flying object

Abstract

To provide a flight vehicle having a new function with high convenience.SOLUTION: A flight vehicle according to the present disclosure comprises an airframe that has a lift generation part, and a detachable part that is held detachably from the airframe. The detachable part in the state of being held by the airframe is attached to or engaged with an external object. Thus, the detachable part is detached from the airframe in the air.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to an aircraft. Background Art

[0002] In recent years, aircraft such as drones have been used in various fields including facility inspection. For example, Patent Document 1 discloses an aircraft capable of performing hammering inspection on structures. Prior Art Literature Patent Literature

[0003] Patent Document 1 Japanese Unexamined Patent Publication No. 2015-219028 Summary of the Invention Problem to be Solved by the Invention

[0004] In recent years, there has been a demand for aircraft provided with new highly convenient functions.

[0005] Accordingly, the present disclosure has been made in view of the above problem, and an object of the present disclosure is to provide an aircraft provided with new highly convenient functions. Means for Solving the Problem

[0006] According to the present disclosure, there is provided an aircraft comprising: a fuselage provided with a lift generating unit; and a detachable portion detachably held by the fuselage, wherein the detachable portion held by the fuselage is caused to adhere to or engage with an external object, thereby detaching the detachable portion from the fuselage in midair. Effect of the Invention

[0007] According to the present disclosure, it is possible to provide an aircraft provided with new highly convenient functions. Brief Description of the Drawings

[0008] [Figure 1] This is a schematic perspective view showing an aircraft according to one embodiment of the present disclosure. [Figure 2] This is a front view of the aircraft according to the same embodiment. [Figure 3] This is a plan view of the aircraft according to the same embodiment. [Figure 4] This is a side view of the aircraft according to the same embodiment. [Figure 5] This is a side view showing an example of the use of the aircraft according to the same embodiment. [Figure 6] This is a schematic front view showing the structure of the aircraft according to the same embodiment. [Figure 7] This is a block diagram showing an example configuration of an aircraft according to the same embodiment. [Modes for carrying out the invention]

[0009] Preferred embodiments of this disclosure will be described in detail below with reference to the attached drawings. In this specification and the drawings, components having substantially the same functional configuration are denoted by the same reference numerals, and redundant descriptions will be omitted.

[0010] <Overview> Figure 1 is a perspective view of an unmanned aerial vehicle (drone) according to one embodiment of the present disclosure, and Figure 2 is a front view. The unmanned aerial vehicle 1 in this example (hereinafter also simply referred to as "the vehicle") is a rotary-wing aircraft that obtains lift and thrust by multiple rotors. Although the vehicle 1 in this example is an unmanned aerial vehicle, it may also be applied to a manned vehicle on board. The vehicle 1 may be capable of flying under its own power, or it may be suspended from above by a cable or the like. In that case, the cable can be suspended from the roof of a building, a bridge, or another vehicle.

[0011] The flying vehicle 1 can fly in any space, whether outdoors or indoors. The present invention is particularly effective in environments that are difficult for humans to reach or enter, such as narrow spaces that are difficult for people to enter, enclosed spaces, dark places, and environments filled with special gases or high-temperature gases.

[0012] The flying vehicle 1 comprises a body 10 equipped with a lift generating unit 11, and a detachable part 20 that is detachably held relative to the body 10. The detachable part 20 is detached from the body 10 in mid-air by attaching or engaging the detachable part 20, which is held relative to the body 10, with an external object.

[0013] The aircraft body 10 is the main body of the flying vehicle 1 and moves by the thrust (including lift) generated by the lift generation unit 11. The lift generation unit 11 comprises one or more rotors and a control unit (e.g., a flight controller) that controls the rotors. The lift generation unit 11 can generate thrust in the vertical, longitudinal, lateral, and turning directions.

[0014] Figure 3 is a plan view showing the detachable part 20 detached from the aircraft body 10, and Figure 4 is a side view. The detachable part 20 has a main part 21 for attaching to or engaging with an external object, and a connecting part 22 for detachably attaching to the aircraft body 10.

[0015] When the detachable part 20 is held by the aircraft body 10, the main part 21 is exposed to the outside. The main part 21 can be provided with an adhesive part for attaching to an external object, or an engaging part for engaging with an external object. The main part 21 of the detachable part 20 protrudes beyond the outer edge of the aircraft body 10 in the attachment direction (forward in this example), and is configured to easily attach to or engage with an external object.

