Elevator and distribution system

Abstract

An elevator (200) is provided with: a lift car (210) that ascends and descends; a partition (221) that partitions the space in the elevator car (210) into a first elevator space (211) in which people are boarding and a second elevator space (212) in which the automated guided vehicle (100) is boarding; an elevator inner guide rail (32) disposed in the second elevator space (212) and including a movable guide rail (32a); and an actuator that moves the movable guide rail (32a). The automatic guided vehicle (100) travels along the elevator inner guide rail (32), and the movable guide rail (32a) is switched between a first guide rail state and a second guide rail state by being driven by an actuator. In the first guide rail state, the first end (32k) of the movable guide rail (32a) is connected with the second end (31k) of the floor inner guide rail (31), and in the second guide rail state, the first end (32k) of the movable guide rail (32a) is not connected with the second end (31k).

Description

Technical Field

[0001] This disclosure relates to elevators, etc. Background Technology

[0002] Patent document 1 proposes an elevator device having an elevator car for unmanned transport vehicles and people.

[0003] Existing technical documents Patent documents Patent Document 1: Japanese Patent Application Publication No. 2019-144785 Summary of the Invention

[0004] The problem that the invention aims to solve However, there is room for improvement in the elevator device described in Patent Document 1.

[0005] Therefore, this disclosure provides an elevator that can achieve further improvements.

[0006] Methods for solving problems One aspect of this disclosure relates to an elevator installed in a building, comprising: a lifting car for moving up and down; a partition dividing the space within the lifting car into a first space for human passengers and a second space for unmanned transport vehicles; an elevator inner rail disposed in the second space, including a movable rail; and an actuator that moves the movable rail, the unmanned transport vehicle traveling along the elevator inner rail, the movable rail switching between a first rail state and a second rail state driven by the actuator, wherein in the first rail state, a first end of the movable rail is connected to a second end of a floor inner rail disposed on a predetermined floor of the building, and in the second rail state, the first end is not connected to the second end.

[0007] Furthermore, these general or specific forms can be realized by systems, methods, integrated circuits, computer programs, or computer-readable recording media such as CD-ROMs, or by any combination of systems, methods, integrated circuits, computer programs, and recording media. Additionally, the recording medium can be a non-transitory recording medium.

[0008] Invention Effects The elevator disclosed herein can achieve further improvements.

[0009] Further advantages and effects of one embodiment of this disclosure will become apparent from the specification and drawings. These advantages and / or effects are provided through several embodiments and the structures described in the specification and drawings, but it is not necessary to provide the entire structure in order to obtain its advantages and effects. Attached Figure Description

[0010] Figure 1 This is a diagram illustrating a structural example of the delivery system within an office building in Embodiment 1.

[0011] Figure 2 Other figures illustrating a structural example of the delivery system within an office building in Embodiment 1.

[0012] Figure 3A This is a diagram illustrating the state of the elevator in Implementation Method 1.

[0013] Figure 3B This diagram illustrates other states of the elevator in Implementation 1.

[0014] Figure 4 This is a diagram illustrating a structural example of the in-apartment delivery system in Embodiment 1.

[0015] Figure 5A This is a diagram illustrating the state of the elevator in Implementation Method 1.

[0016] Figure 5B This diagram illustrates other states of the elevator in Implementation 1.

[0017] Figure 6 This is a diagram illustrating an example of the structure of the logistics system in a variation of Embodiment 1.

[0018] Figure 7 This is a diagram illustrating another example of the structure of the logistics system in Variation 1 of Embodiment 1.

[0019] Figure 8 This is a diagram illustrating a structural example of a delivery system within an office building in a variation of Embodiment 1, Example 2.

[0020] Figure 9 This is a diagram illustrating a structural example of an in-apartment delivery system in a variation of Embodiment 1, Example 2.

[0021] Figure 10 This is a diagram illustrating an elevator in variation 3 of embodiment 1.

[0022] Figure 11 This is a perspective view illustrating the cargo handling device according to Embodiment 2.

[0023] Figure 12A This is a diagram illustrating the internal structure of the first and second connectors of the cargo handling device according to Embodiment 2.

[0024] Figure 12B This is a diagram illustrating the internal structure of the third connector of the cargo handling device according to Embodiment 2.

[0025] Figure 13AThis is a diagram illustrating the internal structure of the rotary table of the cargo handling device according to Embodiment 2.

[0026] Figure 13B This is a side view illustrating the slide rail of the cargo handling device according to Embodiment 2.

[0027] Figure 13C This is a front view of the slide rail of the cargo handling device according to Embodiment 2.

[0028] Figure 13D This is a front view of the L-side component, lead screw, and guide of the slide rail of the cargo handling device according to Embodiment 2.

[0029] Figure 13E This is an example of a front view showing the R-side component of the slider, the lead screw, and the guide of the cargo handling device according to Embodiment 2.

[0030] Figure 14 This is a perspective view illustrating a variation of Embodiment 2 involving a cargo handling device.

[0031] Figure 15A This is an example of a perspective view showing the guide rail and guide rail connector involved in Embodiment 3.

[0032] Figure 15B This is another perspective view illustrating the guide rail and guide rail connector involved in Embodiment 3.

[0033] Figure 16 This is an oblique view illustrating, for example, the first connection point of the first guide rail and the second connection point of the second guide rail according to Embodiment 3.

[0034] Figure 17 These are top and side views illustrating the operation of the cargo handling device according to Embodiment 4.

[0035] Figure 18A These are top and side views illustrating the operation of the cargo handling device according to Embodiment 4 when it turns left at the intersection of the first and second guide rails.

[0036] Figure 18B These are top and side views illustrating the operation of the cargo handling device according to Embodiment 4 when it turns right at the intersection of the first and second guide rails.

[0037] Figure 19 This is a diagram illustrating an example of the structure of the logistics system in Implementation 5.

[0038] Figure 20 This is a diagram illustrating an example of an elevator in the apartment delivery system of embodiment 6.

[0039] Figure 21 This is a diagram illustrating an example of an elevator in the delivery system within an office building according to Embodiment 6.

[0040] Figure 22 This is a diagram illustrating a structural example of the delivery system within an office building in Embodiment 7.

[0041] Figure 23 This is a diagram illustrating an example of the action of the unmanned transporter in Embodiment 7 transferring from one pair of guide rails to another pair of guide rails.

[0042] Figure 24 This is a diagram illustrating an example of the unmanned transporter in Implementation 7 being applied to an elevator.

[0043] Figure 25 This is a diagram illustrating an example of the structure of the logistics system in Embodiment 7.

[0044] Figure 26 This is a diagram showing an example of the dimensions of the unmanned transporter in Embodiment 7.

[0045] Figure 27 This is a diagram illustrating an example of a structure for changing the orientation of the unmanned transporter in embodiment 7.

[0046] Figure 28A This is a diagram illustrating an example of an action that changes the orientation of the unmanned transporter in embodiment 7.

[0047] Figure 28B This is a diagram illustrating another example of the action of changing the orientation of the unmanned transporter in embodiment 7.

[0048] Figure 29A This is a diagram illustrating an example of the detailed structure of the unmanned transporter in Embodiment 7.

[0049] Figure 29B This is a diagram illustrating another example of the detailed structure of the unmanned transporter in Embodiment 7.

[0050] Figure 30A This is a diagram illustrating an example of the operation of the unmanned transporter transfer rail in Embodiment 7.

[0051] Figure 30B This is a diagram illustrating an example of the operation of the unmanned transporter transfer rail in Embodiment 7.

[0052] Figure 30C This is a diagram illustrating an example of the operation of the unmanned transporter transfer rail in Embodiment 7.

[0053] Figure 30DThis is a diagram illustrating an example of the operation of the unmanned transporter transfer rail in Embodiment 7.

[0054] Figure 30E This is a diagram illustrating an example of the operation of the unmanned transporter transfer rail in Embodiment 7.

[0055] Figure 31 This is an example of what it looks like when an unmanned transport vehicle in Implementation 7 enters a building from the outside.

[0056] Figure 32 These are other examples illustrating how the unmanned transport vehicle in Embodiment 7 enters the building from the outside.

[0057] Figure 33 These are other examples illustrating how the unmanned transport vehicle in Embodiment 7 enters the building from the outside.

[0058] Figure 34 These are other examples illustrating how the unmanned transport vehicle in Embodiment 7 enters the building from the outside.

[0059] Figure 35 These are other examples illustrating how the unmanned transport vehicle in Embodiment 7 enters the building from the outside.

[0060] Figure 36 This is a diagram illustrating other examples of the unmanned transporter in Embodiment 7.

[0061] Figure 37 This is a diagram showing an example of a structure including a guide rail in embodiment 7.

[0062] Figure 38 This is a diagram illustrating an example of the schematic structure of the unmanned transport vehicle, structure, and logistics system in various embodiments.

[0063] Figure 39A This is a diagram illustrating an example of the unmanned transporter in embodiment 8 being applied to an elevator.

[0064] Figure 39B This diagram shows the connection between a pair of movable guide rails and a pair of floor guide rails.

[0065] Figure 39C This is another example of an unmanned transporter being used in an elevator.

[0066] Figure 40 This is a diagram illustrating a structural example of the delivery system within an office building in Embodiment 8.

[0067] Figure 41 This is a diagram illustrating an example of the structure of the logistics system in Implementation 8.

[0068] Figure 42 This is a diagram showing the groove structure of the guide rail in embodiment 8.

[0069] Figure 43 The block diagram illustrates an unmanned transporter according to Embodiment 8.

[0070] Figure 44 The diagram illustrates, for example, the first arm and the second arm of the unmanned transporter according to Embodiment 8, moving on the guide rail in the second arm state.

[0071] Figure 45A The diagram illustrates, for example, the first arm and the second arm of the unmanned transporter according to Embodiment 8, moving on the high-altitude guide rail in the state of the first arm.

[0072] Figure 45B The diagram illustrates, for example, the first and second arms of the unmanned transporter according to Embodiment 8 traveling on a high-altitude guide rail in the state of the third arm.

[0073] Figure 46 This is a diagram illustrating an example of an in-building delivery system used in office buildings.

[0074] Figure 47 This is a diagram illustrating the elevators in the delivery system of an office building on the same floor as the office building.

[0075] Figure 48 This diagram illustrates the application of an in-building delivery system in an office building with a floor height of 4.5m.

[0076] Figure 49 This diagram illustrates an office building delivery system equipped with a first car door and a first-floor door, as well as a second-floor door and a second car door for unmanned transport vehicles to pass through.

[0077] Figure 50 This is a diagram illustrating an example of an in-building delivery system used in office buildings.

[0078] Figure 51 This is a diagram illustrating the delivery system within the top floor of an office building.

[0079] Figure 52 This is another diagram illustrating a delivery system within an office building.

[0080] Figure 53 This is a diagram illustrating an elevator with a second elevator space and a fourth elevator space in a delivery system within an office building.

[0081] Figure 54This is an example diagram of an elevator with a fourth elevator space in an office building's delivery system.

[0082] Figure 55 This diagram illustrates, for example, the elevator space of the first elevator in the distribution system within an office building and the first floor space of the office building.

[0083] Figure 56 This diagram illustrates, for example, the second elevator space within the delivery system of an office building and the fourth floor space of the office building.

[0084] Figure 57 This is an example of a delivery system within an office building that has pipes that allow unmanned transport vehicles to travel through.

[0085] Figure 58 This is an example of a delivery system within an office building that includes pipes for unmanned transport vehicles to navigate and beams for pipe insertion.

[0086] Figure 59 This diagram illustrates an example of applying a delivery system with ductwork to an office building.

[0087] Figure 60 This is a flowchart illustrating an example of installing pipes in an office building.

[0088] Figure 61 This is a diagram illustrating a structural example of the delivery system within an office building in Embodiment 8.

[0089] Figure 62 This is a diagram illustrating another structural example of the delivery system within an office building in Embodiment 8.

[0090] Figure 63 This is a diagram illustrating another structural example of the delivery system within an office building in Embodiment 8.

[0091] Figure 64A This is a diagram illustrating another structural example of the delivery system within an office building in Embodiment 8.

[0092] Figure 64B This is a diagram showing an unmanned transporter moving to a guide rail on the second floor to deliver goods to the second floor space.

[0093] Figure 64C This is another image showing an unmanned transporter moving to the guide rails on the second floor to deliver goods to the second-floor space.

[0094] Figure 64D This is another image showing an unmanned transporter moving to the guide rails on the second floor to deliver goods to the second-floor space.

[0095] Figure 64E This is another image showing an unmanned transporter moving to the guide rails on the second floor to deliver goods to the second-floor space.

[0096] Figure 64F This is a diagram showing how multiple unmanned transport vehicles board and disembark relative to a lift car.

[0097] Figure 65 This is a diagram illustrating an example of the structure of the logistics system Sy4 in embodiment 8.

