Flight vehicle

Abstract

[Problem] To provide a flight vehicle with a new function offering high convenience. [Solution] A flight vehicle according to the present disclosure comprises: an airframe with a lift generation part; and a detachable part that is detachably held with respect to the airframe. The detachable part is separated from the airframe midair by attaching or engaging the detachable part being held by the airframe to an external object.

Description

flying object

[0001] The present disclosure relates to air vehicles.

[0002] In recent years, flying objects such as drones have been utilized in various fields such as facility inspections. For example, Patent Literature 1 discloses an flying object capable of performing hammering inspections of structures.

[0003] Japanese Patent Application Laid-Open No. 2015-219028

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

[0005] Therefore, the present disclosure has been made in consideration of the above problems, and its purpose is to provide an aircraft equipped with new, highly convenient functions.

[0006] According to the present disclosure, there is provided an air vehicle comprising: an airframe having a lift generating unit; and a detachable unit that is detachably held on the airframe, wherein the detachable unit is detached from the airframe in the air by attaching or engaging the detachable unit while held on the airframe to an external object.

[0007] According to the present disclosure, it is possible to provide an aircraft equipped with new, highly convenient functions.

[0008] FIG. 1 is a perspective view schematically showing an aircraft according to an embodiment of the present disclosure; FIG. 2 is a front view of the aircraft according to the embodiment; FIG. 3 is a plan view of the aircraft according to the embodiment; FIG. 4 is a side view of the aircraft according to the embodiment; FIG. 5 is a side view showing an example of use of the aircraft according to the embodiment; FIG. 6 is a front view schematically showing the structure of the aircraft according to the embodiment; FIG. 7 is a block diagram showing an example configuration of the aircraft according to the embodiment.

[0009] Preferred embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. In this specification and drawings, components having substantially the same functional configurations are designated by the same reference numerals, and redundant description will be omitted.

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

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

[0012] The flying vehicle 1 comprises an aircraft 10 having a lift generating section 11, and a detachable section 20 that is held detachably relative to the aircraft 10, and is characterized in that the detachable section 20, while held by the aircraft 10, is attached to or engaged with an external object, thereby causing the detachable section 20 to detach from the aircraft 10 in the air.

[0013] The airframe 10 is the main body of the flying vehicle 1 and moves by thrust (including lift) generated by a lift generating unit 11. The lift generating unit 11 includes one or more rotors and a control unit (e.g., a flight controller) that controls the rotors. The lift generating unit 11 can generate thrust in the up-down direction, the front-back direction, the left-right direction, and the turning direction.

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

[0015] When the detachable part 20 is held by the airframe 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 engagement part for engaging with an external object. The main part 21 of the detachable part 20 protrudes beyond the outer edge of the airframe 10 in the attachment direction (forward of the airframe 10 in this example) and is configured to easily attach to or engage with an external object.

[0016] The detachable unit 20 is held near the camera 12 provided on the aircraft 10. In this example, the detachable unit 20 is held in the front of the aircraft 10, but this is not limited to this, and the detachable unit 20 can be placed in any direction, such as backward, left, right, upward, downward, or in various diagonal directions.

[0017] When the detachable part 20 is held near the camera 12, the detachable part 20 can be easily attached to or engaged with an external object while checking the external object in the image captured by the camera. From this perspective, it is preferable that the camera's shooting direction and the attachment direction or engagement direction of the detachable part 20 are the same or substantially the same. In this example, the shooting direction of the camera 12 and the attachment direction of the detachable part 20 are the same at the front.

[0018] The main part 21 of the detachable part 20 in this example is, for example, plate-shaped. More specifically, the main part 21 has a circular plate shape with a through-hole formed in the center, and is configured so that the camera 12 can capture images of what is ahead through the through-hole. In this example, the camera 12 is configured to be located at the center of the main part 21, but this is not limitative and the camera 12 may be located above, below, to the left, or to the right, etc., of the center of the main part 21. In this case, the position of the through-hole in the main part 21 is also formed at a position corresponding to the position of the camera.

[0019] As shown in Figures 3 and 4, the main section 21 has an outer surface 21a (the surface facing outward from the airframe) that serves as an adhesive surface (adhesive portion), and an inner surface 21b that is provided with a connecting portion 22 and a ring-shaped portion 23. The adhesive surface may be provided with one or a combination of adhesive, double-sided tape, hook-and-loop fasteners, suction cups, etc. The ring-shaped portion 23 is configured to allow a hook or cable to be connected. In this example, the ring-shaped portions 23 are provided on the upper and lower sides of the main section 21, respectively, and are located in the center in the left-right direction. The number and arrangement of the ring-shaped portions 23 are not limited to those shown in the illustrations and can be changed as appropriate.

