flying object

Abstract

To provide a flight body which is usable even in disturbance.SOLUTION: A flight body includes: a plurality of balloons which are filled with gas having specific gravity lighter than air; an inclusion part including the plurality of balloons; a propulsion device for generating propulsion force; a gas filling device for filling at least one of the plurality of balloons with the gas having the specific gravity lighter than the air; and a control device for controlling at least one of the propulsion device and the gas filling device.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a flying object.

Background Art

[0002] Conventionally, the propulsion force of a drone (UAV: Unmanned Aerial Vehicle), which is an unmanned aircraft, has been provided by a propeller. However, in Patent Document 1, there is disclosed an unmanned flying object including a balloon portion filled with a gas lighter than air, a blowing mechanism (micro blower) that blows out air by vibrating a vibrating body, and a control unit that controls the blowing mechanism to change the position or attitude of the flying object.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in Patent Document 1, although the flying object is controlled by a micro blower, the propulsion force by the micro blower is small and it is limited to use in a state of staying in the air, so it does not consider the use outdoors where disturbances such as wind occur.

[0005] Therefore, an object of the present invention is to provide a flying object that can be used even in the presence of disturbances.

Means for Solving the Problems

[0006] The flying object according to the present invention includes a plurality of balloons filled with a gas lighter than air, It is filled with a gas that is lighter in specific gravity than air. an inclusion portion including the plurality of balloons, A frame provided in the aforementioned encompassing portion for fixing the plurality of balloons,The system comprises a propulsion device that generates thrust, a gas filling device that fills at least one of the plurality of balloons with a gas that is lighter in specific gravity than air, and a control device that controls at least one of the propulsion device and the gas filling device. The flying object according to the present invention comprises a balloon filled with a gas that is less specific gravity than air, a containment part filled with a gas that is less specific gravity than air and having the balloon inside, a frame provided in the containment part for fixing the balloon, a gas leak detection device for detecting gas leakage from the balloon, and a control device for notifying the gas leak when the gas leak detection device detects the gas leak. [Effects of the Invention]

[0007] According to the present invention, multiple balloons filled with a gas that is lighter in specific gravity than air are placed inside the containment part of the flying body, and the gas that is lighter in specific gravity than air can be filled using a gas filling device, so the flying body can operate even in the presence of disturbances. [Brief explanation of the drawing]

[0008] [Figure 1] This is a schematic diagram of the aircraft representing the first embodiment; Figure 1(a) is a side view, and Figure 1(b) is a cross-sectional view taken along the line AA in Figure 1(a). [Figure 2] This is a block diagram of the main part of the first embodiment. [Figure 3] This figure shows a flowchart executed by the control device of this first embodiment. [Figure 4] This is a schematic diagram of the aircraft representing the second embodiment; Figure 4(a) is a side view, and Figure 4(b) is a cross-sectional view of the encompassing portion of Figure 4(a) taken along the arrow AA. [Figure 5] This is a schematic diagram of the aircraft representing the third embodiment. [Figure 6] This is a schematic diagram of the aircraft representing the fourth embodiment. [Figure 7] This is a schematic diagram of an inclusion part showing a modified example of an embodiment of the present invention. [Modes for carrying out the invention]

[0009] Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, the present invention is not limited to the embodiments described below.

[0010] (First Embodiment) Figure 1 shows a schematic diagram of the balloon-type drone 1 of this embodiment, where Figure 1(a) is a side view and Figure 1(b) is a cross-sectional view taken along the line AA in Figure 1(a). In Figure 1(b), representative parts are labeled with reference numerals for clarity. As shown in Figure 1, the balloon-type drone 1 includes an enclosure 10, a propulsion device 20, a power generation device 21, a GNSS (Global Navigation Satellite System) 22, a control device 23, and communication equipment 24, etc.

[0011] The containment section 10 consists of a cylindrical frame 11, a plurality of balloons 12 arranged inside the frame 11, and a cylindrical containment material 13 that encloses the outside of the frame 11. The containment section 10 also has a gas filling device 14 (see Figure 2) that supplies a gas with a specific gravity lighter than air (for example, helium gas) to the balloons 12, and a gas release device 15 (see Figure 2) that releases gas from the balloons 12. The balloon-type drone 1 of this embodiment obtains its buoyancy from the buoyancy obtained by filling the plurality of balloons 12 built into the containment section 10 with gas. By using the buoyancy obtained from the gas, the operating time (flight time) of the balloon-type drone 1 can be made longer.