[0098] Figure 66A This is a diagram illustrating the lifting car in embodiment 8.

[0099] Figure 66B This is a diagram illustrating another elevator car in embodiment 8.

[0100] Figure 66C This is a diagram illustrating yet another elevator car in embodiment 8.

[0101] Figure 66D This is a diagram illustrating another elevator car in embodiment 8.

[0102] Figure 66E This is a diagram illustrating another elevator car in embodiment 8.

[0103] Figure 67 This is a diagram showing an unmanned transport system.

[0104] Figure 68A This is an image showing the movement of an unmanned transport vehicle riding in a lift-type elevator car.

[0105] Figure 68B This is another image showing the movement of an unmanned transport vehicle riding in a lift-type elevator car.

[0106] Figure 69A This is a diagram showing how unmanned transport vehicles riding in elevator cars are rearranged.

[0107] Figure 69B This is another image showing how unmanned transport vehicles riding in elevator cars are being reordered.

[0108] Figure 70 This is a diagram showing the elevator system.

[0109] Figure 71 This is a diagram showing an elevator system in which multiple unmanned transport vehicles ride in lifting cars.

[0110] Figure 72 This is a diagram showing an elevator system in which multiple unmanned transport vehicles ride in lifting cars.

[0111] Figure 73 This is a diagram showing an unmanned transport vehicle leaving the elevator car and bypassing the elevator lobby.

[0112] Figure 74 This is a diagram showing an elevator car and an unmanned transport vehicle that carries the elevator car.

[0113] Figure 75 This is a diagram showing a system for adjusting the posture of a cargo basket.

[0114] Figure 76A This is a diagram showing an elevator system that moves an unmanned transporter, which is configured in the first elevator section, to the second elevator section.

[0115] Figure 76B This is a diagram of another elevator system that moves an unmanned transporter configured in the first elevator section to the second elevator section.

[0116] Figure 76C This is a diagram showing another elevator system with two lifting sections.

[0117] Figure 76D This is a diagram showing another elevator system equipped with a movable guide rail platform lifting device.

[0118] Figure 76E This is a diagram showing another elevator system equipped with a double-layer movable guide rail platform lifting device.

[0119] Figure 76F This is a diagram showing another elevator system with a double-layer movable guide rail platform lifting device.

[0120] Figure 76G This diagram shows how multiple unmanned transport vehicles traveling in lifting elevator cars are rearranged.

[0121] Figure 76H It is a diagram showing how the wheels of an unmanned transporter extend.

[0122] Figure 76I This is a diagram showing an unmanned transporter corresponding to the width of the guide rail.

[0123] Figure 76J This is a diagram showing the guide rail with its height adjusted. Detailed Implementation

[0124] The elevator of the first aspect of this disclosure is an elevator installed in a building, comprising: a lifting car for lifting; a partition that divides the space inside the lifting car into a first space for passengers and a second space for unmanned transport vehicles; an elevator inner rail disposed in the second space, including a movable rail; and an actuator that moves the movable rail, the unmanned transport vehicle traveling along the elevator inner rail, the movable rail switching between a first rail state and a second rail state by the actuator, wherein in the first rail state, a first end of the movable rail is connected to a second end of a floor inner rail disposed on a predetermined floor of the building, and in the second rail state, the first end is not connected to the second end.

[0125] In order for an automated guided vehicle (AGV) traveling along the elevator's internal guide rails to ascend and descend with the elevator car to a designated floor and then exit from the car, the elevator's internal guide rails need to be connected to the floor guide rails used by the AGV located on that floor. In this case, assuming that each floor guide rail is equipped with a movable guide rail and an actuator to drive it, the required number of movable guide rails and actuators would be equivalent to the number of floors in the building, increasing the number of elevator-related parts, maintenance time, and costs.

[0126] On the other hand, in the first embodiment, as described above, the movable guide rail of the elevator inner rail switches between a first guide rail state and a second guide rail state by being driven by an actuator. That is, the elevator inner rail is connected to or separated from the floor inner rail by the structure of the elevator inner rail and the drive of the actuator.

[0127] Therefore, in the first embodiment, it is not necessary to prepare a number of movable guide rails and actuators equivalent to the number of floors in the building. As a result, it is possible to realize an elevator that can simultaneously transport people and unmanned transport vehicles while preventing an increase in the number of parts associated with the elevator.

[0128] Furthermore, in the second embodiment, the elevator may also include: a first car door that opens and closes an opening leading to the first space and formed in the elevator car; and a second car door that opens and closes an opening leading to the second space and formed in the elevator car. The second embodiment is subordinate to the first embodiment.

[0129] Therefore, if, for example, the first car door and the second car door are constructed separately, they can be opened and closed independently.

[0130] Furthermore, in the third configuration, the first car door and the second car door can be integrally formed. Additionally, the third configuration is subordinate to the second configuration.

[0131] Therefore, the first and second car doors are constructed as a single unit, eliminating the need for separate actuators for driving the first and second car doors. Consequently, both doors can be driven by the same actuator, thus reducing the number of elevator parts.

[0132] Furthermore, in the fourth configuration, the second space can be located above the first space, and the elevator internal guide rail can be installed on the ceiling of the second space. Additionally, the fourth configuration can belong to any of the first to third configurations.

[0133] Therefore, in buildings such as office buildings and apartments, the floor space where people move around corresponds to the first space. Furthermore, in this building, the space within the ceiling corresponds to the second space. Thus, an elevator can be built that allows for smooth entry and exit for both people and automated guided vehicles.

[0134] Furthermore, in the fifth embodiment, the unmanned transporter may include: a cargo basket connected to a guide wire; and a winch capable of releasing and reeling in the guide wire. Additionally, the fifth embodiment can belong to any one of the first to fourth embodiments.

[0135] Thus, for example, after the unmanned transport robot reaches above a parcel box inside an instrument panel in a corridor, it can lower the cargo basket into the parcel box by extending a guide wire downwards. This allows for the delivery or retrieval of goods without the unmanned transport robot itself descending into the room.

[0136] Furthermore, in the sixth configuration, the elevator internal guide rail may also include a fixed guide rail, and the movable guide rail slides relative to the fixed guide rail and stops at a predetermined position, thereby switching from the second guide rail state to the first guide rail state. Additionally, the sixth configuration can belong to any of the first to fifth configurations.

[0137] This allows the elevator's internal guide rails to be easily extended into the space outside the elevator.

[0138] Additionally, in the seventh embodiment, the elevator may further include: a second partition disposed within the elevator car below the first partition; and a second elevator inner guide rail, which, unlike the first elevator inner guide rail, includes a movable guide rail. The space within the elevator car is divided into the first space, the second space, and a third space for the unmanned transport vehicle to travel in by the first partition and the second partition. The second elevator inner guide rail is disposed in the third space. The movable guide rail of the second elevator inner guide rail switches between a third guide rail state and a fourth guide rail state by an actuator. In the third guide rail state, the third end of the movable guide rail of the second elevator inner guide rail is connected to the fourth end of a floor inner guide rail located on the floor below the specified floor of the building. In the fourth guide rail state, the third end is not connected to the fourth end. Furthermore, the seventh embodiment can belong to any one of the embodiments from the first to the sixth embodiment.

[0139] Therefore, not only the second space, but also the third space is used as a space for the unmanned transport vehicle to take off, thus greatly increasing the amount of goods transported by the unmanned transport vehicle.

[0140] Furthermore, in the eighth embodiment, the elevator also includes a guide rail lift for raising and lowering the guide rails inside the elevator. Additionally, the eighth embodiment can belong to any one of the first to seventh embodiments.

[0141] Therefore, even if the floor heights of each floor in a building are different, the guide rails inside the elevator can be made to be at the appropriate heights to match the guide rails inside each floor through the guide rail lift.

[0142] Furthermore, in the ninth embodiment, the guide rail lifting mechanism is capable of changing the distance between the elevator guide rail and the ceiling of the second space according to the floor height of each floor of the building. Additionally, the ninth embodiment can be subordinate to the eighth embodiment.

[0143] This allows the height of the elevator's internal guide rails to be more appropriately aligned with the height of the floor's internal guide rails.

[0144] Furthermore, in the tenth embodiment, the height of the first floor of the building is different from the height of the second floor of the building. The elevator internal guide rail is in a first guide rail state on the first floor of the building and a second guide rail state on the second floor of the building. The first distance between the elevator internal guide rail and the ceiling of the second space in the first guide rail state is different from the second distance between the elevator internal guide rail and the ceiling of the second space in the second guide rail state. Additionally, the tenth embodiment can be subordinate to the ninth embodiment.

[0145] Therefore, even if the height of the first floor is different from that of the second floor, the height of the elevator guide rails and the floor guide rails can be more appropriately consistent.

[0146] Furthermore, in the 11th configuration, the absolute value of the difference between the first layer height and the second layer height is equal to the absolute value of the difference between the first distance and the second distance. Additionally, the 11th configuration can be subordinate to the 10th configuration.

[0147] This effectively ensures that the height of the elevator's internal guide rails is consistent with that of the floor's internal guide rails.

[0148] Furthermore, the elevator of the 12th type is an elevator installed in a building, which includes: a lifting car that moves up and down; a partition that divides the space inside the lifting car into a first space for passengers and a second space for unmanned transport vehicles; an elevator inner rail disposed in the second space; and a rail lift that moves the elevator inner rail up and down, the unmanned transport vehicle traveling along the elevator inner rail, the rail lift mechanism being able to change the distance between the elevator inner rail and the ceiling of the second space according to the floor height of each floor of the building.

[0149] Therefore, even if the floor heights of each floor in a building are different, the guide rails inside the elevator can be made to be at the appropriate heights to match the guide rails inside each floor through the guide rail lift.

[0150] Furthermore, the elevator of the 13th type is an elevator installed in a building, which includes: a lifting car for lifting; a first partition and a second partition for separating the space inside the lifting car, wherein, from the vertical direction upward, there are sequentially existing a first second space for unmanned transport vehicles to ride, the first partition, a first space for people to ride, the second partition, and a second second space for unmanned transport vehicles to ride; a first elevator internal guide rail disposed in the first second space for unmanned transport vehicles to travel; and a second elevator internal guide rail disposed in the second second space for unmanned transport vehicles to travel.

[0151] Thus, multiple unmanned transport machines can move via the guide rails inside the first and second elevators.

[0152] Additionally, in the 14th embodiment, the first elevator inner guide rail includes a first movable guide rail, and the second elevator inner guide rail includes a second movable guide rail. The elevator further comprises: a first actuator that moves the first movable guide rail; and a second actuator that moves the second movable guide rail. The first movable guide rail switches between a first guide rail state and a first second guide rail state via the drive of the first actuator. In the first first guide rail state, the first end of the first movable guide rail is connected to the inner guide rail of a predetermined floor in the building. The first second end of the rail is connected. In the first second guide rail state, the first first end is not connected to the first second end. The second movable guide rail switches between the second first guide rail state and the second second guide rail state via the drive of the second actuator. In the second first guide rail state, the second first end of the second movable guide rail is connected to the second second end of the floor guide rail installed on a specified floor of the building. In the second second guide rail state, the second first end is not connected to the second second end. Furthermore, the 14th form can be subordinate to the 13th form.

[0153] Therefore, it is possible to appropriately switch the connection and non-connection between the first elevator inner guide rail and the second elevator inner guide rail and the floor inner guide rail.

[0154] Furthermore, in the 15th embodiment, the elevator further includes: a first guide rail lift that moves the guide rails inside the first elevator up and down; and a second guide rail lift that moves the guide rails inside the second elevator up and down. Additionally, the 15th embodiment is subordinate to either the 13th or 14th embodiment.

[0155] This allows the first and second elevator internal guide rails to be aligned with the floor internal guide rails at the same height, achieving an effective connection.

[0156] Furthermore, the delivery system of the 16th aspect of this disclosure includes: an elevator installed in a building; floor guide rails installed on a designated floor of the building, including movable guide rails; and an actuator that moves the movable guide rails. The elevator includes: a lifting car that moves up and down; a partition that divides the space inside the lifting car into a first space for passengers and a second space for unmanned transport vehicles; and an elevator guide rail disposed in the second space. The unmanned transport vehicle travels along the elevator guide rails. The movable guide rails switch between a first guide rail state and a second guide rail state by the actuator. In the first guide rail state, a first end of the movable guide rail is connected to a second end of the elevator guide rails. In the second guide rail state, the first end is not connected to the second end.

[0157] Therefore, even if the elevator's internal guide rails do not have movable guide rails, the floor's internal guide rails can still be connected to them. As a result, the automated guided vehicle can easily move in and out of the elevator car.

[0158] Furthermore, in the 17th embodiment of the conveyor disclosed herein, the conveyor includes: a housing; a front wheel disposed on the housing; and a rear wheel disposed on the housing.