[0020] The detachable part 20 may be provided with a marker associated with various characters, symbols, signs, colors, or other marks, or identification information (such as a unique ID). The marker is preferably provided in a position that is exposed when the detachable part 20 is attached to or engaged with an external object, for example, on the inner surface 21b in this example. This allows for the provision of marks and information during various construction work. For example, the marker may indicate the construction content, construction purpose, location (2D coordinates, 3D coordinates), or contractor (construction company), and may be a 2D code such as a QR code (registered trademark) or an AR marker.

[0021] With the detachable part 20 attached to or engaged with an external object, the looped part 23 allows a cable or rope to be passed through the looped part 23 to lift or suspend an object. The cable or rope may be passed through the looped part 23 in advance before takeoff. Alternatively, as shown in FIG. 5 , the detachable part 20 with the cable connected to the looped part 23 can be attached to an external object, and then an operator can pull the hanging cable. In this way, after adhering the detachable part 20 toward a peeled portion of an exterior wall serving as an external object, an operator can pull the cable to peel off and remove the peeled portion together with the detachable part 20 from the exterior wall. This also makes it easier to retrieve the detachable part 20. When the upper looped part 23 is used, it is also easy to lift the detachable part 20 from above.

[0022] The connecting portion 22 in this example is composed of a pair of left and right rod-shaped portions (for example, cylinders, etc.). The connecting portion 22 is located above the center of the main portion 21 in the up-down direction. The connecting portion 22 may have only one rod-shaped portion, or may have three or more rod-shaped portions. The connecting portion 22 may have a shape other than a rod shape.

[0023] The connecting portion 22 is configured to be insertable into a guide portion 13 provided on the airframe 10. The guide portion 13 has a pair of left and right tubular portions (e.g., cylindrical) corresponding to the connecting portion 22. The guide portion 13 may have a tubular shape with a portion cut out, or may have a groove shape that sandwiches the connecting portion 22 from above, below, or from the left and right. In this example, the guide portions 13 are arranged parallel to each other in the front-to-rear direction of the airframe. Furthermore, although the guide portions 13 extend horizontally, they may also extend obliquely upward or downward.

[0024] The connecting portion 22 has a suitable degree of flexibility and is configured to be able to flexibly deform when detached from the machine body 10. As shown in Fig. 5 , after the detachable portion 20 of the machine body 10 is attached to the external object A, the machine body 10 is tilted backward and moved backward, thereby removing the connecting portion 22 from the guide portion 13. In this case, as the machine body 10 tilts backward relative to the horizontal direction, the orientation of the guide portion 13 also tilts. Therefore, the connecting portion 22 flexibly deforms (elastically deforms), allowing for smooth detachment.

[0025] The airframe 10 is provided with electronic components that constitute a control unit, a memory unit, a communication unit, a sensor unit, an imaging unit (camera), etc., and has a frame that supports these components, a cover that covers the electronic components, etc. The center of gravity of the airframe 1 is preferably located approximately in the center of the airframe 10 in a plan view, but is not limited to this.

[0026] As shown in FIG. 1 , the rotors in this example are arranged at four locations (front left, front right, rear left, and rear right) around the periphery of the aircraft body 10 in a plan view. The number of rotors is not limited to four, and may be three or less, or five or more. The number of blades constituting the rotors is not particularly limited, and any shape and any number of blades may be employed. Furthermore, each rotor may have multiple blades in the axial direction.

[0027] As shown schematically in Figure 6, the rotor 11A of the lift generating unit 11 is preferably located toward the center of the airframe 10 in the vertical direction, and is particularly preferably located near the vertical center of the detachable unit 20. Near the center means that, in the vertical direction of the airframe 10, the center point of thrust generation by the lift generating unit 11 and the vertical center point of the detachable unit 20 either coincide with each other, or are substantially coincident within a small difference, for example, 5 mm or less. This configuration makes it less likely that the airframe 10 will become unstable when the detachable unit 20 is attached to or engaged with an external object.