[0012] The frame 11 maintains the cylindrical shape of the containment material 13 and secures the multiple balloons 12 positioned inside the containment material 13. The frame 11 consists of two sets of horizontal frames 11a assembled in a cross shape (grid pattern) in the horizontal direction (xy plane) and a vertical frame 11b (in the z direction, shown as black dots in Figure 1(b)) that secures the horizontal frames 11a. The frame 11 is made of a high-strength and lightweight material such as carbon or duralumin. This is to reduce the weight of the balloon-type drone 1 by further reducing the weight of the containment part 10, thereby reducing the buoyancy and thrust required by the balloons 12 and the propulsion device 20. In Figure 1, there are 6 horizontal frames 11a and 21 vertical frames 11b, but these can be appropriately changed depending on the materials used and the strength of the balloon-type drone 1.

[0013] Balloon 12 is a balloon made of, for example, polyvinyl chloride or ethylene-vinyl alcohol copolymer (EVOH), and is filled with a gas that is lighter in specific gravity than air. In Figure 1, balloon 12 is shown as 12 balloons of the same size, but the number and size of these balloons 12 can be changed as appropriate.

[0014] The containment material 13 is a cloth bag made of, for example, nylon (registered trademark) or Tetron (registered trademark), and is positioned on the outside of the frame 11. The frame 11 and the containment material 13 protect the balloon 12, etc., installed inside the containment part 10 from impacts, etc., and prevent the balloon 12 from bursting.

[0015] The gas filling device 14 is composed of an electromagnetic valve, a tube, etc., and fills the balloon 12 with a gas (such as helium gas or hydrogen gas) that is lighter than air when floating the balloon-type drone 1. In this embodiment, the balloon-type drone 1 can obtain buoyancy by this gas. Also, when unexpected troubles occur and there is a risk of falling, the control device 23 described later can increase the obtained buoyancy to prevent falling or slow down the falling speed by further filling the balloon 12 with gas using the gas filling device 14. The filling of the gas lighter than air into the balloon 12 by the gas filling device 14 may be carried out one by one for each balloon 12, or may be carried out simultaneously for a plurality of balloons 12.

[0016] The filling of gas by the gas filling device 14 may be carried out not only into the balloon 12 but also into the interior of the containment material 13 (the entire interior of the containment portion 10). By filling the entire interior of the containment material 13 with a gas lighter than air in addition to the filling of the gas lighter than air into the balloon 12 in the containment portion 10, a greater buoyancy can be obtained. As a result, even if gas leakage occurs from the balloon 12 due to some influence, the leaked gas stays within the containment material 13, so it is possible to prevent a decrease in buoyancy due to gas leakage from the balloon 12. Also, when gas leakage occurs from the containment material 13 to the outside, since the balloon 12 is filled with a gas lighter than air, it is possible to prevent a sudden decrease in buoyancy due to gas leakage from the containment material 13.

[0017] The gas release device 15 is composed of an electromagnetic valve, a tube, etc., and releases a gas that is lighter than the air filled in the balloon 12. By releasing the gas lighter than air from the balloon 12, the buoyancy of the balloon-type drone 1 can be reduced, and the balloon-type drone 1 can be lowered.

[0018] The propulsion device 20 uses, for example, a rotary wing or the like. The propulsion device 20 is driven by a motor and uses electric power as the power source. The propulsion device 20 is fixed to the frame 11 and penetrates the containment member 13. In order to keep the inside of the containment member 13 in a sealed state, the portion penetrating the containment member 13 as a protruding part from the frame 11 is made airtight by a sealing member or the like. The propulsion device 20 operates when moving the balloon-type drone 1, and when keeping it at a predetermined location, since it is considered that the balloon-type drone 1 may be affected by external disturbances such as wind force, horizontal adjustment for holding at a predetermined location is carried out by the propulsion device 20. Also, when the buoyancy due to a gas lighter than air is insufficient due to unexpected troubles or the like, lift can be generated by the propulsion device 20 and utilized for the vertical movement of the balloon-type drone 1. Note that the number of propulsion devices 20 is four in Fig. 1(b), but the number of propulsion devices 20 is determined by the weight of the balloon-type drone 1, the output of the propulsion device 20, etc., and may be less than four or more than four.