[0159] Thus, the unmanned transporter can travel along the guide rail using its front and rear wheels.

[0160] Furthermore, in the 18th embodiment of this disclosure, the front wheel is configured to change the steering angle.

[0161] As a result, the steering angle of the front wheels can be automatically adjusted, so the unmanned transporter can automatically turn right or left.

[0162] Furthermore, in the 19th embodiment of this disclosure, the rear wheel is configured such that the steering angle cannot be changed.

[0163] Therefore, the unmanned transport vehicle can turn right or left simply by adjusting the steering angle of the front wheels, eliminating the need to include a mechanism for adjusting the steering angle of the rear wheels. This helps to curb the rising manufacturing costs of unmanned transport vehicles.

[0164] Furthermore, in the 20th embodiment of this disclosure, a steering device for changing the steering angle of the front wheels is also provided.

[0165] Therefore, the unmanned transporter can turn right or left simply by adjusting the steering angle of the front wheels.

[0166] Furthermore, in the 21st embodiment of this disclosure, the radius of the front wheel is smaller than the radius of the rear wheel.

[0167] This allows the diameter of the front wheels to be smaller than that of the rear wheels, making it easier for the unmanned transport vehicle to turn right and left. In other words, it helps to prevent a decrease in the maneuverability of the unmanned transport vehicle (making it easier to make tight turns).

[0168] Furthermore, in the 22nd embodiment of this disclosure, it also includes an arm connected to the housing and a wheel connected to the front end of the arm.

[0169] Therefore, the first arm and the second arm can be connected to the guide rail. Thus, the unmanned transport vehicle can travel along the guide rail via the first and second arms.

[0170] Furthermore, in the 23rd embodiment of this disclosure, at least one actuator is provided to drive the arm, which switches between a first arm state and a second arm state by being driven by the at least one actuator. In the first arm state, the wheel is located at a first position above the front wheel and the rear wheel, and in the second arm state, the wheel is located at a second position below the first position.

[0171] Therefore, the first arm and the second arm can be switched between the first arm state and the second arm state. Thus, the unmanned transport vehicle can operate in the first arm state, or the unmanned transport vehicle can operate in the second arm state.

[0172] Furthermore, in the 24th embodiment of this disclosure, a controller is also included. When the front wheel and the rear wheel are traveling from the first section to the second section on the first guide rail, and there is no second guide rail at a position above the first guide rail in the first section, and there is a second guide rail at a position above the first guide rail in the second section, when the front wheel and the rear wheel are in the first section, the controller controls the at least one actuator to change the arm from the second arm state to the first arm state, so that when the second guide rail is below the wheel, the wheel travels on the second guide rail.

[0173] Therefore, when the first and second arms are in the first arm state, the unmanned transport vehicle can transfer from the guide rail to the overhead guide rail. Furthermore, if the unmanned transport vehicle transfers from the overhead guide rail to the guide rail, the first and second arms can become the second arm state. Thus, the unmanned transport vehicle can move between the first and second arm states, thereby enabling it to travel between the guide rail and the overhead guide rail.

[0174] In addition, because the unmanned transporter moves between the first arm state and the second arm state during travel, it can move smoothly between the guide rail and the high-altitude guide rail without stopping.

[0175] Furthermore, in the 25th embodiment of this disclosure, the arm is further switched to a third arm state by the drive of the at least one actuator, in which the wheel is located in a third position that is lower than the first position and higher than the second position.

[0176] This allows the first and second arms to be switched to the third arm state, thus enabling the main body of the unmanned transport vehicle to float. Consequently, the unmanned transport vehicle can travel along the overhead guide rail while remaining as close as possible to the main body and the overhead guide rail. This prevents the height (width) from the bottom of the unmanned transport vehicle to the top of the overhead guide rail from becoming excessive during travel, thereby preventing the unmanned transport vehicle and the system including the overhead guide rail from becoming too large.

[0177] Unmanned transport vehicles are particularly useful when operating in areas with height restrictions.

[0178] In addition, because it moves to the third arm position while traveling, the unmanned transporter can travel smoothly on the high-altitude guide rail without stopping.

[0179] Furthermore, in the 26th embodiment of this disclosure, after the front wheel and the rear wheel are traveling on the first guide rail and the wheel leaves the second guide rail, the controller controls the at least one actuator to change the arm from the first arm state to the second arm state.

[0180] Therefore, the unmanned transporter can switch its first and second arms to the second arm state by moving from the high-altitude guide rail to the guide rail. Thus, when the unmanned transporter travels along the guide rail, it can suppress interference between the first and second arms and other objects.

[0181] Unmanned transport vehicles are particularly useful when operating in areas with height restrictions.

[0182] In addition, because the unmanned transporter moves between the first arm state and the second arm state during travel, it can move smoothly between the guide rail and the high-altitude guide rail without stopping.

[0183] Furthermore, in the 27th embodiment of this disclosure, when the housing, the front wheel, and the first guide rail for the front wheel to travel are viewed along the axle arrangement direction of the front wheel and the rear wheel, the bottom surface of the housing is located between the position of the front wheel and the tangent point of the front wheel and the first guide rail.

[0184] Therefore, the front wheels can be positioned on the side of the main body of the machine, thus preventing the height from the bottom to the top of the unmanned transporter from becoming too high, thereby suppressing the large size of the operating area of ​​the unmanned transporter and the system including the guide rails.

[0185] Furthermore, in the 28th embodiment of this disclosure, when the housing, the front wheel, and the first guide rail are viewed along the arrangement direction of the axles of the front wheel and the rear wheel, the distance between the bottom surface of the housing and the position of the tangent point is more than 5 mm and less than 15 mm.

[0186] Therefore, the height between the tangent point and the bottom surface of the main body of the machine can be kept from becoming too high, thus enabling the unmanned transporter to be made thinner and suppressing the large size of the unmanned transporter and the operating area of ​​the system, including the guide rails.

[0187] Furthermore, in the 29th embodiment of this disclosure, the front wheel includes a first front wheel and a second front wheel, the front wheel being configured to change the distance between the first front wheel and the second front wheel, and the rear wheel includes a first rear wheel and a second rear wheel, the rear wheel being configured to change the distance between the first rear wheel and the second rear wheel.

[0188] This allows for adjustment of the width of the front and rear wheels, enabling the AWACS to move according to the width of each pair of guide rails when traveling on two separate tracks. Consequently, the AWACS can move between multiple pairs of guide rails of varying widths.

[0189] Furthermore, in the ditch structure of the 30th embodiment of this disclosure, there is at least one of a pair of right-turn ditches and a pair of left-turn ditches, as well as a pair of straight-going ditches, the widths of the pair of right-turn ditches and the pair of left-turn ditches being different from the widths of the pair of straight-going ditches.

[0190] Therefore, by varying the width of the groove, it is possible to group a pair of guide rails, or at least one of the guide rails, together with the pair of guide rails. This helps to prevent the groove structure from becoming too large.

[0191] Furthermore, in the 31st embodiment of this disclosure, at least one of the depth of the pair of right-turn trenches and the width of the pair of left-turn trenches is different from the depth of the pair of straight-going trenches.

[0192] Therefore, by varying the depth of the trenches, the unmanned transporter can travel in a non-interfering manner between a pair of right-turn trenches (a pair of guide rails) and a pair of straight-going trenches (a pair of guide rails), and between a pair of left-turn trenches (a pair of guide rails) and a pair of straight-going trenches (a pair of guide rails) when it is traveling in the trench structure.

[0193] The embodiments will now be described in detail with reference to the accompanying drawings.

[0194] Furthermore, the embodiments described below are all general or specific examples. The numerical values, shapes, materials, constituent elements, the arrangement and connection methods of the constituent elements, the steps, and the order of the steps shown in the following embodiments are all examples and are not intended to limit this disclosure. In addition, constituent elements in the following embodiments that are not described in the independent claims representing the highest-level concept are described as arbitrary constituent elements.

[0195] In addition, the figures are schematic diagrams and may not be strictly representational. Furthermore, the same symbols are used to label the same components in each figure.

[0196] (Implementation Method 1) Figure 1 and Figure 2 This is a diagram illustrating a structural example of the delivery system within an office building according to this embodiment. Furthermore, in Figure 1 The image shows the state of one floor (hereinafter referred to as the floor area) of a multi-story office building containing the office building's distribution system, viewed from an oblique, top-down perspective. Figure 2 The image shows the state of the floor area when viewed from the side.

[0197] A floor area, for example, has a space enclosed by a first vertical wall 21a along the vertical direction and two first horizontal walls 22a respectively along the horizontal direction. The first vertical wall 21a is the wall that separates the interior and exterior of the office building. The two first horizontal walls 22a are arranged vertically. The lower first horizontal wall 22a is used as the floor of the floor area, and the upper first horizontal wall 22a is used as the floor of the floor area above it.

[0198] The aforementioned space in the floor area is divided into three floor spaces by the second vertical wall 21b and the second horizontal wall 22b. These three floor spaces are floor space 11, floor space 12, and floor space 13. Floor space 11 is a space for walking, i.e., a corridor, or an elevator lobby for short-term stays when using the elevator. Floor space 12 is a space for desk work. Floor space 13, for example, is a space for laying pipes, wires, etc., located above floor spaces 11 and 22. This floor space 13 is also referred to as the ceiling space or inside the ceiling. In one example of dimensions, the height of floor space 11, i.e., the height from the lower first horizontal wall 22a to the second horizontal wall 22b, is 3m. Furthermore, the height of floor space 13, i.e., the height from the second horizontal wall 22b to the upper first horizontal wall 22a, is 1m. However, these heights are merely examples and are not limited to this.

[0199] like Figure 2 As shown, the office building delivery system Sy1 in this embodiment includes multiple floor guide rails 31, unmanned transport vehicles 100, delivery boxes 41, and pickup boxes 42. Furthermore, the number of unmanned transport vehicles 100, delivery boxes 41, and pickup boxes 42 included in the office building delivery system Sy1 can be one or multiple.

[0200] Multiple floor-level guide rails 31 are used for the unmanned transport vehicle 100 to travel on, and are arranged horizontally in the third floor space 13. Specifically, the multiple floor-level guide rails 31 include one or more first-floor-level guide rails 31a and one or more second-floor-level guide rails 31b. The first-floor-level guide rails 31a are arranged along the direction of the first floor space 11 and the second floor space 12. The second-floor-level guide rails 31b are arranged in a direction perpendicular to their arrangement direction, that is, along the length of the first floor space 11.

[0201] The delivery box 41 and the pickup box 42 are both boxes with openings at the top and are located in the second-floor space 12. The delivery box 41 holds goods 1 delivered from the outside to the second-floor space 12. The pickup box 42 holds goods 1 collected for transporting from the second-floor space 12 to the outside. Additionally, two handling openings 26a and 26b are provided on the second horizontal wall 22b. Handling opening 26a is located opposite the opening of the delivery box 41, and handling opening 26b is located opposite the opening of the pickup box 42.

[0202] The unmanned transport vehicle 100 includes a main body 101, one or more wheels 103, and a cargo basket 102. The wheels 103 are mounted on the upper part of the main body 101 and placed on floor guide rails 31. As a result, the unmanned transport vehicle 100 is suspended from the floor guide rails 31. Furthermore, the wheels 103 are rotated by an electric motor mounted on the main body 101. Consequently, the unmanned transport vehicle 100 travels along the floor guide rails 31. Alternatively, the unmanned transport vehicle 100 may travel along either the first floor guide rail 31a or the second floor guide rail 31b. Or, the unmanned transport vehicle 100 may travel along these guide rails by moving from one side of the first floor guide rail 31a to the other side.

[0203] The cargo basket 102 is mounted at the front end of the guide wire 104 of the winch provided by the main body 101. The cargo basket 102 is raised and lowered by the release and reeling of the guide wire 104 by the winch, and the cargo 1 is grasped or not grasped. That is, the cargo basket 102 grasps or releases the cargo 1. Furthermore, the grasping and ungrabbing methods can be arbitrary.

[0204] The unmanned transporter 100, with the cargo basket 102 holding the cargo 1, moves along the internal guide rail 31 of the third floor space 13. Then, the unmanned transporter 100 stops at the transport port 26a of the second horizontal wall 22b, and lowers the cargo basket 102 into the delivery box 41 via the transport port 26a by releasing the guide wire 104 through the winch. Then, the cargo basket 102 releases the cargo 1 and stores it inside the delivery box 41. Then, the unmanned transporter 100 raises the cargo basket 102 by winding the guide wire 104 through the winch, and pulls the cargo basket 102 from the delivery box 41 via the transport port 26a.

