detects the amount of the connecting wire paid out by the winding device; a direction detection unit that detects the direction of the force acting on a detected portion between the connecting portion and the winding device in the connecting wire; and a position determination unit that determines the position of the unmanned aerial vehicle, wherein the position determination unit determines the distance from a predetermined reference position to the unmanned aerial vehicle based on the detection result of the payout amount detection unit, and determines the bearing of the unmanned aerial vehicle with respect to the detected portion based on the detection result of the direction detection unit.

[0036] With this configuration, the distance to the unmanned aerial vehicle can be determined based on the amount of wire extended by the wire extension detection unit, and the direction of the unmanned aerial vehicle can be determined based on the direction of the force acting on the detected part of the wire extension detected by the direction detection unit. Therefore, the position of the unmanned aerial vehicle can be determined based on these distances and directions. For this reason, the position of the unmanned aerial vehicle can be determined even in places where it is difficult to use positioning systems using radio waves, such as GPS, due to obstacles that block radio waves, such as inside buildings, underground, inside tunnels, or in the shadows of buildings.

[0037] The system further includes a tension detection unit for detecting the magnitude of the tension acting on the connecting wire and a state determination unit for determining the state of the unmanned aircraft. Preferably, the state determination unit determines that the unmanned aircraft has crashed when the tension detected by the tension detection unit exceeds a predetermined crash determination criterion value.

[0038] With this configuration, it is possible to determine whether the unmanned aerial vehicle is flying normally or has crashed based on the magnitude of the tension acting on the connecting wire.

[0039] Furthermore, the system preferably includes a winding control unit that controls the winding device, and the winding control unit performs a recovery process to wind up the connecting wire when the state determination unit determines that the unmanned aerial vehicle has crashed.

[0040] With this configuration, even if an unmanned aerial vehicle crashes, the connecting wire can be wound up by the winding device, allowing the unmanned aerial vehicle to be easily recovered.

[0041] Furthermore, the system includes a tension detection unit for detecting the magnitude of tension acting on the connecting wire, a state determination unit for determining the state of the unmanned aircraft, and an aircraft control unit for controlling the unmanned aircraft. Preferably, the state determination unit determines that the unmanned aircraft has not taken off if the tension detected by the tension detection unit is less than a predetermined flight determination criterion value, even though the aircraft control unit has issued a takeoff command to the unmanned aircraft.

[0042] With this configuration, it is possible to determine whether or not the unmanned aircraft has taken off successfully based on the commands issued to the unmanned aircraft by the aircraft control unit and the magnitude of the tension acting on the connecting line.

[0043] Furthermore, it is preferable that the system further comprises a power supply and a power line integrally configured with the connecting line, and that the power supply and the powered section of the unmanned aerial vehicle are connected by the power line.

[0044] With this configuration, power from the power source can be continuously supplied to the unmanned aerial vehicle via a power line integrated with the connection line.

[0045] Furthermore, it is preferable that the system further includes a takeoff and landing port for the unmanned aerial vehicle, and that the takeoff and landing port is arranged to overlap with at least one of the winding device and the direction detection unit in an up-down view.

[0046] This configuration makes it easier to keep the installation space of this operating system smaller compared to a configuration where the takeoff and landing ports are arranged so as not to overlap with both the winding device and the direction detection unit in an up-and-down view.

[0047] Furthermore, the system preferably includes a landing and takeoff port for the unmanned aerial vehicle, and the unmanned aerial vehicle is configured to fly and transport goods in a passage space surrounded by a cylindrical wall extending vertically, with the landing and takeoff port positioned to connect to the passage space.