[0019] The power generation device 21 generates power by natural energy and generates the power used in the balloon-type drone 1. As an example of the power generation device 21, a perovskite solar cell may be used. The perovskite solar cell is thin and lightweight and can also be flexible and curved. Therefore, it can be used without significantly affecting the weight reduction of the balloon-type drone 1 in this embodiment. The power generated by the perovskite solar cell can be used as the power source for the propulsion device 20, the gas filling device 14, the gas discharge device 15, the control device 23, the communication device 24, etc. The power generation device 21 includes, in addition to the solar cell, wiring such as a base, a circuit, and electric wires (not shown).

[0020] The GNSS device 22 uses artificial satellites to determine the position of the balloon-type drone 1. The GNSS device 22 is installed on top of the balloon-type drone 1 to receive radio waves from the artificial satellites. The control device 23 performs overall control of the balloon-type drone 1. For example, the control device 23 controls the propulsion device 20 to maintain the balloon-type drone 1 in a predetermined position based on the position information determined by the GNSS device 22. The control device 23 also activates the gas filling device 14 when lifting the balloon-type drone 1 and the gas release device 15 when lowering the balloon-type drone 1. The communication device 24 is a wireless communication unit that accesses wide-area networks such as the internet. The communication device 24 is used to communicate the position and attitude information of the balloon-type drone 1 to the ground. In Figure 1, the control device 23 and communication device 24 are installed on the bottom of the balloon-type drone 1, but they may also be installed inside the containment section 10.

[0021] The power unit 25 supplies electricity as the power source for the balloon-type drone 1, and is, for example, a secondary battery. The power unit 25 can be a lithium-ion secondary battery or a lithium polymer secondary battery, but is not limited to these. The power unit 25 is located in the lower center of the balloon-type drone 1, but may be located in other positions. The power unit 25 supplies power to various devices such as the propulsion system 20, gas filling device 14, gas release device 15, control device 23, and communication equipment 24. Furthermore, it is possible to store electricity obtained by the power generation device 21 in the power unit 25.

[0022] The following explanation of the equipment configuration of the balloon-type drone 1 will continue using the block diagram in Figure 2. Items already mentioned above will be omitted. Memory 35 is a non-volatile memory (e.g., flash memory) and stores the location information history of the balloon-type drone 1 acquired by the GNSS device 22, as well as operation records of the gas filling device 14, gas release device 15, propulsion device 20, etc., by the control device.

[0023] Sensor 32 includes a barometric pressure sensor for measuring altitude, a magnetic sensor for detecting direction, a gyroscope sensor for detecting the attitude of the balloon-shaped drone 1, and an acceleration sensor for detecting the acceleration acting on the balloon-shaped drone 1.

[0024] The power transmission device 33 transmits power to the ground when the power generated by the power generator 21 is greater than the amount used by the balloon-type drone 1, and the surplus power is being generated. Among wireless power transfer methods, methods using microwaves or lasers can be considered for long distances between the ground and the air.

[0025] The gas leak detection device 34 is a device for detecting gas leaks from the balloon 12 when the balloon 12 is being filled with gas or when the balloon-type drone 1 is operating and in the air. As an example of the gas leak detection device 34, a pressure gauge can be used. In the method of detecting a gas leak using a pressure gauge, the pressure inside the balloon 12 is measured with a gas that is lighter in specific gravity than air, and based on the pressure inside the balloon 12 at that time, it can be determined that a gas leak has occurred if the pressure inside the balloon 12 has decreased. The gas leak detection device 34 may be configured to detect gas leaks in each balloon 12, or it may be configured to detect gas leaks in multiple balloons 12.

[0026] (Explanation of the flowchart) The control of the balloon-type drone 1, configured as described above, will now be explained following the flowchart in Figure 3. This flowchart will begin from the point where the balloon-type drone 1 is activated.

[0027] As preparation for operating the balloon-type drone 1, after performing various basic checks on the balloon-type drone 1, the control device 23 operates the gas filling device 14 to fill the balloon 12 with gas in order to make the balloon-type drone 1 float (step S1).

