Multicopter system and method for transferring goods

Patent metadata

Field	Value
Publication number	US-11667401-B2
Application number	US-201916967997-A
Country	US
Kind code	B2
Filing date	Jan 18, 2019
Priority date	Feb 7, 2018
Publication date	Jun 6, 2023
Grant date	Jun 6, 2023

Abstract

A multicopter system according to one aspect of the present invention includes a multicopter configured to fly in a state of holding a package and a mooring device that is installed at a target position of a flight of the multicopter and includes a linear member that extends in a predetermined direction from the target position, the multicopter including a reception portion that has the shape of a recess including an opening open toward one direction and is configured to receive the linear member via the opening.

First claim

The invention claimed is:

1. A multicopter system comprising:
a multicopter configured to fly in a state of holding a package; and
a mooring device that is installed at a target position of a flight of the multicopter and includes a linear member that extends in a predetermined direction from the target position,
wherein the multicopter includes a reception portion that has the shape of a recess including an opening that is open toward one direction, the reception portion being configured to receive the linear member via the opening in a direction intersecting with the predetermined direction.

2. The multicopter system according to claim 1 ,
wherein the mooring device further includes a movable portion that moves along the linear member and is configured such that the package can be delivered between the movable portion and the multicopter.

3. The multicopter system according to claim 2 ,
wherein the multicopter further includes a package holding portion that includes a housing space formed to be able to house the package, the housing space being in communication with the outside via an insertion hole that is formed on a side on which the movable portion is disposed,
the package includes an opening in a surface that is exposed from the insertion hole, and
the movable portion includes a hook member that is configured to be inserted into the opening of the package and lock the package.

4. The multicopter system according to claim 3 ,
wherein the movable portion further includes a support table including a support surface that supports the package, a back surface that is located opposite to the support surface, and a through hole that extends from the back surface to the support surface, and
the hook member is attached to a motor arranged on the back surface of the support table and is configured to take a first position at which the hook member protrudes toward the support surface side via the through hole and is inserted into the opening of the package and a second position at which the hook member does not protrude toward the support surface side and releases the package.

5. The multicopter system according to claim 1 ,
wherein the mooring device further includes a base portion that supports the linear member, and
the base portion includes:
an interior space that is formed to be able to house one or more packages;
a turnable plate that is arranged adjacent to the interior space in the direction in which the linear member extends and is configured to rotate around the direction in which the linear member extends; and
a reception opening that is provided in the turnable plate, through which the interior space is in communication with the outside, and that is formed such that the package can pass through the reception opening.

6. The multicopter system according to claim 5 ,
wherein the base portion further includes:
a turntable that is housed in the interior space and is configured to rotate coaxially with the turnable plate; and
a plurality of package holding portions that are arranged on a surface of the turntable facing the turnable plate so as to divide the surface in a direction of the rotation and are each configured to hold the package.

7. The multicopter system according to claim 1 ,
wherein the multicopter further includes a turn piece that is supported by an edge of the opening to be able to turn and take an open position at which the turn piece opens the opening and a closed position at which the turn piece closes the opening.

8. The multicopter system according to claim 1 ,
wherein the mooring device is installed on the ground or a ceiling, and
the linear member extends in a vertical direction from the ground or the ceiling.

9. A method for delivering a package between a multicopter and a mooring device, the multicopter being configured to fly in a state of holding a package, the mooring device being installed at a target position of a flight of the multicopter and including a linear member that extends in a predetermined direction from the target position,
wherein the multicopter includes a reception portion that has the shape of a recess including an opening that is open toward one direction, the reception portion being configured to receive the linear member via the opening in a direction intersecting with the predetermined direction, and
the mooring device further includes a movable portion that moves along the linear member and is configured such that the package can be delivered between the movable portion and the multicopter,
the method comprising:
a first step of the multicopter approaching the linear member of the mooring device and receiving the linear member in the reception portion;
a second step of the mooring device moving the movable portion close to the multicopter;
a third step of at least one of the multicopter and the mooring device delivering the package between the movable portion and the multicopter that have come close to each other;
a fourth step of, after the package has been delivered, the mooring device separating the movable portion from the multicopter; and
a fifth step of the multicopter separating from the linear member of the mooring device.

10. A method for delivering a package between a multicopter and a mooring device, the multicopter being configured to fly in a state of holding a package, the mooring device being installed at a target position of a flight of the multicopter and including a linear member that extends in a predetermined direction from the target position,
wherein the multicopter includes a reception portion that has the shape of a recess including an opening that is open toward one direction, the reception portion being configured to receive the linear member via the opening in a direction intersecting with the predetermined direction,
the mooring device further includes a base portion that supports the linear member, and
the base portion includes an interior space that is formed to be able to house one or more packages, a turnable plate that is arranged adjacent to the interior space in the direction in which the linear member extends and is configured to rotate around the direction in which the linear member extends, and a reception opening that is provided in the turnable plate, through which the interior space is in communication with the outside, and that is formed such that the package can pass through the reception opening,
the method comprising:
a first step of the multicopter approaching the linear member of the mooring device and receiving the linear member in the reception portion;
a second step of the mooring device positioning the reception opening with respect to the multicopter by rotating the turnable plate;
a third step of the multicopter moving along the linear member to approach the base portion;
a fourth step of at least one of the multicopter and the mooring device delivering the package between the interior space of the base portion and the multicopter via the reception opening;
a fifth step of, after the package has been delivered, the multicopter moving along the linear member to separate from the base portion; and
a sixth step of the multicopter separating from the linear member of the mooring device.

Assignees

• Univ Osaka

Inventors

• Masuoka Hiroya
• Ohigashi Hironori
• Yagi Satoshi
• Nishishita Taisei
• Tsuru Masato
• Nishii Hiroki
• Nakata Yoshihiro

Classifications

• B64U50/14

  ducted or shrouded · CPC title

• B64C2211/00

  Modular constructions of airplanes or helicopters · CPC title

• B64U70/30

  for capturing UAVs in flight by ground or sea-based arresting gear, e.g. by a cable or a net · CPC title

• B64D9/003

  Devices for retaining pallets or freight containers · CPC title

• B64D1/12

  Releasing · CPC title