[0205] Additionally, the automated guided vehicle 100, with its basket 102 not holding the cargo 1, travels along the floor guide rail 31 in the third floor space 13 and stops at the transfer port 26b on the second horizontal wall 22b. Then, the automated guided vehicle 100 lowers the basket 102 into the retrieval box 42 via the transfer port 26b by releasing the guide wire 104 through the winch. The basket 102 then holds the cargo 1 located inside the retrieval box 42. The automated guided vehicle 100 then raises the basket 102 holding the cargo 1 by winding the guide wire 104 through the winch, and pulls the basket 102 from the retrieval box 42 via the transfer port 26b.

[0206] Thus, the unmanned transporter 100 in this embodiment includes: a cargo basket 102 connected to a guide wire 104; and a winch capable of releasing and winding the guide wire 104. Therefore, the unmanned transporter 100 can lift the cargo 1 or place the cargo 1 below by raising and lowering the cargo basket 102.

[0207] Figure 3A and Figure 3B This is a diagram illustrating the elevator 200 in this embodiment. Additionally, Figure 3A This shows the closed state of elevator 200 doors. Figure 3B This shows the state of the elevator 200 doors being open.

[0208] like Figure 3A and Figure 3B As shown, the delivery system Sy1 within the office building can also include an elevator 200. The elevator 200 is, for example, configured in... Figure 1 and Figure 2 The elevator in the office building is equipped with a car 210. The car 210 is suspended in the vertical lifting path 201 via a car guide 202. Mechanical equipment for the elevator 200, such as an air conditioning unit, is installed above the car 210. The car guide 202 is wound up by the elevator winch, causing the car 210 to rise; the car guide 202 is released from the elevator winch, causing the car 210 to descend. In this way, the car 210 moves up and down.

[0209] The elevator car 210 includes a partition 221 that divides the space within the elevator car 210 into a first elevator space 211 and a second elevator space 212. The first elevator space 211 is for passenger use, and the second elevator space 212 is for the unmanned transport vehicle 100. The second elevator space 212 is located above the first elevator space 211. That is, the elevator car 210 is a two-story or two-level car. Furthermore, in the second elevator space 212, the elevator guide rails 32 are arranged horizontally.

[0210] An internal elevator guide rail 32 is installed on the ceiling of the second elevator space 212. Specifically, the internal elevator guide rail 32 includes a movable guide rail 32a and a fixed guide rail 32b. The elevator 200 is equipped with an actuator that moves the movable guide rail 32a. The movable guide rail 32a switches between a first guide rail state and a second guide rail state by being driven by the actuator. That is, as... Figure 3A and Figure 3B As shown, the movable guide rail 32a slides relative to the fixed guide rail 32b and stops at a predetermined position, thereby switching from the second guide rail state to the first guide rail state.

[0211] The elevator car 210 includes: a first car door 231, which opens and closes an opening from the outside of the elevator car 210 to a first elevator space 211; and a second car door 232, which opens and closes an opening from the outside of the elevator car 210 to a second elevator space 212. These openings are formed within the elevator car 210. A first landing door 61, which opens and closes in conjunction with the first car door 231, is located opposite to the first car door 231. Similarly, a second landing door 62, which opens and closes in conjunction with the second car door 232, is located opposite to the second car door 232. When the first landing door 61 and the first car door 231 are opened in conjunction, the first floor space 11 and the first elevator space 211 are connected. At this time, a person can move between the first floor space 11 and the first elevator space 211. Furthermore, by closing the first floor door 61 and the first elevator door 231 in a coordinated manner, the first floor space 11 and the first elevator space 211 are separated. At this time, people cannot move between the first floor space 11 and the first elevator space 211.

[0212] Similarly, by opening the second floor door 62 and the second car door 232 in conjunction, the third floor space 13 is connected to the second elevator space 212. At this time, the unmanned transport machine 100 can move between the third floor space 13 and the second elevator space 212 according to the state of the elevator guide rail 32. Conversely, by closing the second floor door 62 and the second car door 232 in conjunction, the third floor space 13 and the second elevator space 212 are separated. At this time, the unmanned transport machine 100 cannot move between the third floor space 13 and the second elevator space 212.

[0213] Furthermore, the first car door 231 and the second car door 232 can also be constructed as a single unit. This reduces the number of actuators required to open and close these doors. Alternatively, the first car door 231 and the second car door 232 can be constructed as separate units or independently of each other. This allows the first car door 231 and the second car door 232 to open and close independently.

[0214] The unmanned transport robot 100 travels along the guide rail 32 inside the elevator. And, as... Figure 3A As shown, when the first floor door 61 and the first car door 231, as well as the second floor door 62 and the second car door 232, are closed, the unmanned transport machine 100 stops while suspended on the elevator inner guide rail 32. At this time, the movable guide rail 32a of the elevator inner guide rail 32 becomes the second guide rail state. In the second guide rail state, as... Figure 3A As shown, the first end 32k of the movable guide rail 32a is not connected to the second end 31k of the floor guide rail 31. That is, the elevator guide rail 32 is not connected to the floor guide rail 31. Therefore, in this case, the unmanned transport machine 100 is prohibited from moving between the third floor space 13 and the second elevator space 212.

[0215] On the other hand, such as Figure 3B As shown, when the first floor door 61 and the first car door 231, and the second floor door 62 and the second car door 232 are opened, the elevator internal guide rail 32 is connected to the floor internal guide rail 31 located in the third floor space 13. That is, the movable guide rail 32a of the elevator internal guide rail 32 becomes the first guide rail state. In the first guide rail state, as... Figure 3B As shown, the first end 32k of the movable guide rail 32a is connected to the second end 31k of the floor guide rail 31. Thus, the unmanned transport vehicle 100 located in the second elevator space 212 can travel along the elevator guide rail 32 and the floor guide rail 31, moving from the second elevator space 212 to the third floor space 13. Conversely, the unmanned transport vehicle 100 located in the third floor space 13 can also travel along the floor guide rail 31 and the elevator guide rail 32, moving from the third floor space 13 to the second elevator space 212.

[0216] Such an office building delivery system Sy1 can also be used as an apartment delivery system Sy2 in apartments (i.e., multi-family housing).

[0217] Figure 4 This is a diagram illustrating a structural example of the in-apartment delivery system in this embodiment. Additionally, in Figure 4 In (a), the state of a portion of one of the multiple floor zones contained in an apartment, viewed from above, is shown. Figure 4 In (b), the state of this part when viewed from the side is shown.

[0218] like Figure 4 As shown in (b), the floor area, for example, has a space surrounded by a first vertical wall 23a along the vertical direction and two first horizontal walls 24a respectively along the horizontal direction. The first vertical wall 23a is the wall that separates the interior and exterior of the apartment. The two first horizontal walls 24a are arranged vertically. The lower first horizontal wall 24a is used as the floor of the floor area, and the upper first horizontal wall 24a is used as the floor of the floor area above this floor area.

[0219] The aforementioned space in the floor area is divided into four floor spaces by the second vertical wall 23b and the second horizontal wall 24b. These four floor spaces are floor space 11a, floor space 12a, floor space 13a, and floor space 13b. Floor space 11a is a space for pedestrian traffic, i.e., the apartment's corridor. Floor space 12a is a living space, i.e., a room. Floor space 13a is located above floor space 12a, for example, for laying pipes, wires, etc. This floor space 13a is also referred to as the ceiling space of a room or inside the ceiling. Floor space 13b is a space for the unmanned transport vehicle 100 to travel in, located above floor space 11a. This floor space 13b is also referred to as the ceiling space of the corridor or inside the ceiling. In floor space 13b, multiple floor guide rails 31 are arranged horizontally.

[0220] Additionally, an instrument box 51 is provided on the side of the second vertical wall 23b of the first floor space 11a. The instrument box 51 is equipped with a meter that measures the amount of gas or tap water used in the second floor space 12a. Furthermore, in this embodiment, a delivery box 43 with an opening at the top is also provided in the instrument box 51. A transport port 27a is formed in the second horizontal wall 24b at a location opposite the opening of the delivery box 43. The delivery box 43 may also be protected by a transparent panel.

[0221] The unmanned transport vehicle 100 travels along the floor guide rail 31 within the fourth floor space 13b. For example, as... Figure 4 As shown in (a), the unmanned transport vehicle 100 travels along the direction of the corridor until it reaches line segment C1-C2. And, as... Figure 4 As shown in (a) and (b), when the unmanned transport vehicle 100 reaches line segment C1-C2, it travels in the direction of line segment C1-C2. The unmanned transport vehicle 100 stops above the transport port 27a, and... Figure 1 and Figure 2Similarly, in the example shown, the cargo basket 102 is raised and lowered by the release and reeling of the wire 104 by a winch. Thus, the unmanned transport vehicle 100 collects the cargo 1 into the delivery box 43 via the transport port 27a. Alternatively, the unmanned transport vehicle 100 removes the cargo 1 from the delivery box 43 and pulls it towards the main body 101 via the transport port 27a.

[0222] Figure 5A and Figure 5B This is a diagram illustrating the elevator 200 in this embodiment. Furthermore, Figure 5A and Figure 3A Similarly, the closed states of elevator 200's first car door 231 and second car door 232 are shown. Figure 5B and Figure 3B Similarly, the state of the first car door 231 and the second car door 232 of elevator 200 being open is shown.

[0223] The apartment delivery system Sy2, like the office building delivery system Sy1, can also include elevator 200. Elevator 200, for example, is configured in... Figure 4 The apartment. Figure 5A and Figure 5B In the example shown, the elevator car 210 is also suspended in the vertical lifting passage 201 via the car guide 202, and is raised and lowered by the release and rewinding of the car guide 202 by the elevator winch.

[0224] In this apartment delivery system Sy2, the unmanned transport robot 100 also travels along the elevator guide rail 32. Furthermore, as... Figure 5A As shown, when the first floor door 61 and the first car door 231, and the second floor door 62 and the second car door 232 are closed, the unmanned transport machine 100 stops while suspended from the elevator inner guide rail 32. In this case, the movable guide rail 32a of the elevator inner guide rail 32 becomes the second guide rail state. That is, the first end 32k of the movable guide rail 32a is not connected to the second end 31k of the floor inner guide rail 31. Therefore, in this case, movement of the unmanned transport machine 100 between the fourth floor space 13b and the second elevator space 212 is prohibited. On the other hand, as Figure 5B As shown, when the first floor door 61 and the first car door 231, and the second floor door 62 and the second car door 232 are opened, the elevator internal guide rail 32 is connected to the floor internal guide rail 31 located in the third floor space 13. Specifically, the movable guide rail 32a slides relative to the fixed guide rail 32b and stops at a predetermined position by the drive of an actuator, thereby switching from the second guide rail state to the first guide rail state. Thus, as Figure 5BAs shown, the first end 32k of the movable guide rail 32a is connected to the second end 31k of the floor guide rail 31. Therefore, the unmanned transport vehicle 100 located in the second elevator space 212 can travel along the elevator guide rail 32 and the floor guide rail 31, moving from the second elevator space 212 to the fourth floor space 13b. Conversely, the unmanned transport vehicle 100 located in the fourth floor space 13b can also travel along the floor guide rail 31 and the elevator guide rail 32, moving from the fourth floor space 13b to the second elevator space 212.

[0225] The elevator 200 described above is an elevator installed in buildings such as office buildings and apartments. The elevator 200 includes: a lifting car 210 that moves up and down; a partition 221 that divides the space within the lifting car 210 into a first elevator space 211 for passengers and a second elevator space 212 for an unmanned transport vehicle 100; an elevator inner guide rail 32 disposed in the second elevator space 212, including a movable guide rail 32a; and an actuator that moves the movable guide rail 32a. The unmanned transport vehicle 100 travels along the elevator inner guide rail 32. The movable guide rail 32a switches between a first guide rail state and a second guide rail state via the actuator. In the first guide rail state, the first end 32k of the movable guide rail 32a is connected to the second end 31k of a floor inner guide rail 31 located on a predetermined floor of the building. In the second guide rail state, the first end 32k is not connected to the second end 31k.

[0226] In order for the unmanned transport vehicle 100, which travels along the elevator inner guide rail 32, to rise and fall together with the elevator car 210 and exit from the elevator car 210 after reaching the designated floor, it is necessary to connect the elevator inner guide rail 32 with the floor inner guide rail 31, which is used for the unmanned transport vehicle 100 located on that designated floor. In this case, assuming that each floor inner guide rail 31 is equipped with a movable guide rail and an actuator to drive the movable guide rail, a number of movable guide rails and actuators equivalent to the number of floors in the building would be required, increasing the overall number of parts in the elevator 200, maintenance and repair time, and cost.

[0227] On the other hand, in this embodiment, as described above, the movable guide rail 32a of the elevator inner guide rail 32 switches between the first guide rail state and the second guide rail state by the drive of the actuator. That is, the elevator inner guide rail 32 is connected to or separated from the floor inner guide rail 31 by the structure of the elevator inner guide rail 32 and the drive of the actuator.