[0016] The detachable part 20 is held near the camera 12 mounted on the aircraft body 10. In this example, the detachable part 20 is held in front of the aircraft body 10, but is not limited to this, and can be positioned in any direction, such as rear, left, right, up, down, or various diagonal directions.

[0017] When the detachable portion 20 is held in the vicinity of the camera 12, the detachable portion 20 can be easily attached to or engaged with an external object while checking the external object on a captured image of the camera. From this point of view, it is preferable that a difference between an imaging direction of the camera and an attachment direction or an engagement direction of the detachable portion 20 coincides or substantially coincides. In the present example, the imaging direction of the camera 12 and the attachment direction of the detachable portion 20 coincide with each other in the forward direction.

[0018] A main portion 21 of the detachable portion 20 of the present example has, for example, a plate shape. More specifically, the main portion 21 has a shape in which a through hole is formed at a center of a circular plate, and is configured such that the camera 12 can capture an image of the front through the through hole. In the present example, the camera 12 is configured to be located at the center of the main portion 21; however, the configuration is not limited thereto, and the camera 12 may be located at a position above, below, to the left, or to the right of the center of the main portion 21. In that case, the position of the through hole in the main portion 21 is also formed at a position corresponding to the position of the camera.

[0019] As shown in FIGS. 3 and 4, the main portion 21 has an outer surface (a surface facing outward with the airframe as a center) 21a serving as an adhesive surface (adhesive portion), and a connecting portion 22 and an annular portion 23 are provided on an inner surface 21b. One or a combination of an adhesive, a double-sided tape, a hook-and-loop fastener, a suction cup, and the like can be provided on the adhesive surface in advance. The annular portion 23 is configured to be capable of connecting a hook or a cable. The annular portions 23 of the present example are respectively provided on an upper side and a lower side of the main portion 21, and are located at the center in the left-right direction. The number and arrangement of the annular portions 23 are not limited to the illustrated examples, and can be changed as appropriate.

[0020] The detachable portion 20 may be provided with various characters, symbols, signs, colors, or other markers associated with identification information (such as a unique ID). It is preferable to provide the markers, etc., in a position where they are exposed when the detachable portion 20 is attached to or engaged with an external object, for example, on the inner surface 21b of this example. This allows for the provision of markers and information during various construction work. For example, the construction details, construction purpose, location (2D coordinates, 3D coordinates), contractor (construction company), and the marker may be a 2D code such as a QR code or AR marker.

[0021] The annular portion 23 allows for the lifting or suspending of objects by passing a cable or rope through the annular portion 23 while the detachable portion 20 is attached to or engaged with an external object. The cable or rope may be passed through the annular portion 23 in advance before takeoff. Alternatively, as shown in Figure 5, after the detachable portion 20 with the cable connected to the annular portion 23 is attached to an external object, the worker can pull the hanging cable. This allows the worker to pull the cable after attaching the detachable portion 20 to the peeled portion of the outer wall of the external object, and remove the peeled portion together with the detachable portion 20 from the outer wall. It also makes it easier to recover the detachable portion 20. When using the upper annular portion 23, it is also easy to lift the detachable portion 20 from above.

[0022] In this example, the connecting portion 22 is composed of a pair of left and right rod-shaped parts (for example, cylinders). The connecting portion 22 is located above the vertical center of the main portion 21. The connecting portion 22 may consist of only one part, or it may have three or more rod-shaped parts. The connecting portion 22 may also have a shape other than a rod.

[0023] The connecting portion 22 is configured to be insertable into a guide portion 13 provided on the aircraft body 10. The guide portion 13 has a pair of left and right cylindrical portions (for example, cylindrical) corresponding to the connecting portion 22. The guide portion 13 may have a shape in which a part of the cylinder is cut out, or it may be a groove that sandwiches the connecting portion 22 from above and below or from the left and right. In this example, the guide portions 13 are arranged parallel to each other in the front-rear direction of the aircraft body. In addition, although the guide portion 13 extends in the horizontal direction, it may also extend diagonally upward or downward.