[0028] In this example, the airframe 10 of the aircraft 1 includes an upper frame 10A that supports the rotor 11A from above and a lower frame 10B positioned below the upper frame 10A. Electronic components constituting a control unit and the like are provided between the upper frame 10A and the lower frame 10B. The rotor 11A is supported by a rotor support (upper frame 10A) that extends outward from the center of the airframe 10. The rotor 11A is also held below the rotor support. In this example, a motor is located above the propeller that constitutes the rotor 11A, and the rotor support is located above the motor. The lower frame 10B is provided with a propeller guard 11C positioned around the rotor 11A. The propeller guard 11C may be integral with the lower frame 10B or may be detachable from the lower frame 10B. Each rotor may also be provided with a cylindrical propeller duct that surrounds the rotor. It is preferable that the rotor 11A does not protrude above or below the airframe 10. In other words, it is preferable that the rotor propeller does not come into contact with the ground when the aircraft 1 is in the normal upright or upside-down position. The rotor 11A may be supported from below by the airframe 10. Furthermore, although the upper frame 10A in this example is located above the rotor 11A and functions as a protective frame that protects the rotor 11A, protective frames separate from the upper frame 10A may be provided above and below the rotor 11A.

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

[0030] The base unit 30 is, for example, a battery pack, and has built-in batteries that can be charged and reused. By preparing and charging multiple battery packs in advance, after a flight, it is possible to replace a charged battery pack and resume flight immediately. The batteries supply power to the rotors, control unit, etc. The connection between the base unit 30 and the aircraft 10 is provided with a connector (contact point) for power supply or signal communication. The base unit 30 may have components inside that constitute at least part of the memory unit, control unit, etc., which will be described later.

[0031] In this example, the aircraft 1 is designed so that the underside of the base 30 touches the ground when landing, but it may also be provided with four legs at the four corners of the aircraft (front left, front right, rear left and right), or with a pair of legs extending in the front-to-rear direction.

[0032] FIG. 7 is a diagram (plan view) showing an example of the hardware configuration of an aircraft 1 according to this embodiment. The aircraft 1 according to this embodiment includes a fuselage 10 having a rotor 11A, a motor 11B, and an ESC (Electronic Speed ​​Controller) 11C for generating thrust. The aircraft 1 also includes a flight controller 14 as a control unit within the aircraft 10. The flight controller 14 may include 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 includes a memory 14b accessible to the memory 14b. The memory 14b stores logic, code, and / or program instructions executable by the flight controller 14 to perform one or more steps. The flight controller 14 is an example of a control unit. The aircraft 1 of this example also includes a camera 12 and a sensor 15 as information acquisition units. The aircraft 1 also includes a transmitter / receiver 16. Note that the configuration of the aircraft 1 shown in Fig. 7 is just one example, and rotorcraft having a different configuration from the aircraft 10 shown in Fig. 7 may also be included in the scope of the present invention.

[0033] The airframe 10 is formed by a frame and the like that constitute the aircraft 1. The material that constitutes the airframe 10 is not particularly limited, and may be, for example, carbon fiber resin, glass fiber resin, magnesium, magnesium alloy, aluminum, aluminum alloy, steel, titanium, or other materials.

[0034] The 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 the memory 14b. For example, still image and video data captured by the camera may be recorded in an internal memory or an external memory. The memory 14b may also store various types of information, such as information acquired from an external information processing device or information transmitted from the control terminal 17, as appropriate.

[0035] The flight controller 14 includes a control module configured to control the state of the air vehicle 1. For example, the control module controls the motor 11B, which is the propulsion mechanism of the air vehicle 1, via the ESC 11C to adjust the spatial arrangement, speed, and / or acceleration of the air vehicle 1, which has six degrees of freedom (translational motion x, y, and z, and rotational motion θx, θy, and θz). The rotation of the rotor 11A by the motor 11B generates lift for the air vehicle 1, thrust for lifting up from an upside-down attitude, and the like. The flight controller 14 can adjust the force generated by the rotor 20 by controlling the rotation direction and rotation speed (number of rotations) of the motor 11B. The number of rotations also means the number of rotations per given 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 piloting terminal 17). The transceiver 16 can use any suitable communication means, such as wired or wireless communication. The transceiver 16 can utilize one or more of any communication method, such as a local area network (LAN), a wide area network (WAN), infrared, radio, Wi-Fi, a point-to-point (P2P) network, a telecommunications network, or cloud communication.

[0037] The transmitter / receiver 16 can transmit and / or receive one or more of data acquired by the sensors 15, processing results generated by the flight controller 14, predetermined control data, user commands from a terminal or a remote controller, etc., and the received information can be stored in a storage unit such as the memory 23a. Information acquired by the camera and sensors 15 may be output via the transmitter / receiver 16 to the control terminal 17, an external device, etc.

[0038] The control terminal 17 is a device for instructing the flying vehicle 1 to take off, hover, move horizontally forward, backward, left, and right, turn, land, etc., and to start and stop the camera (i.e., to control the flying vehicle). By operating the control terminal 17, the user can move the flying vehicle 1 forward so that the detachable part 20 of the flying vehicle 1 comes into contact with an external object, and can move the flying vehicle 1 backward so that the detachable part 20 is away from the external object after it has attached to or engaged with the external object.