[0228] Therefore, in this embodiment, it is not necessary to prepare a number of movable guide rails and actuators equivalent to the number of floors in the building. As a result, it is possible to realize an elevator 200 that can prevent an increase in the number of parts associated with the elevator 200 and can simultaneously transport people and unmanned transport vehicles 100.

[0229] In addition, a car control panel may be installed in the first elevator space 211. The car control panel may also have one or more displays and one or more operating buttons. The displays may show, for example, the current position of the elevator car 210 and the direction of travel. The operating buttons may include destination floor buttons corresponding to each floor of the building, door open buttons, door close buttons, etc. The operation of the one or more operating buttons can be achieved through a touch panel that detects contact, or through non-contact buttons that detect a covered hand or finger.

[0230] In addition, the elevator 200 also includes: a first car door 231, which opens and closes an opening leading to the first elevator space 211 and formed in the elevator car 210; and a second car door 232, which opens and closes an opening leading to the second elevator space 212 and formed in the elevator car 210.

[0231] Thus, if, for example, the first car door 231 and the second car door 232 are constructed separately, they can be opened and closed independently.

[0232] In addition, the first car door 231 and the second car door 232 are integrally formed.

[0233] Therefore, since the first car door 231 and the second car door 232 are integrally formed, it is not necessary to separately install actuators for driving the first car door 231 and the second car door 232. As a result, the first car door 231 and the second car door 232 can be driven by the same actuator, thus reducing the number of parts in the elevator 200.

[0234] In addition, the second elevator space 212 is located above the first elevator space 211, and the elevator internal guide rail 32 is installed on the ceiling of the second elevator space 212.

[0235] Therefore, in buildings such as office buildings and apartments, the first floor spaces 11 and 11a, where people move around, correspond to the first elevator space 211. Furthermore, in this building, the area inside the ceiling, i.e., the third floor space 13 or the fourth floor space 13b, corresponds to the second elevator space 212. Thus, an elevator 200 is created that allows for smooth entry and exit for both people and the unmanned transport vehicle 100.

[0236] In addition, the unmanned transporter 100 includes: a cargo basket 102 connected to a guide wire 104; and a winch capable of releasing and reeling in the guide wire 104.

[0237] Thus, for example, after the unmanned transport vehicle 100 reaches above the delivery box 43 in the instrument box 51 located in the first floor space 11a such as a corridor, it can lower the cargo basket 102 into the delivery box 43 by extending the guide wire 104 downwards. Thus, goods 1 can be delivered or received without the unmanned transport vehicle 100 itself descending to the second floor space 12a such as a room.

[0238] In addition, the elevator internal guide rail 32 also includes a fixed guide rail 32b, and the movable guide rail 32a slides relative to the fixed guide rail 32b and stops at a predetermined position, thereby switching from the second guide rail state to the first guide rail state.

[0239] Therefore, the elevator internal guide rail 32 can be easily extended to the third floor space 13 or the fourth floor space 13b. In addition, the movable guide rail 32a can also be a rotary guide rail that rotates around a rotation axis.

[0240] (Modification 1 of Implementation Method 1) In the office building delivery system Sy1 described above, the unmanned transporter 100 travels along the floor guide rails 31 within the office building, but can also travel between multiple buildings.

[0241] Figure 6 This is a diagram illustrating an example of the structure of the logistics system in this variation.

[0242] The logistics system Sy3 in this variation includes one or more unmanned transport vehicles 100 and transport rails 30. The transport rails 30 may include one or more floor-level rails 31, or one or more elevator rails 32. Such transport rails 30 are laid across multiple buildings. These buildings may be, for example, multi-story buildings or office buildings. Figure 6 In the example, transport rails 30 are laid across multiple buildings, including the collective welfare building Ba4, the second building Ba2, and the mailroom building Ba3. The second building Ba2 can also be the office building described in Embodiment 1. In this case, it can also be said that the office building delivery system Sy1 of Embodiment 1 is installed in the second building Ba2. Alternatively, it can be said that the logistics system Sy3 has the office building delivery system Sy1 of Embodiment 1.

[0243] In this modified logistics system Sy3, because the transport guide rails 30 are laid to connect multiple buildings, the unmanned transport vehicle 100 can not only transport goods 1 within buildings, but also travel between multiple buildings to transport goods 1. That is, it can realize network delivery. Furthermore, in Figure 6In the example, the transport rails 30 are not installed in the building, namely Building 1 Ba1. For example, Building 1 Ba1 is constructed as an existing office building, and then Building 2 Ba2 is constructed as a new office building, i.e., a new building. In this case, in order to introduce the logistics system Sy3, the transport rails 30 can also be installed in Building 2 Ba2 during its construction.

[0244] Figure 7 This is a diagram illustrating another example of the structure of the logistics system Sy3 in this variation.

[0245] like Figure 7 As shown, the logistics system Sy3 can also be deployed over a larger area. For example, transport rails 30 can be laid between multiple buildings Ba constructed in sections such as office building streets. Transport rails 30 can also be laid across large trunk roads. In each building Ba, the delivery of goods 1 based on the office building delivery system Sy1 in Embodiment 1 is carried out (i.e., intra-building delivery). In addition, the delivery of goods 1 based on unmanned transport vehicles 100 between multiple buildings Ba is carried out (i.e., network delivery).

[0246] (Modification 2 of Implementation Method 1) exist Figure 1 and Figure 2 In the office building delivery system Sy1 shown, the height of the floor area, i.e., the height between the two first horizontal walls 22a, is 4m. In this case, the unmanned transport vehicle 100 travels in the third floor space 13 surrounded by the upper first horizontal walls 22a and second horizontal walls 22b. However, with such a low floor area height, it is difficult to ensure that the third floor space 13 has sufficient height for the unmanned transport vehicle 100 to travel. In this variation, at least a portion of the unmanned transport vehicle 100 may extend beyond the first floor space 11 or the second floor space 12 where a person is located.

[0247] Figure 8 This is a diagram illustrating the structural example of the office building delivery system Sy1 in this variation. Figure 8 In the example shown, the height of the floor area, i.e., the height between the two first horizontal walls 22a, is 3.2m. Furthermore, the height of the first floor space 11, i.e., the height between the lower first horizontal wall 22a and the second horizontal wall 22b, is 2.8m. And the height of the third floor space 13, located above the first floor space 11, i.e., the height between the second horizontal wall 22b and the upper first horizontal wall 22a, is 40cm.

[0248] Multiple floor guide rails 31 are arranged in the third floor space 13. However, the main body 101 and cargo basket 102 of the unmanned transport vehicle 100, which are suspended from the floor guide rails 31, are located in the first floor space 11 or the second floor space 12. That is, a travel opening 28 extending in the thickness direction is formed on the second horizontal wall 22b opposite to the floor guide rails 31, so as to follow the floor guide rails 31. The wheels 103 of the unmanned transport vehicle 100 are placed on the floor guide rails 31 in the third floor space 13, and the part connecting the wheels 103 and the main body 101 is inserted into the travel opening 28. As a result, the main body 101 and cargo basket 102 of the unmanned transport vehicle 100 appear to travel from the first floor space 11 or the second floor space 12 along the lower surface of the second horizontal wall 22b of the ceiling. That is, the main body 101 and cargo basket 102 of the unmanned transport vehicle 100 travel in the travel space located below the second horizontal wall 22b. The height of the driving space in space 11 on the first floor is 40cm.

[0249] In addition, Figure 8 In the example shown, the unmanned transport vehicle 100 can lift and lower the cargo basket 102 at any position where it can travel. Therefore, it is possible to move delivery boxes such as the drop-off box 41 or the pickup box 42. That is, it increases the flexibility in configuring the delivery boxes.

[0250] Regarding the apartment delivery system Sy2, similarly to the office building delivery system Sy1, in situations where the floor height is low, it is difficult to ensure that the fourth floor space 13b has sufficient height for the unmanned transport vehicle 100 to move. In such a case, in this variation, at least a portion of the unmanned transport vehicle 100 can extend beyond the first floor space 11a where the person is located.

[0251] Figure 9 This is a diagram illustrating the structural example of the apartment delivery system Sy2 in this variation. Additionally, Figure 9 (a) shows the corridor, i.e., the first floor space 11a, which is not located in front of the rooms of the apartment, and the fourth floor space 13b located above the first floor space 11a. Figure 9 (b) and (c) show the corridor in front of the room, namely the first floor space 11a, and the fourth floor space 13b located above the first floor space 11a.

[0252] For example, such as Figure 9As shown in (a), the floor guide rail 31 is disposed in the fourth floor space 13b. However, the main body 101 and the cargo basket 102 of the unmanned transport vehicle 100, which are suspended from the floor guide rail 31, are located in the first floor space 11a. That is, a travel opening 28 extending in the thickness direction is formed on the second horizontal wall 24b opposite to the floor guide rail 31, so as to follow the floor guide rail 31. The wheels 103 of the unmanned transport vehicle 100 are mounted on the floor guide rail 31 in the fourth floor space 13b, and the component connecting the wheels 103 and the main body 101 is inserted through the travel opening 28. As a result, the main body 101 and the cargo basket 102 of the unmanned transport vehicle 100 appear to travel from the first floor space 11a along the lower surface of the second horizontal wall 24b of the ceiling. That is, the main body 101 and the cargo basket 102 of the unmanned transport vehicle 100 travel in the travel space located below the second horizontal wall 24b.

[0253] In addition, such as Figure 9 As shown in (b) and (c), in the fourth floor space 13b, a first-floor inner guide rail 31a is arranged in a manner that runs along the width of the corridor located below the fourth floor space 13b. Furthermore, although in Figure 9 Not illustrated in (b) and (c), but related to Figure 9 Similarly, in (a) of the second horizontal wall 24b, at the location opposite to the first floor inner guide rail 31a, a travel opening 28 is formed along the first floor inner guide rail 31a. Therefore, the wheels 103 of the unmanned transport vehicle 100 are placed on the first floor inner guide rail 31a in the fourth floor space 13b, and the component connecting the wheels 103 to the main body 101 is inserted into the travel opening 28. As a result, the main body 101 and the cargo basket 102 of the unmanned transport vehicle 100 appear to travel from the first floor space 11a along the lower surface of the second horizontal wall 24b of the ceiling. That is, the main body 101 and the cargo basket 102 of the unmanned transport vehicle 100 travel in the travel space located below the second horizontal wall 24b.

[0254] In addition, such as Figure 9 As shown in (b) and (c), the second horizontal wall 24b may not be provided between the first floor space 11a and the fourth floor space 13b before the room. In this case, the unmanned transporter 100 appears to travel from the first floor space 11a along the lower surface of the first horizontal wall 24a of the ceiling.

[0255] (Modification 3 of Implementation Method 1) In embodiment 1, the elevator car 210 of the elevator 200 is, for example, Figure 3A and Figure 3B As shown, it has a two-layer structure. The elevator car in this variation has a three-layer structure.

[0256] Figure 10 This is a diagram illustrating elevator 200 in this variation. Additionally, Figure 10 (a) shows the elevator 200 with its doors closed. Figure 10 (b) shows the state of the elevator 200 doors being open.

[0257] like Figure 10 As shown in (a) and (b), the elevator 200 in this modified example includes a three-story elevator car 210a. Specifically, the elevator car 210a has two plate-shaped partitions 221 and 222. The two partitions 221 and 222 are arranged along the height direction of the elevator car 210a. Specifically, partition 222 is positioned below partition 221. In addition, the two partitions 221 and 222 are arranged parallel to the horizontal direction. Through these two partitions 221 and 222, the space inside the elevator car 210a is divided into a first elevator space 211, a second elevator space 212, and a third elevator space 213. Furthermore, partition 221 is also referred to as the first partition, and partition 222 is also referred to as the second partition. The third elevator space 213, like the second elevator space 212, is a space for the unmanned transport vehicle 100 to ride. The third elevator space 213 is located below the first elevator space 211. Furthermore, in the third elevator space 213, the elevator internal guide rail 32 is arranged in a horizontal direction. Additionally, the elevator internal guide rail 32 arranged in the second elevator space 212 is also referred to as the first elevator internal guide rail, and the elevator internal guide rail 32 arranged in the third elevator space 213 is also referred to as the second elevator internal guide rail.

[0258] In addition, such as Figure 10 As shown in (a), the elevator car 210a also includes a third car door 233 for opening and closing an opening from the outside of the elevator car 210a to the third elevator space 213. This opening is formed in the elevator car 210a. For example, the elevator car 210a stops at positions where the first elevator space 211 and the second elevator space 212 of the elevator car 210a are opposite to the first floor space 11 and the third floor space 13 located on floor N (N is any integer). In this case, the third elevator space 213 is opposite to the third floor space 13 located on floor (N-1). That is, the third car door 233 of the third elevator space 213 is opposite to the second floor door 62 on floor (N-1). Furthermore, the third car door 233 opens and closes in conjunction with the second floor door 62.