[0024] The connecting portion 22 has moderate flexibility and is configured to bend and deform when detached from the aircraft body 10. As shown in Figure 5, after the aircraft body 10 attaches the detachable portion 20 to the external object A, it tilts the aircraft body 10 backward and moves backward, thereby pulling the connecting portion 22 out of the guide portion 13. In this case, as the aircraft body 10 tilts backward with respect to the horizontal direction, the orientation of the guide portion 13 also tilts. As a result, the connecting portion 22 bends and deforms (elastically deforms), allowing for smooth detachment.

[0025] The aircraft body 10 is equipped with electronic components such as a control unit, memory unit, communication unit, sensor unit, imaging unit (camera), etc., and has a frame to support them, a cover to cover the electronic components, etc. The center of gravity of the aircraft 1 is preferably located approximately at the center of the aircraft body 10 in a plan view, but is not limited to this.

[0026] As shown in Figure 1, the rotor blades in this example are positioned at four locations around the aircraft body 10 in a plan view (front left, front right, rear left, and rear right). The number of rotor blades is not limited to four; it may be three or fewer, or five or more. Furthermore, the number of blades constituting the rotor blades is not particularly limited; any shape and any number of blades can be used. In addition, each rotor blade may have multiple blades arranged in the axial direction.

[0027] As schematically shown in Figure 6, the rotor blade 11A in the lift generation unit 11 is preferably located towards the center in the vertical direction of the aircraft body 10, and in particular, it is preferably located near the vertical center of the detachable part 20. Near the center means that, in the vertical direction of the aircraft body 10, the center point of thrust generation by the lift generation unit 11 and the vertical center point of the detachable part 20 coincide, or they are within a range of a small difference, such as 5 mm or less, and substantially coincide. With this configuration, the aircraft body 10 is less likely to become unstable when the detachable part 20 is attached to or engaged with an external object.

[0028] In this example, the aircraft body 10 has an upper frame 10A that supports the rotor blades 11A from above, and a lower frame 10B located below the upper frame 10A. Electronic components constituting the control unit, etc., are provided between the upper frame 10A and the lower frame 10B. The rotor blades 11A are supported by a rotor blade support section (upper frame 10A) that extends outward from the center of the aircraft body 10. The rotor blades 11A are also held below the rotor blade support section. In this example, the motor is located above the propeller that constitutes the rotor blades 11A, and the rotor blade support section is located above the motor. The lower frame 10B is provided with a propeller guard 11C located around the rotor blades 11A. The propeller guard 11C may be integrated with the lower frame 10B, or it may be detachable from the lower frame 10B. In addition, each rotor blade may be provided with a cylindrical propeller duct that surrounds the periphery of each rotor blade. It is preferable that the rotor blades 11A do not protrude above or below the aircraft body 10. In other words, it is preferable that the rotor blades do not come into contact with the ground when the aircraft body 1 is in its normal upright and inverted positions. The rotor blades 11A may also be supported from below by the aircraft body 10. In this example, the upper frame 10A is located above the rotor blades 11A and functions as a protective frame to protect the rotor blades 11A, but protective frames may also be provided above and below the rotor blades 11A in addition to the upper frame 10A.

[0029] The aircraft 1 in this example includes a base section 30 that is detachably attached to the underside of the fuselage 10. The base section 30 is located in the center of the fuselage in the width direction (left-right direction), but is not limited to this. The base section 30 is located in the center of the fuselage in the front-rear direction, but is not limited to this.

[0030] The base unit 30 is, for example, a battery pack, which contains a rechargeable battery that can be used repeatedly. By preparing and charging multiple battery packs in advance, the aircraft can be immediately re-flyed after a flight by simply swapping in a fully charged battery pack. The battery supplies power to the rotor blades, control unit, etc. A connector (contact) for power supply or signal communication is provided at the joint between the base unit 30 and the aircraft body 10. The base unit 30 may contain components that constitute at least some of the memory unit, control unit, etc., which will be described later.

[0031] In this example, the aircraft 1 has a structure in which the underside of the base section 30 touches the ground when landing. However, it may also be equipped with four legs at the four corners of the aircraft (front left, front right, and rear left and right), or with a pair of left and right legs extending in the front-to-back direction.