[0039] The flying vehicle 1 may be controlled by an operator on the ground, or may be controlled by automatic or manual control based on an autonomous flight program (e.g., a Ground Control Station (GCS)) using flight path information and sensing. The control terminal 17 may be, for example, a transceiver (radio transmitter), a smartphone, a tablet, or other terminal.

[0040] The sensor 15 according to this embodiment can directly acquire various information such as the tilt of the aircraft 1 in three axial directions (including at least the angle relative to the horizontal plane), angular velocity, speed, and acceleration, or acquire data for calculating these information. The sensor 15 can include, for example, an inertial sensor (an inertial measurement unit such as an IMU (Inertial Measurement Sensor)), an acceleration sensor, a gyro sensor, 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 also be any camera. The camera 12 is not limited to being installed in the front of the aircraft 10, but can be installed in any position, such as the rear, left, right, upper, or lower, and may be installed in multiple locations rather than in one location. For example, the camera may be a general camera, an infrared camera, a stereo camera, or the like. The camera may include, for example, a camera for use in self-position estimation and a camera for capturing an image of a target. In the aircraft 1 of this example, the battery pack can be removed from the aircraft 10 and charged when not in flight. The aircraft 1 may also include multiple batteries or only one battery.

[0041] As described above, the flying vehicle 1 of this embodiment comprises a body equipped with a lift generating unit and a detachable part that is detachably held to the body, and the detachable part that is held to the body can be attached to or engaged with an external object, thereby detaching the detachable part from the body in mid-air. In this way, the detachable part 20 can be attached to or engaged with an external object using the flying vehicle 1, providing a flying vehicle with new and convenient functions.

[0042] In this embodiment, the detachable portion may have an adhesive portion exposed to the outside. This configuration allows the detachable portion 20 to be attached to an external object. As a result, for example, the detachable portion 20 can be attached to a partially peeling exterior wall, and the unnecessary portion can be removed from the exterior wall using the detachable portion 20.

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

[0044] In this embodiment, the detachable part may be held in the vicinity of a camera mounted on the aircraft, allowing the detachable part 20 to be easily attached to or engaged with an external object while checking the external object through an image captured by the camera.

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

[0046] In this embodiment, the detachable part may be held at the front of the vehicle body, such that the vehicle body can be moved forward to attach or engage the detachable part to an external object.

[0047] In this embodiment, the detachable part may have a main part for attaching or engaging with an external object and a connecting part for detachably attaching to the aircraft body. With this configuration, the role of each part can be clarified.

[0048] In this embodiment, the main part may be configured to surround the camera when the detachable part is held by the aircraft body, which makes it easier to hold the detachable part near the camera while ensuring the camera's field of view.

[0049] In this embodiment, the machine body may have a guide portion into which the connecting portion of the detachable portion can be inserted. With this configuration, the user can easily hold the detachable portion on the machine body by simply inserting the connecting portion into the guide portion, making detachment easier.

[0050] In this embodiment, the guide portions may be provided at multiple locations on the machine body. With this configuration, it is possible to hold multiple detachable portions on the machine body, or to hold detachable portions on any guide portion depending on the purpose.

[0051] In this embodiment, the connecting portion may have a pair of rod-shaped portions on the left and right. With this configuration, the detachable portion can be held on the airframe in a balanced manner on the left and right.

[0052] In this embodiment, the rod-shaped portion may be configured to be flexible and deformable when detached from the vehicle body, allowing the vehicle body to be smoothly detached after the detachable portion is attached to or engaged with an external object.

[0053] In this embodiment, the detachable part may have a loop for connecting a hook or a cable. With this configuration, a cable or rope can be passed through the loop to pull up or hang an object. Also, connecting a cable to the loop makes it easier to retrieve the detachable part after it has been detached from the aircraft.

[0054] In this embodiment, the detachable part may be provided with a mark or identification information. With this configuration, the mark or identification information of the detachable part attached to or engaged with the external object can be referenced during construction work. As a result, for example, even when multiple detachable parts are attached to or engaged with the external object, it becomes easier to identify the purpose and position of each detachable part.

[0055] Although the preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, the technical scope of the present disclosure is not limited to such examples. It is clear that a person skilled in the art of the present disclosure can conceive of various modified or altered examples within the scope of the technical idea described in the claims, and it is understood that these also naturally fall within the technical scope of the present disclosure.