[0259] When the third car door 233 and the second floor door 62 are opened in conjunction, the third floor space 13 on floor (N-1) is connected to the third elevator space 213. At this time, the unmanned transport machine 100 can move between the third floor space 13 and the third elevator space 213 according to the state of the elevator guide rail 32. Conversely, when the third car door 233 and the second floor door 62 are closed in conjunction, the third floor space 13 and the third elevator space 213 are separated. At this time, the unmanned transport machine 100 cannot move between the third floor space 13 and the third elevator space 213.

[0260] Alternatively, a shock-absorbing device 241, which functions as a buffer, can be installed at the lower part of the elevator car 210a. The shock-absorbing device 241 can be spring-loaded or oil-immersed.

[0261] Alternatively, in buildings such as office buildings, two or more elevators 200 with such lifting cars 210a may be installed. When two elevators 200 are installed, the lifting car 210a of one elevator 200 may be configured to stop only on odd-numbered floors of all floors in the building, while the lifting car 210a of the other elevator 200 may be configured to stop only on even-numbered floors of all floors. Furthermore, the first floor (i.e., the lowest floor) may be an exception, a floor where both elevators 200's lifting cars 210a can stop.

[0262] Thus, the elevator 200 in this embodiment includes: a second partition member disposed within the elevator car 210a below the first partition member, which serves as partition member 221; and a second elevator internal guide rail, which, unlike the first elevator internal guide rail, includes a movable guide rail. Furthermore, the first elevator internal guide rail is an elevator internal guide rail 32 disposed in the second elevator space 212, and the second elevator internal guide rail is an elevator internal guide rail 32 disposed in the third elevator space 213. Additionally, the second partition member is partition member 222. The space within the elevator car 210a is divided by the first partition member and the second partition member into the first elevator space 211, the second elevator space 212, and the third elevator space 213 for the unmanned transport vehicle 100 to ride in. The second elevator internal guide rail is disposed in the third elevator space 213. Here, the movable guide rail of the second elevator inner rail, like the movable guide rail of the first elevator inner rail, is switched between the third and fourth guide rail states by the drive of an actuator. In the third guide rail state, the third end of the movable guide rail of the second elevator inner rail is connected to the fourth end of the floor inner rail 31 located one floor below the aforementioned floor (i.e., floor (N-1)). In the fourth guide rail state, its third end is not connected to the fourth end. That is, the elevator inner rail 32 of the third elevator space 213 also has the same structure as the elevator inner rail 32 of the second elevator space 212 and performs the same operation.

[0263] Therefore, not only the second elevator space 212, but also the third elevator space 213 is used as a space for the unmanned transport vehicle 100 to ride, thus greatly increasing the amount of goods 1 transported by the unmanned transport vehicle 100.

[0264] In other words, the elevator in this embodiment is an elevator installed in a building, comprising: a lifting car for moving up and down; and a first partition and a second partition for separating the space within the lifting car. Within the space within the lifting car, from vertically upwards, there are sequentially located a first second space for an unmanned transport vehicle, the first partition, a first space for human passengers, the second partition, and a second second space for an unmanned transport vehicle. Furthermore, the elevator comprises: a first elevator internal guide rail disposed in the first second space for the unmanned transport vehicle to travel on; and a second elevator internal guide rail disposed in the second second space for the unmanned transport vehicle to travel on.

[0265] The first elevator internal guide rail includes a first movable guide rail, and the second elevator internal guide rail includes a second movable guide rail. The elevator also includes: a first actuator that moves the first movable guide rail; and a second actuator that moves the second movable guide rail. The first movable guide rail is switched between a first first guide rail state and a first second guide rail state by the drive of the first actuator. In the first first guide rail state, the first end of the first movable guide rail is connected to the first second end of a floor guide rail located on a predetermined floor of the building. In the first second guide rail state, its first first end is not connected to the first second end. The second movable guide rail is switched between a second first guide rail state and a second second guide rail state by the drive of the second actuator. In the second first guide rail state, the second first end of the second movable guide rail is connected to the second second end of a floor guide rail located on a predetermined floor of the building. In the second second guide rail state, its second first end is not connected to the second second end.

[0266] The elevator also includes: a first guide rail lift that moves the guide rails inside the first elevator up and down; and a second guide rail lift that moves the guide rails inside the second elevator up and down.

[0267] Furthermore, in the above embodiment, the elevator inner guide rail 32 has a movable guide rail, but the floor inner guide rail 31 may also have a movable guide rail. That is, the delivery system in this embodiment includes: an elevator 200 installed in a building; a floor inner guide rail 31 installed on a designated floor of the building, including a movable guide rail; and an actuator that moves the movable guide rail. The elevator 200 includes: a lifting car 210 that moves up and down; a partition 221 that divides the space inside the lifting car 210 into a first space for passengers and a second space for unmanned transport vehicles 100; and an elevator inner guide rail 32 disposed in the second elevator space 212. The unmanned transport vehicle 100 travels along the elevator inner guide rail 32. The movable guide rail of the floor inner guide rail 31 switches between the first guide rail state and the second guide rail state by the drive of the actuator. In the first guide rail state, the first end of the movable guide rail is connected to the second end of the elevator inner guide rail 32; in the second guide rail state, the first end of the movable guide rail is not connected to the second end. Furthermore, the delivery system can be either an office building delivery system (Sy1) or an apartment building delivery system (Sy2).

[0268] Therefore, even if the elevator inner guide rail 32 does not have a movable guide rail, the floor inner guide rail 31 can still be connected to the elevator inner guide rail 32. As a result, the unmanned transport machine 100 can easily enter and exit the elevator car 210.

[0269] (Implementation Method 2) For example, consider providing movable guide rails and actuators for rotating the unmanned transporter 100 left and right at each intersection of the floor guide rails 31 on each floor. In this case, movable guide rails and actuators corresponding to the number of intersections are required, increasing the overall number of building parts, maintenance time, and cost. On the other hand, in this embodiment, movable guide rails are not provided at the intersections. At the intersections, the unmanned transporter 100 and its arm are controlled to move from one guide rail to another. This prevents an increase in the number of building parts. Furthermore, the cargo handling device in embodiments 2 to 4 is equivalent to the unmanned transporter 100 in embodiment 1. The cargo handling device will be described in detail below.

[0270] Figure 11 This is an example of a perspective view of the cargo handling device 10q1 according to Embodiment 2. Figure 12A This is a diagram illustrating the internal structure of the first connector 2521 and the second connector 2522 of the cargo handling device 10q1 according to Embodiment 2. Figure 12B This is a diagram illustrating the internal structure of the third connecting body 2523 of the cargo handling device 10q1 according to Embodiment 2.

[0271] The cargo handling device 10q1 is an unmanned mobile device that travels on the guide rails 7. That is, the cargo handling device 10q1 can move along the guide rails 7, which are distributed on the ground. For example, the cargo handling device 10q1 can transport goods from the sender to the receiver of a package when it is connected to the guide rails 7 with multiple connectors 2520.

[0272] The cargo handling device 10q1 includes a main body 2501, a guide rail slider 2510, a control processing unit 2530, multiple connecting bodies 2520, a rotary table 2540, a side propeller 2551, and a propeller drive motor 2552.

[0273] The main body 2501 is a rectangular shell that is elongated along the length of the guide rail 7. Multiple connectors 2520 and a rotary table 2540 are provided on the upper surface of the main body 2501. A guide rail slider section 2510 is provided on the lower surface of the main body 2501. Furthermore, the cargo handling device 10q1 may also have multiple propellers, which can be driven by a propeller-driven electric motor to rotate and fly, thereby enabling the main body 2501 to fly.

[0274] The guide rail slider section 2510 is extendable relative to the main body 2501. The guide rail slider section 2510 includes a slider body 2510a, a cargo holding section 2555, and a motor drive section.

[0275] The slider body 2510a is connected to the main body 2501. The slider body 2510a is a long strip along the length of the main body 2501. In this embodiment, the slider body 2510a is connected to the lower surface of the main body 2501, but it can also extend along the length of the main body 2501 or retract to return to its original position.

[0276] The slider body 2510a includes a first slider 2511 and a second slider 2512. Furthermore, the slider body 2510a has two sliders, but it may also have one slider or more than three sliders. Additionally, the first slider 2511, the second slider 2512, etc., are sometimes collectively referred to as sliders. Furthermore, although not shown, a balancer may be provided on the side of the slider, on the propeller 2551 side, to balance the cargo with the counterweight.

[0277] The first slider 2511 and the second slider 2512 are disposed on one side of the main body 2501, extending further along the length of the main body 2501 from one side, or retracting to their original position. When the first slider 2511 and the second slider 2512 extend away from the main body 2501, the first slider 2511, the second slider 2512, and the slider body 2510a are arranged in this order.

[0278] Specifically, the first slider 2511 is positioned vertically below the main body 2501, and can extend from one side of the main body 2501 along its length, away from the main body 2501, or can retract to be located vertically below the main body 2501. The second slider 2512 is connected to the lower vertical surface of the first slider 2511, and can extend from one side of the first slider 2511 along its length, away from the main body 2501, or can retract to be located vertically below the main body 2501.

[0279] A cargo holding part 2555 is provided at the front end of the guide rail slider part 2510. In this embodiment, the cargo holding part 2555 is provided at the front end of the second slider 2512.

[0280] The cargo holding part 2555 can be disposed at one end of the guide rail slider part 2510 to hold the installed cargo. Furthermore, although the cargo holding part 2555 is provided at the front end of the second slider 2512, there may be only one slider, or there may be three or more sliders. In this case, the cargo holding part 2555 is provided at the front end of the slider furthest from the main body 2501 when all sliders are fully extended.

[0281] When the cargo handling device 10q1 reaches the guide rail 7 located in front of the express recipient, the control processing unit 2530 drives the motor that enables the rotary table 2540 to rotate, thereby causing the third connecting body 2523 to rotate.

[0282] Furthermore, after the main body 2501 is rotated by the rotary table 2540, the control processing unit 2530 controls the motor drive unit to extend the multiple sliders relative to the main body 2501. Specifically, the control processing unit 2530 controls the motor drive unit to extend the first slider 2511 and the second slider 2512 from the main body 2501.

[0283] Furthermore, the control processing unit 2530 controls the travel speed (rotation speed of the side propeller 2551) of the cargo handling device 10q1 or stops the travel of the cargo handling device 10q1 by controlling the propeller drive motor 2552 on the rear side, which is used to rotate the side propeller 2551.

[0284] The motor drive unit extends multiple sliders relative to the main body 2501. Specifically, according to the control instructions from the control processing unit 2530, the motor drive unit extends the first slider 2511 and the second slider 2512 along the length direction of the main body 2501, away from the main body 2501.

[0285] The connector 2520 is held (connected) to the guide rail 7 located on the upper part of the main body 2501. Specifically, the connector 2520 can be connected to the guide rail 7, which is located above the ground, while the main body 2501 is suspended. In this embodiment, multiple connectors 2520 are provided on the main body 2501. The multiple connectors 2520 include a first connector 2521, a second connector 2522, and a third connector 2523. In this embodiment, the multiple connectors 2520 include three connectors: a first connector 2521, a second connector 2522, and a third connector 2523. Alternatively, there may be two or more connectors 2520.

[0286] The first connector 2521 is located on one side along the length of the main body 2501. The second connector 2522 is located on the other side along the length of the main body 2501. The third connector 2523 is located at the center between one side and the other side along the length of the main body 2501. Connector 2520 is an example of a guide rail holding part. The first connector 2521 is an example of a first guide rail holding part. The second connector 2522 is an example of a second guide rail holding part. The third connector 2523 is an example of a third guide rail holding part.

[0287] like Figure 12A and Figure 12B As shown, the first connector 2521, the second connector 2522 and the third connector 2523 each have a roller support 2525a, a spring 2525b, a shaft 2525c, a sliding motor 2526, a roller 2527 and a roller shaft support 2525d.

[0288] The roller support 2525a can extend and retract in the vertical direction relative to the main body 2501.

[0289] Specifically, the roller support 2525a has an outer housing 2525a1 and a spring guide 2525a2.

[0290] The outer casing 2525a1 is a bottomed, elongated cylindrical shape with an opening at the top vertically, and internally houses a spring 2525b and a spring guide portion 2525a2. The spring guide portion 2525a2 is also a bottomed, elongated cylindrical shape with an opening at the bottom vertically, and internally houses a sliding motor 2526 and a portion of a shaft 2525c. A flange 2525a3 is formed at the top vertical end of the spring guide portion 2525a2 to support one end of the spring 2525b. The spring 2525b is disposed on the outer periphery of the spring guide portion 2525a2.