[0028] While the control device 23 is filling the balloon 12 with gas, it uses the gas leak detection device 34 to check for any gas leaks from the balloon 12, etc. (step S2). If a gas leak occurs, the location of the leak is checked and repaired (step S3). Once the inspection and repair are complete, the gas filling in step S1 is performed. At this point, assuming there are no gas leaks, the process proceeds to step S4.

[0029] Once the control device 23 has completed filling the multiple balloons 12 with a predetermined amount of gas, it activates the propulsion device 20 to lift the balloon-shaped drone 1 into the air (step S4).

[0030] While the balloon-type drone 1 is in flight, the control device 23 uses sensors 32, such as the gyro sensor and acceleration sensor, to check attitude information, such as whether the attitude of the balloon-type drone 1 is equilibrium and stable. It also uses the barometric pressure sensor, magnetic sensor, and GNSS device 22 of the sensors 32 to check the position information of the balloon-type drone 1 so that it moves to a predetermined altitude and position (step S5). The control device 23 determines whether it is possible to maintain the predetermined position and attitude (step S6). If the control device 23 determines that it is difficult to maintain the predetermined position and attitude due to disturbances or malfunctions of the balloon-type drone 1, it notifies the ground monitor of the nature of the malfunction and the current position information obtained by the GNSS device 22, and lowers the balloon-type drone 1 (step S8).

[0031] Furthermore, the control device 23 also checks for gas leaks while the balloon-type drone 1 is in flight or stationary in a predetermined position (step S7). This is to prevent an unexpected crash, as a gas leak could prevent the drone from achieving the required buoyancy. If a gas leak is detected, the control device 23 notifies the ground-based observer of the gas leak and the current position information obtained by the GNSS device 22, and also lowers the balloon-type drone 1 (step S8).

[0032] If there are no problems such as gas leaks while the balloon-type drone 1 is operating or stationary in the air, it will continue to operate until the work is completed. Once all work is completed (Step S9: YES), the control device 23 will activate the gas release device 15 to release the gas filled in the balloon 12, and at the same time activate the propulsion device 20 to lower the balloon-type drone 1 while maintaining its attitude (Step S10).

[0033] As described above, in this first embodiment, by placing balloons 12 filled with a gas lighter than air inside the balloon-type drone 1, the balloon-type drone 1 can obtain buoyancy from the gas lighter than air. Therefore, since the flight of the balloon-type drone 1 is carried out by the buoyancy from the gas lighter than air and the lift and thrust obtained by the propulsion device 20, it is possible to reduce the power consumed by the propulsion device 20, and the balloon-type drone 1 can operate for a longer period of time. Since multiple balloons filled with a gas lighter than air are placed inside the containment part of the flying body, and the gas filling device 14 can fill the balloons with a gas lighter than air, the flying body can operate even in the presence of disturbances.

[0034] (Second Embodiment) The second embodiment will be described below using Figure 4, but components identical to those in the first embodiment will be denoted by the same reference numerals, and their descriptions will be omitted or simplified. Figure 5 is a schematic diagram of the balloon-type drone 100 showing this second embodiment.

[0035] As shown in Figure 4, the balloon-type drone 100 of this second embodiment has a curved (convex) side surface of the containing part 10. By making the side surface of the containing part 10 curved (convex), the resistance force caused by wind, which is an external disturbance when used outdoors, can be reduced.

[0036] Furthermore, by making the side surface of the containment section 10 curved (convex), the volume of the containment section 10 can be increased. This increased space can be used to place a smaller balloon 12' than the balloon 12 located towards the center, or the amount of gas filling inside the containment material 13 can be increased, thus providing greater buoyancy to the balloon-type drone 1 through gas filling. Note that balloon 12' can be the same size as balloon 12, and the size of balloon 12' can be made smaller than balloon 12 by adjusting the amount of gas filled. The size (volume) of balloon 12' should preferably be about 40% to 60% of that of balloon 12. This is because if balloon 12' is too large or too small, the curved side surface will not be streamlined, and the effect of reducing wind resistance will be reduced. Also, if balloon 12 is large, it is possible to place two sizes of balloons 12', medium and small, from the center toward the sides as additional balloons 12'. In this case, it's best to make the medium size 60% to 80% of the large size, and the small size 30% to 50% of the large size.

[0037] Furthermore, since the surface area of ​​the containment section 10 is also increased, the installation area of ​​the solar cells of the power generation device 21 installed on top of the containment section 10 is increased, allowing for the generation of more electricity.