[0032] Here, Figure 7 is a diagram (plan view) showing an example of the hardware configuration of the aircraft 1 according to this embodiment. The aircraft body 10 of the aircraft 1 according to this embodiment has a rotor 11A, a motor 11B, and an ESC (Electric Speed ​​Controller) 11C for generating thrust. The aircraft 1 also includes a flight controller 14 as a control unit in the aircraft body 10. The flight controller 14 may have one or more processors 14A, such as a central processing unit (CPU) or a programmable processor such as an FPGA (Field-Programmable Gate Array). The flight controller 14 has a memory 14b, which is accessible. The memory 14b stores logic, code, and / or program instructions that the flight controller 14 can execute to perform one or more steps. The flight controller 14 is an example of a control unit. The aircraft 1 in this example also includes a camera 12 and a sensor 15 as information acquisition units. The aircraft 1 also includes a transmitting and receiving unit 16. Note that the configuration of the aircraft 1 shown in Figure 7 is just one example, and rotary-wing aircraft with configurations different from the aircraft 10 shown in Figure 7 may also be included in the scope of the present invention.

[0033] The aircraft body 10 is formed from the frame and other components that make up the flying body 1. The materials that make up the aircraft body 10 are not particularly limited and may include, for example, carbon fiber resin, glass fiber resin, magnesium, magnesium alloy, aluminum, aluminum alloy, steel, titanium, and other materials.

[0034] Memory 14b may include, for example, a separable medium such as an SD card or random access memory (RAM), or an external storage device. Data acquired from the camera / sensor may be directly transmitted to and stored in memory 14b. For example, still images and video data captured by the camera are recorded in the internal memory or external memory. Memory 14b can also appropriately store various types of information, such as information acquired from an external information processing device or information transmitted from the control terminal 17.

[0035] The flight controller 14 includes a control module configured to control the state of the aircraft 1. For example, the control module controls the motor 11B, which is the propulsion mechanism of the aircraft 1, via the ESC 11C, to adjust the spatial position, velocity, and / or acceleration of the aircraft 1, which has six degrees of freedom (translational motion x, y, and z, and rotational motion θx, θy, and θz). The motor 11B rotates the rotor blade 11A, generating lift for the aircraft 1, thrust for righting from an inverted attitude, etc. The flight controller 14 can adjust the force generated by the rotor blade 20 by controlling the rotation direction and rotational speed (rotational rate) of the motor 11B. The rotational rate also means the number of rotations per predetermined time.

[0036] The flight controller 14 can communicate with a transceiver 16 configured to transmit and / or receive data from one or more external devices (e.g., a pilot terminal 17). The transceiver 16 can use any suitable means of communication, such as wired or wireless communication. The transceiver 16 can utilize one or more of the following communication methods, for example, a local area network (LAN), a wide area network (WAN), infrared, wireless, Wi-Fi, point-to-point (P2P) network, telecommunications network, or cloud communication.

[0037] The transmitting / receiving unit 16 can transmit and / or receive one or more of the following: data acquired by the sensor 15, processing results generated by the flight controller 14, predetermined control data, and user commands from a terminal or remote controller. The received information can be stored in a memory unit such as memory 23a. Information obtained by the camera and sensor 15 may also be output via the transmitting / receiving unit 16 to the piloting terminal 17 or external devices.

[0038] The control terminal 17 is a device for instructing the aircraft 1 to perform actions such as lift-off, hovering, horizontal movement in all directions (forward, backward, left, and right), turning, and landing, as well as starting and stopping the camera (i.e., controlling the aircraft). The user can operate the control terminal 17 to move the aircraft 1 forward so that the detachable part 20 of the aircraft 1 comes into contact with an external object, and then move the aircraft 1 backward so that it detaches from the external object after the detachable part 20 has attached to or engaged with the external object.

[0039] The aircraft 1 may be controlled by an operator on the ground, or by automatic or manual control based on flight path information and an autonomous flight program (e.g., GCS (Ground Control Station)) derived from sensing. The control terminal 17 may be, for example, a transmitter / receiver (RCP), a smartphone, a tablet, or the like.

[0040] The sensor 15 according to this embodiment can directly acquire various information such as the tilt of the aircraft 1 in three axes (including at least the angle with respect to the horizontal plane), angular velocity, velocity, and acceleration, or acquire data for calculating these. The sensor 15 may include, for example, an inertial sensor (such as an IMU (Inertial Measurement Sensor)), an acceleration sensor, a gyroscope, a GPS sensor, a wind sensor, a temperature sensor, a humidity sensor, a barometric pressure sensor, an altitude sensor, a proximity sensor such as LiDAR (Laser Imaging Detection and Ranging), or a vision / image sensor other than a camera. The camera 12 may be any camera. The camera 12 can be installed not only in front of the aircraft 10, but also in any position such as behind, to the left, to the right, above, or below, and is not limited to one location, but may be installed in multiple locations. For example, the camera may be an infrared camera, a stereo camera, etc., in addition to a general camera. For example, the camera may be a camera used for self-position estimation and a camera used to image the target. In this example, the aircraft 1 can have its battery pack removed from the aircraft 10 and charged when not in flight. The aircraft 1 may also have multiple batteries or only one battery.