[0056] In the above embodiment, the guide portion of the machine body is described as being cylindrical and the connecting portion of the detachable portion is rod-shaped, but the opposite may also be true, with the guide portion of the machine body being rod-shaped and the connecting portion of the detachable portion being cylindrical.

[0057] Furthermore, in the above embodiment, the autonomous flight control is described as being executed by the flight controller 14 of the aircraft 1, but the present technology is not limited to such an example. That is, the autonomous flight control method is not limited to an example in which processing is performed on an edge device in the aircraft, but may be such that the above-described correction processing is performed remotely by another autonomous flight control device, the processing results are transmitted to the aircraft, and the drive unit is controlled based on the results. That is, the main hardware that executes the autonomous flight control method is not particularly limited, and the above-described functional units may be executed by multiple hardware.

[0058] Furthermore, the effects described herein are merely descriptive or exemplary and are not limiting. In other words, the technology according to the present disclosure may achieve other effects that will be apparent to those skilled in the art from the description of this specification, in addition to or in place of the above-described effects.

[0059] Note that the following configurations also fall within the technical scope of the present disclosure. (Item 1) An aircraft comprising: an airframe having a lift generating unit; and a detachable part that is detachably held to the airframe, wherein the detachable part is detached from the airframe in mid-air by attaching or engaging the detachable part while held to the airframe with an external object. (Item 2) The aircraft described in item 1, wherein the detachable part has an adhesive part exposed to the outside. (Item 3) The aircraft described in item 1, wherein the detachable part has an engagement part for engaging with an external object. (Item 4) The aircraft described in item 1 or 2, wherein the detachable part is held near a camera provided on the airframe. (Item 5) The aircraft described in item 1 or 2, wherein the detachable part is held in the same direction as the camera when viewed from the center of the airframe. (Item 6) The aircraft described in item 1 or 2, wherein the detachable part is held in the front of the airframe. (Item 7) The aircraft of item 1 or 2, wherein the detachable part has a main part for attaching to or engaging with the external object, and a connecting part for detachably attaching to the aircraft. (Item 8) The aircraft of item 7, wherein the main part is arranged to surround the periphery of the camera when the detachable part is held on the aircraft. (Item 9) The aircraft of item 7, wherein the aircraft has a guide part into which the connecting part of the detachable part can be inserted. (Item 10) The aircraft of item 9, wherein the guide part is provided at multiple locations on the aircraft. (Item 11) The aircraft of item 7, wherein the connecting part has a pair of left and right rod-shaped parts. (Item 12) The aircraft of item 11, wherein the rod-shaped parts are configured to be flexibly deformable when detached from the aircraft. (Item 13) The aircraft of item 1 or 2, wherein the detachable part has a ring-shaped part for connecting a hook or a cable. (Item 14) The flying object according to item 1 or 2, wherein the detachable part is provided with a mark or identification information.

[0060] 1 Unmanned aerial vehicle (aircraft) 10 Airframe 11 Lift generating unit 20 Detachable unit

Claims

1. A flying vehicle comprising: an aircraft body having a lift generating unit; and a detachable part that is releasably held to the aircraft body, wherein the detachable part is detached from the aircraft body in the air by attaching or engaging the detachable part while held to the aircraft body with an external object.

2. The flying object according to claim 1, wherein the detachable portion has an adhesive portion exposed to the outside.

3. The flying object according to claim 1, wherein the detachable portion has an engagement portion for engaging with an external object.

4. The flying object described in claim 1 or 2, wherein the detachable part is held in the vicinity of a camera mounted on the aircraft.

5. The flying vehicle described in claim 1 or 2, wherein the detachable part is held in the same direction as the camera when viewed from the center of the aircraft.

6. The flying vehicle of claim 1 or 2, wherein the detachable portion is held at the front of the aircraft.

7. An aircraft as described in claim 1 or 2, wherein the detachable portion has: a main portion for attaching to or engaging with the external object; and a connecting portion for detachably attaching to the airframe.

8. The flying vehicle described in claim 7, wherein, when the detachable part is held by the aircraft, the main part is arranged to surround the periphery of the camera.

9. The flying body according to claim 7, further comprising a guide section into which the connecting section of the detachable section can be inserted.

10. The flying object according to claim 9, wherein the guide section is provided at multiple locations on the aircraft.

11. The aircraft according to claim 7, wherein the connecting portion has a pair of left and right rod-shaped portions.

12. The flying object described in claim 11, wherein the rod-shaped portion is configured to be capable of flexibly deforming when separated from the airframe.

13. The flying vehicle according to claim 1 or 2, wherein the detachable portion has a loop for connecting a hook or a cable.

14. The flying object described in claim 1 or 2, wherein the detachable portion is provided with a mark or identification information.

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