[0048] When an unmanned aerial vehicle (UAV) flies through a passageway enclosed by a cylindrical wall to transport goods, it is difficult to determine its position and operate the UAV using radio waves because the cylindrical wall shields the radio waves. However, with this configuration, even in a passageway enclosed by a cylindrical wall, the position of the UAV can be appropriately determined and the UAV can be operated. [Explanation of Symbols]

[0049] 10: Operating System 12: Connection part 13: Connecting wire 13a: Detected part 14: Winding device 15: Power lines 16: Power supply 18: Takeoff and landing port 20:Unmanned aerial vehicle 25: Powered section 32: Tension detection unit 34: Dispensing amount detection unit 35: Direction detection unit 52:Position determination section 54: State determination unit 56: Winding control unit 58: Aircraft Control Unit 62: Cylindrical wall

Claims

1. An operating system for unmanned aerial vehicles, A connecting cable having a connection part connected to the aforementioned unmanned aerial vehicle, A winding device that winds up the excess portion of the connecting wire and applies tension to the connecting wire, A unit for detecting the amount of the connecting wire unwound by the winding device, A direction detection unit for detecting the direction of force acting on the detected part between the connection part and the winding device in the connecting wire, A position determination unit for determining the position of the unmanned aircraft, Equipped with, The position determination unit determines the distance from a predetermined reference position to the unmanned aircraft based on the detection result of the feed amount detection unit, and determines the bearing of the unmanned aircraft relative to the detected unit based on the detection result of the direction detection unit. A tension detection unit for detecting the magnitude of the tension acting on the connecting wire, A state determination unit for determining the state of the unmanned aerial vehicle, The aircraft control unit that controls the aforementioned unmanned aircraft, Furthermore, An unmanned aircraft operation system in which the status determination unit determines that the unmanned aircraft has not taken off if the tension detected by the tension detection unit is less than a predetermined flight determination criterion value, even though the aircraft control unit has issued a takeoff command to the unmanned aircraft.

2. The unmanned aircraft operation system according to Claim 1, wherein the state determination unit determines that the unmanned aircraft has crashed when the tension detected by the tension detection unit exceeds a predetermined crash determination criterion value.

3. The system further comprises a winding control unit for controlling the winding device, The unmanned aerial vehicle operation system according to claim 2, wherein the winding control unit executes a recovery process to wind up the connecting wire when the state determination unit determines that the unmanned aerial vehicle has crashed.

4. An operating system for unmanned aerial vehicles, A connecting cable having a connection part connected to the aforementioned unmanned aerial vehicle, A winding device that winds up the excess portion of the connecting wire and applies tension to the connecting wire, A unit for detecting the amount of the connecting wire unwound by the winding device, A direction detection unit for detecting the direction of force acting on the detected part between the connection part and the winding device in the connecting wire, A position determination unit for determining the position of the unmanned aircraft, A transport device different from the aforementioned unmanned aerial vehicle, Equipped with, The position determination unit determines the distance from a predetermined reference position to the unmanned aircraft based on the detection result of the feed amount detection unit, and determines the bearing of the unmanned aircraft relative to the detected unit based on the detection result of the direction detection unit. The aforementioned unmanned aerial vehicle is capable of flying in a passage space that extends vertically, and is capable of exchanging goods at multiple exchange locations provided vertically within the passage space. The transport device is an operating system for an unmanned aerial vehicle, provided at the transfer location, for transporting the articles between the inside and outside of the passage space.

5. Power supply and A power line integrally configured with the aforementioned connecting line, Furthermore, An unmanned aerial vehicle operation system according to any one of claims 1 to 4, wherein the power supply and the powered portion of the unmanned aerial vehicle are connected by the power line.

6. The aforementioned unmanned aerial vehicle will further have a landing and takeoff port, The unmanned aerial vehicle operation system according to any one of claims 1 to 4, wherein the takeoff and landing port is arranged to overlap with at least one of the winding device and the direction detection unit in an up-down view.

7. The aforementioned unmanned aerial vehicle will further have a landing and takeoff port, The aforementioned unmanned aerial vehicle is configured to fly and transport goods in a passage space surrounded by a cylindrical wall extending in the vertical direction. The unmanned aerial vehicle operation system according to any one of claims 1 to 4, wherein the takeoff and landing port is located in a position that connects to the passage space.

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