[0041] As described above, the aircraft 1 of this embodiment comprises a body equipped with a lift generating unit and a detachable unit that is detachably held relative to the body. The detachable unit is detached from the body in mid-air by attaching or engaging the detachable unit, which is held relative to the body, with an external object. In this way, the detachable unit 20 can be attached to or engaged with an external object using the aircraft 1, providing an aircraft with a new and highly convenient function.

[0042] Furthermore, in this embodiment, the detachable portion may have an adhesive portion that is exposed to the outside. With such a configuration, the detachable portion 20 can be adhered to an external object. As a result, for example, the detachable portion 20 can be adhered to a partially peeling exterior wall, and the unnecessary portion can be removed from the exterior wall using the detachable portion 20.

[0043] Furthermore, in this embodiment, the detachable portion may have an engaging portion for engaging with an external object. With such a configuration, the detachable portion 20 can be engaged with an external object. For example, a hook-shaped engaging portion may be hooked onto an annular portion of an external object to engage it. The engaging portion is not limited to a hook shape, but may be any shape, such as an annular portion that can engage with the hook portion of an external object.

[0044] Furthermore, in this embodiment, the detachable part may be held in the vicinity of a camera provided on the aircraft. With this configuration, the detachable part 20 can be easily attached to or engaged with an external object while confirming the external object with the image captured by the camera.

[0045] Furthermore, in this embodiment, the detachable part may be held in the same direction as the camera when viewed from the center of the aircraft. This configuration makes it easier to identify external objects in the images captured by the camera.

[0046] Furthermore, in this embodiment, the detachable part may be held in front of the aircraft body. With this configuration, the aircraft body can be moved forward to attach or engage the detachable part with an external object.

[0047] Furthermore, in this embodiment, the detachable part may have a main part for attaching to or engaging with an external object and a connecting part for detachably attaching to the machine body. Such a configuration makes the role of each part clear.

[0048] Furthermore, in this embodiment, when the detachable part is held by the aircraft body, the main part may be provided so as to surround the camera. This configuration makes it easier to achieve both holding the detachable part near the camera and ensuring the camera's field of view.

[0049] Furthermore, in this embodiment, the aircraft may have a guide portion into which the connecting portion of the detachable part can be inserted. With this configuration, the user can easily hold the detachable part to the aircraft simply by inserting the connecting portion into the guide portion, and detachment is also easy.

[0050] Furthermore, in this embodiment, the guide portion may be provided at multiple locations on the aircraft body. With such a configuration, for example, it becomes possible to have multiple detachable parts held by the aircraft body, or to have detachable parts held by any guide portion depending on the purpose.

[0051] Furthermore, in this embodiment, the connecting portion may have a pair of left and right rod-shaped portions. With this configuration, the detachable portion can be held in place by the aircraft body in a balanced manner on both sides.

[0052] Furthermore, in this embodiment, the rod-shaped portion may be configured to bend and deform when detached from the machine body. With such a configuration, the machine body can be smoothly detached after the detachable portion has been attached to or engaged with an external object.

[0053] Furthermore, in this embodiment, the detachable part may have an annular portion for connecting a hook or cable. With such a configuration, a cable or rope can be passed through the annular portion to lift or suspend objects. In addition, if a cable is connected to the annular portion, it becomes easier to retrieve the detachable part after it has detached from the machine.

[0054] Furthermore, in this embodiment, the detachable parts may be provided with markers or identification information. With such a configuration, the markers or identification information of the detachable parts attached to or engaged with an external object can be referenced during construction work. As a result, even if multiple detachable parts are attached to or engaged with an external object, for example, it becomes easier to identify the purpose and location of each.

[0055] While preferred embodiments of the present disclosure have been described in detail above with reference to the attached drawings, the technical scope of the present disclosure is not limited to such examples. It is clear to any person with ordinary skill in the art of the present disclosure that various modifications or alterations may be conceived within the scope of the technical idea set forth in the claims, and these will naturally also fall within the technical scope of the present disclosure.