[0038] As described above, the balloon-type drone 100 in this second embodiment has a curved (convex) shape on the side of the containing section 10, which reduces resistance due to wind pressure, etc. Therefore, the balloon-type drone 100 can fly stably. In addition, by increasing the number of balloons 12' placed inside, the buoyancy obtained from gas that is lighter than air increases. Furthermore, by increasing the installation area of ​​the power generation device 21, the amount of electricity obtained from the power generation device 21 also increases. This makes it a shape more suitable for outdoor flight.

[0039] (Third embodiment) The third embodiment will be described below with reference to Figure 5. Components identical to those in the first and second embodiments will be denoted by the same reference numerals, and their descriptions will be omitted or simplified. Figure 5 is a schematic diagram of the balloon-type drone 200 shown in this third embodiment.

[0040] In this third embodiment, the balloon-type drone 200 is equipped with, for example, a detection device 30 for detecting the properties of the excavated material and a property changing device 31 for changing the properties of the excavated material.

[0041] The detection device 30 detects the moisture content of the excavated material as a property of the excavated material. As the detection device 30, a near-infrared moisture meter using near-infrared light can be employed. The near-infrared moisture meter detects the moisture content of the excavated material by measuring the intensity of near-infrared light reflected by the object being measured (the excavated material in this embodiment) with a light-receiving element.

[0042] When detecting moisture contained in excavated material using a near-infrared moisture meter, it is necessary to bring the near-infrared moisture meter within approximately 10 cm to 50 cm of the excavated material. Therefore, in this embodiment, the near-infrared moisture meter is installed at the bottom of the balloon-type drone 1.

[0043] In this embodiment, the property modification device 31 changes the water content (moisture content) of the excavated material and uses a liquid supply device that supplies liquid such as water to the excavated material. The liquid supply device has a liquid tank for storing water, and a pump, nozzles, piping, etc., for supplying the water stored in this liquid tank to the excavated material.

[0044] The property modification device 31 supplies liquid to the excavated material so that the excavated material reaches a predetermined water content ratio (moisture content) based on the detection results of the detection device 30. Note that the supply of liquid for adjusting the water content ratio (moisture content) of the excavated material may also be performed based on detection results from devices other than the detection device 30.

[0045] Furthermore, the property modification device 31 may also use a powder supply device that supplies powder (for example, lime or cement). The powder supply device includes a powder tank for storing powder, and a pump, nozzles, piping, etc., for supplying the powder stored in the powder tank to the excavated material.

[0046] In this third embodiment, the balloon-type drone 200 operates at the excavation site, for example, where an excavator or the like is performing excavation. This is done at the excavated site. Alternatively, it may be performed at a location where the excavated soil is temporarily stored, or on top of a dump truck into which the soil will be loaded after excavation.

[0047] As described above, in this third embodiment, the properties of excavated soil can be detected and modified using the balloon-type drone 200. This reduces the time required for property modification at temporary storage sites and embankment sites, allowing the soil to be used as embankment material more quickly.

[0048] (Fourth Embodiment) The fourth embodiment will be described below with reference to Figure 6. Components identical to those in the first, second, and third embodiments will be denoted by the same reference numerals, and their descriptions will be omitted or simplified. Figure 6 is a schematic diagram of the balloon-type drone 300 shown in this fourth embodiment.

[0049] In this fourth embodiment, the balloon-type drone 300 is equipped with a gripping device 40 that can transport objects such as luggage, and is also equipped with a weighing device 41 that can measure the weight of the objects.

[0050] The gripping device 40 can be used, for example, to lift and transport objects such as luggage by using a lifting hook.

[0051] The weighing device 41 can be, for example, a balance scale. By using a balance scale, the weight of the object being transported can be measured when the object is lifted.

[0052] In this fourth embodiment, the balloon-shaped drone 300 is used to transport an object, and due to the weight balance of the transported object, the attitude of the balloon-shaped drone 300 is more likely to be disrupted when it is holding an object than when it is not. Therefore, the control device 23 needs to reliably grasp the attitude of the balloon-shaped drone 300 using sensors such as the gyro sensor and acceleration sensor among the sensors 32, and to more reliably control the balloon-shaped drone 300 with the propulsion device 20.