[0291] Driven by the sliding motor 2526, the spring guide 2525a2 can move vertically upward relative to the outer casing 2525a1. At this time, the spring guide 2525a2 slides while being guided by the outer casing 2525a1.

[0292] Spring 2525b is a coil spring and is disposed on the outer periphery of spring guide 2525a2 when inserted through spring guide 2525a2. One end of spring 2525b is supported by flange 2525a3 of spring guide 2525a2, while the other end of spring 2525b is supported by bottom of outer casing 2525a1.

[0293] Furthermore, when the drive of the sliding motor 2526 stops, the spring 2525b pulls the spring guide 2525a2 by the elastic force of the spring 2525b, thereby causing the spring guide 2525a2 to move vertically downward, and the spring guide 2525a2 can be accommodated inside the outer casing 2525a1.

[0294] Shaft 2525c inserts into the interior of outer casing 2525a1, and one end is connected to the main body 2501. A roller 2527 and a roller shaft support 2525d are provided at the other end. A sliding motor 2526 is mounted on shaft 2525c. Shaft 2525c can be partially moved vertically upwards by the drive of the sliding motor 2526.

[0295] Specifically, shaft 2525c extends vertically and consists of a cylindrical first shaft and a cylindrical second shaft with a portion of the first shaft inserted inside. The first shaft has one end inserted into the second shaft and is free to move vertically, while the other end is connected to the main body 2501. One end of the second shaft is connected to the upper end of the spring guide 2525a2, and the other end is connected to the sliding motor 2526. Therefore, when the sliding motor 2526 is driven, the second shaft moves vertically while being guided by the first shaft.

[0296] The sliding motor 2526, for example a stepper motor, is housed inside the spring guide portion 2525a2. Controlled by the control processing unit 2530, the sliding motor 2526 applies a force vertically upward from the outer casing 2525a1 to the spring guide portion 2525a2 via the shaft 2525c, causing the spring guide portion 2525a2 to extend from the outer casing 2525a1. That is, the sliding motor 2526 enables the spring guide portion 2525a2 to slide vertically relative to the outer casing 2525a1. The sliding motor 2526 is an example of an electric motor.

[0297] The roller 2527 can travel on the guide rail 7 by rotatably contacting it. Furthermore, the roller 2527 is rotatably supported at its vertical upper end by the roller shaft support 2525d. Additionally, the roller 2527 has a recess that engages with the guide rail 7. Therefore, the roller 2527 is less likely to derail from the guide rail 7.

[0298] The roller shaft support 2525d is fixed to the vertical upper end of the roller support 2525a and extends in a direction orthogonal to the length direction of the roller support 2525a. The roller shaft support 2525d rotatably supports the roller 2527 relative to the guide rail 7. Alternatively, the roller shaft support 2525d may also have a motor. In this case, the roller 2527 rotates by connecting to the rotating shaft of the motor.

[0299] like Figure 12B As shown, the third connecting body 2523 also has a slider 2529, which slides on a slide rail 2541 provided on the rotary table 2540. The slider 2529 is connected to the lower vertical end of the third connecting body 2523.

[0300] In this embodiment, the third connector 2523 has two rollers 2527 and two roller shaft support portions 2525d, but each may have three or more, or one. Additionally, the first connector 2521 and the second connector 2522 each have one roller 2527 and one roller shaft support portion 2525d, but may also have two or more.

[0301] Here, the roller 2527 of the first connector 2521 is an example of a first rotating roller. The roller 2527 of the second connector 2522 is an example of a second rotating roller. The two rollers 2527 of the third connector 2523 are examples of a third rotating roller and a fourth rotating roller.

[0302] The rotary table 2540 is the upper surface of the main body 2501 and is disposed between the main body 2501 and the third connecting body 2523. The third connecting body 2523 is connected to the rotary table 2540. The rotary table 2540 is subjected to stress for rotating the main body 2501 according to the control instruction from the control processing unit 2530. As a result, when the third connecting body 2523 is connected to the guide rail 7, the rotary table 2540 can rotate the main body 2501 about the center point O. In this way, the rotary table 2540 rotates the main body 2501 so that the length direction of the body intersects approximately perpendicularly with the direction along the guide rail 7.

[0303] Additionally, the rotary table 2540 has a linear slide rail 2541 that includes a center of rotation. A slider 2529, mounted on the third connecting body 2523, slides along the slide rail 2541. Stops are provided at both ends of the slide rail 2541 to prevent the slider 2529 from disengaging from the slide rail 2541.

[0304] Figure 13A This is a diagram illustrating the internal structure of the rotary table 2540 of the cargo handling device according to Embodiment 2.

[0305] like Figure 13A As shown, the rotary table 2540 has a rotation axis 2542 and a platform 2540a that rotates about the rotation axis 2542. The rotation axis 2542 extends vertically in a manner orthogonal to the upper surface of the main body 2501. A motor 2543 mounted on the main body 2501 is controlled and driven by a control processing unit 2530, thereby rotating the rotation axis 2542 via the motor 2543 and a worm gear 2544. The platform 2540a is connected vertically above the rotation axis 2542. The platform 2540a is in the shape of a circular plate. The rotation axis 2542 is connected to the center of the platform 2540a. Figure 11 As shown, a slide rail 2541 is disposed on the upper surface of the platform 2540a.

[0306] Figure 13B This is a side view of the slide rail 2541 of the cargo handling device 10q1 according to embodiment 2. Figure 13C This is a front view of the slider 2529 of the cargo handling device 10q1 according to embodiment 2. Figure 13C The diagram of motor 2545 is omitted in the text. Figure 13D The following is a front view of the L-side component of the slider 2529, the lead screw 2541c, and the guide 2541a of the cargo handling device 10q1 according to Embodiment 2. Figure 13E The following is a front view of the R-side component of the slider, the lead screw 2541c, and the guide 2541a of the cargo handling device 10q1 according to Embodiment 2.

[0307] like Figures 13B-13EAs shown, the slide rail 2541 is, for example, a linear guide. The slide rail 2541 consists of two guides 2541a, a guide rail 2541b, two lead screws 2541c, and a motor 2545. While the two guides 2541a maintain the posture of the slider 2529, the two motors 2541d cause the two lead screws 2541c to rotate synchronously one-to-one, thereby enabling the slider 2529 to move along the length direction of the guide rail 2541b. The slider 2529 is, for example, composed of two clutch blocks 2541e and a linear block 2541f. By controlling the motor 2545 installed on the rotary table 2540 via the control processing unit 2530, the slider 2529 can move along the slide rail 2541.

[0308] like Figure 11 As shown, a side propeller 2551 is located on the other side of the fuselage body 2501 (opposite to the direction of travel). The side propeller 2551 provides thrust to the fuselage body 2501 in a direction parallel to the guide rail 7. Specifically, the side propeller 2551 is rotated by a propeller drive motor 2552 mounted on a propeller support 22a9, thereby providing thrust to the fuselage body 2501.

[0309] The propeller drive motor 2552 controls the rotation speed of the side propeller 2551 according to the control instructions from the control processing unit 2530.

[0310] Thus, in the cargo handling device 10q1, by extending the connecting body 2520, the roller 2527 can be disengaged from the guide rail 7. Furthermore, by retracting the connecting body 2520, the roller 2527 can be placed on the guide rail 7. Additionally, in... Figure 11 In this configuration, all connecting bodies 2520 are positioned on the right side when viewed along the travel direction. However, by rotating the turntable 2540, the third connecting body 2523 can also be positioned on the left side when viewed along the travel direction. Furthermore, by rotating the turntable 2540 with only the third connecting body 2523 connected to the guide rail 7, the main body 2501 rotates, thus reversing the travel direction of the cargo handling device 10q1. Additionally, by moving the slider 2529 provided on the slide rail 2541 of the turntable 2540, the third connecting body 2523 can be moved horizontally. That is, the roller 2527 of the third connecting body 2523 can be moved horizontally away from or closer to the guide rail 7. Furthermore, by extending the first slider 2511 and the second slider 2512, the cargo can be delivered to the position where it leaves the cargo handling device 10q1 horizontally.

[0311] (A variation of Implementation Method 2) Figure 14 This is a perspective view of the cargo handling device 10q2, which is an example of a variation of Embodiment 2.

[0312] The following, such as Figure 14 As shown, the basic structure of the cargo handling device 10q2 in this modified example is the same as that of the cargo handling device in Embodiment 2, etc. Therefore, the basic structure of the cargo handling device 10q2 in this modified example is labeled with the same symbols as above, and the description is appropriately omitted. The difference between the cargo handling device 10q2 in this modified example and the cargo handling device involved in Embodiment 2 is that the first connecting body 2521, the second connecting body 2522, the rotary table 2540, and the third connecting body 2523 move relative to the main body 2501. In addition, the cargo handling device 10q2 in this modified example does not have the slide rail of Embodiment 2, but it may have a slide rail. In addition, the third connecting body 2523 of the cargo handling device 10q2 does not have a lifting mechanism based on the spring 2525b, the sliding motor 2526, etc.

[0313] The cargo handling device 10q2 of this modification has a first sliding mechanism 2560a, 2560b that moves the first connecting body 2521 and the second connecting body 2522.

[0314] The first sliding mechanism 2560a is disposed between the first connecting body 2521 and the main body 2501, and extends relative to the main body 2501. Additionally, the first sliding mechanism 2560b is disposed between the first connecting body 2521 and the main body 2501, and extends relative to the main body 2501. The first sliding mechanism 2560a is an example of a second slider section. Furthermore, the first sliding mechanism 2560b is an example of a third slider section.

[0315] Specifically, the first sliding mechanism 2560a includes a connecting body support portion 2562a that slides horizontally in a direction orthogonal to the length direction of the main body 2501, and a sliding main body portion 2561a that supports the connecting body support portion 2562a so that it can slide. The first sliding mechanism 2560b includes a connecting body support portion 2562b that slides horizontally in a direction orthogonal to the length direction of the main body 2501, and a sliding main body portion 2561b that slidably supports the connecting body support portion 2562b.

[0316] Connector support portion 2562a is disposed on the front end side (travel direction side) and rear end side (opposite travel direction side) of the main body 2501, and connector support portion 2562b is disposed on the front end side (travel direction side) and rear end side (opposite travel direction side) of the main body 2501. Connector support portions 2562a and 2562b slide horizontally along the length direction of sliding main body portions 2561a and 2561b. Specifically, connector support portions 2562a and 2562b slide in a direction orthogonal to the length direction of the main body 2501, that is, in a direction approximately parallel to the horizontal direction.

[0317] The sliding main bodies 2561a and 2561b are elongated strips along a predetermined direction relative to the main body 2501 and are connected to the main body 2501. Specifically, the sliding main bodies 2561a and 2561b are arranged horizontally relative to the length direction of the main body 2501 via a sliding motor 2563 mounted on the main body 2501. Therefore, the sliding main bodies 2561a and 2561b guide the connecting body support parts 2562a and 2562b, enabling them to slide in a direction orthogonal to the length direction of the main body 2501.

[0318] The sliding motor 2563 is installed on the main body 2501 and controlled by the control processing unit 2530, thereby enabling the sliding main body parts 2561a and 2561b to slide relative to the main body 2501 in the vertical direction.

[0319] In addition, the cargo handling device 10q2 of this modified example also has a second sliding mechanism 2564 that moves the rotary table 2540 and the third connecting body 2523 in the vertical direction.

[0320] The second sliding mechanism 2564 includes a rotary table 2540, a shaft motor 2567, and a shaft 2565. The shaft 2565 is inserted through the rotary table 2540 and connected to the third connecting body 2523.

[0321] The rotary table 2540 is disposed between the third connecting body 2523 and the main body 2501. After the first sliding mechanism 2560a and the first sliding mechanism 2560b are extended, and the first connecting body 2521 and the second connecting body 2522 are separated from the guide rail, the rotary table 2540 rotates the main body 2501 under the control of the control processing unit 2530.

[0322] The shaft motor 2567 is controlled by the control processing unit 2530, thereby enabling the shaft 2565 to move in the vertical direction relative to the machine body 2501 and the rotary table 2540.

[0323] Shaft 2565 is inserted through the center of rotary table 2540, and a third connector 2523 is connected to its upper vertical end. Furthermore, shaft motor 2567 is controlled by control processing unit 2530, thereby enabling shaft 2565 to move in the vertical direction.

[0324] (Implementation Method 3) Figure 15A This is an example of a perspective view showing the guide rail 7 and guide rail connector 2570 according to embodiment 3. Figure 15B This is another perspective view illustrating the guide rail 7 and guide rail connector 2570 according to embodiment 3. Figure 16 This is an oblique view illustrating, for example, the first connection point T1 of the first guide rail 7a and the second connection point T2 of the second guide rail 7b according to Embodiment 3.