[0056] In the above embodiment, the guide portion of the aircraft body was described as being cylindrical and the connecting portion of the detachable part was described as being rod-shaped. However, conversely, the guide portion of the aircraft body may be rod-shaped and the connecting portion of the detachable part may be cylindrical.

[0057] Furthermore, although the above embodiment describes the autonomous flight control as being performed by the flight controller 14 of the aircraft 1, this technology is not limited to this example. That is, the autonomous flight control method is not limited to the example where processing is performed at the edge on the aircraft, but may also be performed remotely by another autonomous flight control device, the above-mentioned correction processing is transmitted to the aircraft, and the drive unit is controlled based on the result. In other words, the main hardware that performs such autonomous flight control method is not particularly limited, and the above-mentioned functional unit may be performed by multiple hardware components.

[0058] Furthermore, the effects described herein are merely descriptive or illustrative and not limiting. In other words, the technology relating to this disclosure may produce other effects that are obvious to those skilled in the art from the description herein, in addition to or in lieu of the effects described herein.

[0059] Furthermore, the following configurations also fall within the technical scope of this disclosure. (Item 1) An aircraft equipped with a lift-generating unit, It comprises a detachable part that is detachably held relative to the aforementioned aircraft, An aircraft that detaches the detachable part from the aircraft in mid-air by attaching or engaging the detachable part, which is held by the aircraft, with an external object. (Item 2) The detachable portion has an adhesive portion exposed to the outside, as described in item 1. (Item 3) The detachable portion has an engaging portion for engaging with an external object, as described in item 1. (Item 4) The detachable part is held in the vicinity of a camera provided on the aircraft, as described in item 1 or 2. (Item 5) The detachable part is held in the same direction as the camera when viewed from the center of the aircraft, as described in item 1 or 2. (Item 6) The detachable part is held in front of the aircraft, as described in item 1 or 2. (Item 7) The detachable part is, A main part for attaching to or engaging with the aforementioned external object, The aircraft according to item 1 or 2, having a connecting portion for detachably attaching to the aforementioned aircraft. (Item 8) While the detachable part is held by the aircraft body, The main body is the flying body described in item 7, provided to surround the camera. (Item 9) The aforementioned aircraft, The flying body according to item 7, having a guide portion into which the connecting portion of the detachable portion can be inserted. (Item 10) The aforementioned guide section is provided at multiple locations on the aircraft, as described in item 9. (Item 11) The connecting portion is the flying body according to item 7, having a pair of left and right rod-shaped portions. (Item 12) The aircraft according to item 11, wherein the rod-shaped portion is configured to bend and deform when detached from the aircraft. (Item 13) The detachable part is, An aircraft according to item 1 or 2, having an annular portion for connecting a hook or cable. (Item 14) The detachable part is provided with a marker or identification information, as described in item 1 or 2. [Explanation of Symbols]

[0060] 1. Unmanned aerial vehicle (flying vehicle) 10 aircraft 11 Lift generation section 20 Detachable part

Claims

1. An aircraft equipped with a lift-generating unit, It comprises a detachable part that is detachably held relative to the aforementioned aircraft, By attaching or engaging the detachable part, which is held by the aircraft body, with an external object, the detachable part is detached from the aircraft body in mid-air. The aforementioned aircraft, The detachable part has a guide portion which holds the detachable part to the machine body by inserting the rod-shaped portion of the detachable part into it. The aforementioned rod-shaped portion is configured to be flexibly deformable, The aforementioned guide portion is a cylindrical shape extending in the front-rear direction of the aircraft, which is the flying body.

2. The aircraft according to claim 1, wherein the rod-shaped portion is configured to bend and deform when detached from the aircraft.

3. The aircraft according to claim 1 or 2, wherein the rod-shaped portion is configured to bend and deform when the attitude of the aircraft tilts while the detachable portion is attached to or engaged with an external object, and the relative angle of the aircraft with respect to the detachable portion changes.

4. The aircraft according to claim 1 or 2, wherein the guide sections are provided on the left and right sides of the aircraft.

5. The detachable part is, The aircraft according to claim 1 or 2, having an annular portion for connecting a hook or cable.

6. The detachable part is provided with a marker or unique identification information, as described in claim 1 or 2.

Images