[0053] In this fourth embodiment, greater buoyancy is required when transporting objects such as luggage. Therefore, when the weight is detected by the weighing device 41, the control device 23 activates the gas filling device 14 to further fill the balloon 12 with gas. The control device 23 may also control the amount of gas filled by the gas filling device 14 according to the weight of the object to be transported measured by the weighing device 41. This increases the buoyancy of the balloon-type drone 1, allowing it to lift and transport the object to be transported.

[0054] In the fourth embodiment described above, when transporting an object using the balloon-type drone 300, the amount of gas with a specific gravity less than air that is filled into the balloon 12 is adjusted according to the weight of the object to be transported. By utilizing the buoyancy provided by the gas with a specific gravity less than air to lift the object, it is possible to reduce the power consumed by the propulsion device 20.

[0055] (modified version) Figure 7 shows the containment section 10. In the above-described embodiment, 12 balloons 12 were arranged inside the containment section 10 as an example, but in Figure 7, 10 balloons 12a and 4 small balloons 12b are arranged inside the containment section 10. Also, as an example of arrangement, in Figure 1 etc., the balloons were arranged in a grid-like pattern with the vertical and horizontal lines aligned, but in the modified example, they are arranged in an alternating pattern. The arrangement of the frame also changes as the arrangement of the balloons 12 becomes alternating. In addition, the shape of the containment section 10 is shown as a cylinder as an example, but it can also be elliptical. These arrangements are merely examples, and in the present invention, the shape of the containment section 10, the arrangement and number of balloons 12, the arrangement of the frame 11, etc. are not particularly limited as long as the necessary buoyancy and strength are obtained. [Explanation of Symbols]

[0056] 1. Balloon-shaped drone 10 Inclusion part 11 frames 12 Balloons 13 Inclusion material 20 Propulsion device 21 Power generation equipment 22 GNSS equipment 23 Control device 25 Power plant 30 Detection device 31. Property modification device 40 Gripping device 41 Weighing device

Claims

1. Multiple balloons filled with a gas that is lighter in specific gravity than air, A gas with a specific gravity lighter than air is filled into the containing part which encloses the plurality of balloons, A frame provided in the aforementioned encompassing portion for fixing the plurality of balloons, A propulsion device that generates thrust, A gas filling device for filling at least one of the plurality of balloons with a gas that has a specific gravity lighter than air, An aircraft comprising a control device for controlling at least one of the propulsion device and the gas filling device.

2. A power generation device in which at least a portion is provided on the surface of the inclusion portion, The aircraft according to claim 1, further comprising a power transmission device for transmitting electricity generated by the power generation device.

3. A gas release device that releases a gas with a specific gravity less than air from at least one of the plurality of balloons or at least one of the containing portion, The flying body according to claim 1, wherein the control device releases gas from at least one of the plurality of balloons or at least one of the containing portion when the propulsion device is generating the thrust.

4. The flying object according to claim 1, which is equipped with a detection device for detecting the properties of soil and sand.

5. The flying object according to claim 1, comprising a property-changing device for supplying a liquid or powder.

6. The aircraft according to claim 1, further comprising a gripping device for gripping a transported object.

7. The flying body according to claim 6, wherein the control device adjusts the amount of gas with a specific gravity less than air to be filled into at least one of the plurality of balloons or the containing portion in accordance with the gripping of the transported object.

8. The balloon is provided inside the containing portion, The flying body according to claim 1, wherein the containing portion is filled with helium as a gas with a specific gravity lighter than air.

9. A balloon filled with a gas that is lighter in specific gravity than air, A containing portion filled with a gas that is lighter in specific gravity than air, with the balloon provided inside, A frame provided in the encompassing portion for fixing the balloon, A gas leak detection device for detecting gas leaks from the balloon, An aircraft comprising: a control device that notifies the gas leak when the gas leak detection device detects the gas leak.

10. The flying object according to claim 9, wherein the balloon is filled with hydrogen as a gas with a specific gravity lighter than air.

11. The aircraft according to claim 9 or 10, wherein the containing portion is filled with helium as a gas with a specific gravity lighter than air.

12. A positioning device for determining the position of the flying object, It has a propulsion device that generates thrust, The aircraft according to claim 9, wherein the control device, upon detecting the gas leak, notifies the position information determined by the positioning device and controls the propulsion device to cause the aircraft to descend.

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