# US 12,007,788 B2 · Aircraft, control method, and control device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,007,788 B2 - Document ID: US12007788B2 - Status: Granted - Kind: B2 - Application number: 17/424,925 - Filed: 2020-08-26 - Published: 2023-06-08 - Granted: 2024-06-11 - Earliest claimed: 2020-08-26 - Assignees: Rakuten Group, Inc. - Applicants: Rakuten Group, Inc. - Inventors: Toshiaki Tazume - Web page: https://patentgrep.com/patent/US12007788B2 ## CPC - G05D 1/042: {specially adapted for aircraft} - B64C 13/18: using automatic pilot - B64C 39/02: characterised by special use - B64D 1/22: Taking-up articles from earth's surface - B64U 10/14: with four distinct rotor axes, e.g. quadcopters - G05D 1/0055: {with safety arrangements} - G05D 1/46: Control of position or course in three dimensions [3D] - B64U 2101/60: for transporting passengers; for transporting goods other than weapons - B64U 2101/64: for parcel delivery or retrieval - B64U 2101/67: the UAVs comprising tethers for lowering the goods - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - B64C: AEROPLANES; HELICOPTERS - B64D: EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT - B64U: UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR ## Abstract An UAV 1 performs a detachment control to detach a cargo supported by a support portion 117 or connected a connecting portion 118, and thereafter, performs a load detection process of detecting a mechanical load applied to the support portion 117 or the connecting portion 118. And then An UAV 1 performs different control according to the mechanical load, with respect to a movement of the UAV 1 after the detection of the mechanical load. ## Claims ### Claim 1 A control method that is performed by a system including an aircraft that comprises a connecting portion configured to connect a cargo, the control method including: performing detachment control to detach the cargo that is connected by the connecting portion from the aircraft; performing a load detection process of detecting a mechanical load applied to the connecting portion after the detachment control is performed; performing, in a state in which the aircraft is flying, a success-failure determination of detachment of the cargo on a basis of the mechanical load; based on a determination that the detachment of the cargo has failed in the state in which the aircraft is flying, determining whether the aircraft can land safely; and performing different control according to the mechanical load, with respect to movement of the aircraft after the mechanical load is detected, the different control including causing the aircraft to land safely based on the determination the aircraft can land safely, wherein the connecting portion comprises a wire to which the cargo is connected and a reel that feeds or winding the wire, and wherein the determination whether the aircraft can land safely is based on a winding amount of the wire. ### Claim 2 (depends on 1) The control method according to claim 1, the method further comprising: performing the success-failure determination in a state where the aircraft has landed; and based on a determination that the detachment of the cargo has succeeded, controlling the aircraft to take off. ### Claim 3 (depends on 1) The control method according to claim 1, the method further comprising: performing the success-failure determination in a state where the aircraft has landed; and based on a determination that the detachment of the cargo has failed, controlling the aircraft to restrict take-off of the aircraft. ### Claim 4 (depends on 1) The control method according to claim 1, the method further comprising: based on a determination that the detachment of the cargo has succeeded after performance of the success-failure determination in a state where the aircraft is flying, controlling the aircraft to head toward a next scheduled moving place. ### Claim 5 (depends on 1) The control method according to claim 1, further comprising: based on a determination that the detachment of the cargo has failed based on performance of the success-failure determination in the state where the aircraft is flying and based on a determination that the aircraft cannot land safely, cause controlling the aircraft to hover in air. ### Claim 6 (depends on 1) The control method according to claim 1, wherein the determination of whether or not the aircraft can land safely based on detection data detected by an optical sensor included in the aircraft. ### Claim 7 (depends on 1) The control method according to claim 1, wherein the load detection process is performed based on weight data detected by a weight sensor included in the aircraft. ### Claim 8 (depends on 7) The control method according to claim 7, wherein the load detection process is performed in a state where the aircraft is hovering. ### Claim 9 (depends on 1) The control method according to claim 1, wherein the connecting portion comprises a mechanism that connects or releases the cargo, the control method further including performing a release operation detection process of detecting a release operation of the mechanism, and the load detection process is performed after the release operation of the mechanism is detected by the release operation detection process. ### Claim 10 (depends on 9) The control method according to claim 9, wherein the detachment control includes control to cause the mechanism to perform the release operation. ### Claim 11 (depends on 10) The control method according to claim 10, wherein the mechanism comprises an actuator, and the release operation is performed by driving the actuator. ### Claim 12 (depends on 10) The control method according to claim 10, wherein the mechanism comprises an electromagnet, and the release operation is performed by stopping energization to the electromagnet. ### Claim 13 A control device for controlling an aircraft comprising a connecting portion configured to connect a cargo, the control device comprising: at least one memory configured to store program code; and at least one processor configured to access the program code and operate as instructed by the program code, the program code including: first control code configured to cause the at least one processor to perform detachment control to detach the cargo that is supported by the connecting portion from the aircraft; load detection code configured to cause the at least one processor to perform a load detection process of detecting a mechanical load applied to the connecting portion after the detachment control is performed; success-failure determination code configured to cause the at least one processor to perform, in a state in which the aircraft is flying, a success-failure determination of detachment of the cargo on a basis of the mechanical load; determining code configured to cause the at least one processor to determine, based on a determination that the detachment of the cargo has failed in the state in which the aircraft is flying, whether the aircraft can land safely; and second control code configured to cause the at least one processor to perform different control according to the mechanical load, with respect to movement of the aircraft after the mechanical load is detected, the second control code configured to cause the aircraft to land safely based on the determination the aircraft can land safely, wherein the connecting portion comprises a wire to which the cargo is connected and a reel that feeds or winding the wire, and wherein the determination whether the aircraft can land safely is based on a winding amount of the wire. ### Claim 14 A control device for controlling an aircraft comprising a support portion configured to support a cargo or a connecting portion configured to connect the cargo, the control device comprising: at least one memory configured to store program code; and at least one processor configured to access the program code and operate as instructed by the program code, the program code including: first control code configured to cause the at least one processor to perform detachment control to detach the cargo that is supported by the support portion or connected by the connecting portion from the aircraft; load detection code configured to cause the at least one processor to perform a load detection process of detecting a mechanical load applied to the support portion or the connecting portion after the detachment control is performed; success-failure determination code configured to cause the at least one processor to perform, in a state in which the aircraft is flying, a success-failure determination of detachment of the cargo on a basis of the mechanical load; determining code configured to cause the at least one processor to determine, based on a determination that the detachment of the cargo has failed in the state in which the aircraft is flying, whether the aircraft can safely land based on a determination of whether the cargo extends below a leg portion of the aircraft; and second control code configured to cause the aircraft to land safely based on the determination the cargo does not extend below the leg portion of the aircraft.