[0325] In this embodiment, an example is shown where the first guide rail 7a and the second guide rail 7b are connected by the guide rail connector 2570.

[0326] The guide rail connector 2570 is L-shaped or inverted L-shaped, and can connect the first guide rail 7a and the second guide rail 7b at the point where they intersect. Figure 15A For example, when viewed along the length of the first guide rail 7a, the L-shaped guide rail connector 2570 is positioned on the left side of the travel direction. Figure 15B For example, when viewed along the length of the first guide rail 7a, the inverted L-shaped guide rail connector 2570 is arranged on the right side of the travel direction.

[0327] The guide rail connector 2570 can also connect the first guide rail 7a and the second guide rail 7b in an inverted L-shape when viewed along the length of the first guide rail 7a.

[0328] The guide rail connector 2570 has a first guide rail connector 2571a, a first guide rail extension 2571b, a second guide rail connector 2572a, and a second guide rail extension 2572b.

[0329] The first guide rail connecting portion 2571a is connected to the first guide rail 7a. Specifically, the first guide rail connecting portion 2571a is connected to the first guide rail 7a by inserting the first guide rail 7a through the first through hole of the first guide rail connecting portion 2571a. The first guide rail connecting portion 2571a is connected to the first guide rail extension portion 2571b on its vertical lower surface.

[0330] One end of the first guide rail extension 2571b is connected to the first guide rail connecting part 2571a, and the other end of the first guide rail extension 2571b is connected to the other end of the second guide rail connecting part 2572a. The first guide rail extension 2571b extends horizontally from the first guide rail connecting part 2571a in a direction orthogonal to the length direction of the first guide rail 7a.

[0331] The second guide rail connecting portion 2572a is connected to the second guide rail 7b. Specifically, the second guide rail connecting portion 2572a and the second guide rail 7b are connected by inserting the second guide rail 7b through the second through hole of the second guide rail connecting portion 2572a. In addition, the second guide rail connecting portion 2572a is connected to the second guide rail extension portion 2572b on its vertical lower surface.

[0332] One end of the second guide rail extension 2572b is connected to the second guide rail connecting part 2572a, and the other end of the second guide rail extension 2572b is connected to the other end of the first guide rail connecting part 2571a. The second guide rail extension 2572b extends from the second guide rail connecting part 2572a in a direction orthogonal to the length direction of the second guide rail 7b and in a vertical direction.

[0333] Thus, as Figures 15A to 16 As shown, the guide rail connector 2570 is connected to the second guide rail 7b at a position vertically above the first connection point T1, where the first connection point T1 is the point where the guide rail connector 2570 connects to the first guide rail 7a. In other words, the second guide rail connector 2572a and the second guide rail extension 2572b are positioned away from the first guide rail 7a. That is, when viewing the first guide rail 7a and the second guide rail 7b along the vertical direction, the first connection point T1 between the guide rail connector 2570 and the first guide rail 7a, and the second connection point T2 between the guide rail connector 2570 and the second guide rail 7b, do not exist along the vertical direction, but rather exist at positions where they are separated from each other. Therefore, a space is formed between the first guide rail 7a and the second guide rail connector 2572a for the roller 2527 of the cargo handling device 10q2 to pass through.

[0334] Therefore, in Figure 15A In this case, the cargo handling device 10q2 can easily turn right from the first guide rail 7a to the second guide rail 7b. Furthermore, in... Figure 15B In this case, the cargo handling device 10q2 can easily turn left from the first guide rail 7a to the second guide rail 7b.

[0335] In addition, the cargo handling device 10q2 is in Figure 15A It can turn left in the middle, Figure 15B It can turn right.

[0336] (Implementation Method 4) Hereinafter, the basic structure of the cargo handling device 10q1 in this embodiment is the same as that of the cargo handling device in Embodiment 2, etc. Therefore, the basic structure of the cargo handling device 10q1 in this embodiment is marked with the same symbols as above, and the description is appropriately omitted. In addition, in this embodiment, lifting systems, unmanned aerial vehicles, and express delivery boxes from other embodiments besides Embodiment 1 may also be used.

[0337] [Work Example 1] Figure 17 These are top and side views illustrating the operation of the cargo handling device 10q1 according to Embodiment 4.

[0338] In this example, the case where the cargo handling device 10q1 rotates the main body 180° on the guide rail 7 is illustrated. Assume the following: the cargo handling device 10q1 stops on the guide rail 7, and the first connecting body 2521, the second connecting body 2522, and the third connecting body 2523 of the cargo handling device 10q1 are connected to the guide rail 7.

[0339] First, such as Figure 17 As shown in a1 and a2, the control processing unit of the cargo handling device 10q1 controls the sliding motor of the third connecting body 2523, thereby causing the third connecting body 2523 of the cargo handling device 10q1 to retract.

[0340] Therefore, as Figure 17 As shown in b1 and b2, the main body of the cargo handling device 10q1 is raised, and the rollers 2527 of the first connecting body 2521 and the second connecting body 2522 separate from the guide rail 7. At this time, the first connecting body 2521, the second connecting body 2522, and the third connecting body 2523 are connected at a position closer to the side of the main body than the center of the main body, so the main body is tilted relative to the horizontal plane. In addition, the control processing unit can also control the slide rails of the rotary table 2540, etc., to offset the position of the third connecting body 2523 relative to the main body, so as to tilt the main body.

[0341] Next, as Figure 17 As shown in c1, the control processing unit of the cargo handling device 10q1 controls the sliding motor of the third connecting body 2523, thereby causing the third connecting body 2523 of the cargo handling device 10q1 to extend. Therefore, the first connecting body 2521 and the second connecting body 2522 do not contact the guide rail 7, and the rollers 2527 of the first connecting body 2521 and the second connecting body 2522 are arranged vertically below the guide rail 7.

[0342] Next, as Figure 17As shown in d1 and e1, the control processing unit of the cargo handling device 10q1 controls the rotary table 2540, thereby rotating the rotary table 2540 by 180°. As a result, the orientation of the cargo handling device 10q1 is reversed.

[0343] Next, as Figure 17 As shown in f1, the control processing unit of the cargo handling device 10q1 controls the sliding motor of the third connecting body 2523, thereby causing the third connecting body 2523 of the cargo handling device 10q1 to retract. As a result, the main body of the cargo handling device 10q1 is raised, and the rollers 2527 of the first connecting body 2521 and the second connecting body 2522 are positioned vertically above the guide rail 7. Furthermore, the first connecting body 2521 and the second connecting body 2522 are positioned on the opposite side of the third connecting body 2523 across the guide rail 7. At this time, the third connecting body 2523 is positioned on a side closer to the center of the main body than the center of the main body, and the first connecting body 2521 and the second connecting body 2522 are positioned on a side closer to the center of the main body than the center of the main body. Therefore, the main body is positioned approximately parallel to the horizontal plane or slightly tilted to the opposite side of the main body.

[0344] Next, as Figure 17 As shown in g1 and h1, the control processing unit of the cargo handling device 10q1 controls the sliding motor of the third connecting body 2523, thereby restoring the third connecting body 2523 of the cargo handling device 10q1 to its original length. Therefore, the rollers 2527 of the first connecting body 2521 and the second connecting body 2522 are positioned on the guide rail 7. In this way, the cargo handling device 10q1 begins to move.

[0345] Furthermore, the control processing unit of the cargo handling device 10q1 can control the sliding motor of the third connecting body 2523, causing the third connecting body 2523 of the cargo handling device 10q1 to extend, thereby separating the roller 2527 of the third connecting body 2523 from the guide rail 7. The control processing unit of the cargo handling device 10q1 controls the sliding motor of the third connecting body 2523, causing the third connecting body 2523 to retract, thereby positioning the roller 2527 of the third connecting body 2523 vertically below the guide rail 7. The control processing unit of the cargo handling device 10q1 controls the rotary table 2540, thereby rotating the rotary table 2540 180°. Thus, the third connecting body 2523 is similarly positioned on the other side of the main body of the machine, along with the first connecting body 2521 and the second connecting body 2522. In this way, the cargo handling device 10q1 begins to move.

[0346] [Work Example 2] Figure 18AThese are top and side views illustrating the operation of the cargo handling device 10q1 according to Embodiment 4 when it turns left at the intersection of the first guide rail 7a and the second guide rail 7b.

[0347] exist Figure 18A In the above, assume a left turn from guide rail 7a to guide rail 7b. Additionally, assume the following situation: guide rail 7a and guide rail 7b pass through... Figure 15B The guide rail connector is located on the right side when viewed along the first guide rail 7a. Furthermore, assume that the first connecting body 2521, the second connecting body 2522, and the third connecting body 2523 of the cargo handling device 10q1 are located on the opposite side of the guide rail connector, separated by the first guide rail 7a. Assume that the cargo handling device 10q1 stops on the first guide rail 7a, and the first connecting body 2521, the second connecting body 2522, and the third connecting body 2523 of the cargo handling device 10q1 are connected to the first guide rail 7a.

[0348] First, such as Figure 18A As shown in a1, the control processing unit of the cargo handling device 10q1 controls the sliding motor of the third connecting body 2523, thereby causing the third connecting body 2523 of the cargo handling device 10q1 to retract. As a result, the main body of the cargo handling device 10q1 is raised, and the rollers 2527 of the first connecting body 2521 and the second connecting body 2522 separate from the first guide rail 7a. The control processing unit of the cargo handling device 10q1 controls the sliding motor of the third connecting body 2523, thereby causing the third connecting body 2523 of the cargo handling device 10q1 to extend. Therefore, the first connecting body 2521 and the second connecting body 2522 do not contact the first guide rail 7a and the second guide rail 7b, and the rollers 2527 of the first connecting body 2521 and the second connecting body 2522 are positioned vertically below the first guide rail 7a.

[0349] Next, as Figure 18A As shown in b1 and c1, the control processing unit of the cargo handling device 10q1 controls the rotary table 2540, thereby causing the rotary table 2540 to rotate 90° counterclockwise.

[0350] Therefore, as Figure 18A As shown in a2, the cargo handling device 10q1 is positioned such that its length direction is parallel to the length direction of the second guide rail. That is, the rollers 2527 of the first connecting body 2521 and the rollers 2527 of the second connecting body 2522 are arranged vertically below the second guide rail 7b.

[0351] Next, as Figure 18AAs shown in b2, the control processing unit of the cargo handling device 10q1 controls the sliding motor of the third connecting body 2523, thereby causing the third connecting body 2523 of the cargo handling device 10q1 to retract. As a result, the main body of the cargo handling device 10q1 is raised, and the rollers 2527 of the first connecting body 2521 and the second connecting body 2522 are positioned vertically above the second guide rail 7b.

[0352] Next, as Figure 18A As shown in c2, the control processing unit of the cargo handling device 10q1 controls the sliding motor of the third connecting body 2523, thereby restoring the third connecting body 2523 of the cargo handling device 10q1 to its original length. Therefore, the rollers 2527 of the first connecting body 2521 and the rollers 2527 of the second connecting body 2522 are arranged on the second guide rail 7b.

[0353] Next, as Figure 18A As shown in d2, the control processing unit of the cargo handling device 10q1 controls the sliding motor of the third connecting body 2523, causing the third connecting body 2523 of the cargo handling device 10q1 to extend, thereby separating the roller 2527 of the third connecting body 2523 from the first guide rail 7a. At this time, the roller 2527 of the third connecting body 2523 is positioned vertically above the first guide rail 7a and the second guide rail 7b.

[0354] Next, as Figure 18A As shown in e2, the control processing unit of the cargo handling device 10q1 controls the rotary table 2540, thereby rotating the rotary table 2540 90° clockwise. As a result, the roller 2527 of the third connecting body 2523 is positioned vertically above the second guide rail 7b. The control processing unit of the cargo handling device 10q1 rotates the roller 2527 by controlling the motors of the first connecting body 2521 and the second connecting body 2522, causing the second connecting body 2522 to advance slightly to approach the first guide rail 7a.

[0355] Next, as Figure 18A As shown in f2, the control processing unit of the cargo handling device 10q1 controls the sliding motor of the third connecting body 2523, thereby causing the third connecting body 2523 of the cargo handling device 10q1 to retract. As a result, the main body of the cargo handling device 10q1 is lifted, and the rollers 2527 of the first connecting body 2521 and the second connecting body 2522 separate from the second guide rail 7b.

[0356] Next, as Figure 18AAs shown in g2, the control processing unit of the cargo handling device 10q1 controls the sliding motor of the third connecting body 2523, thereby causing the third connecting body 2523 of the cargo handling device 10q1 to extend. Therefore, the first connecting body 2521 and the second connecting body 2522 do not contact the first guide rail 7a and the second guide rail 7b, and the rollers 2527 of the first connecting body 2521 and the second connecting body 2522 are arranged vertically below the second guide rail 7b.

[0357] Next, as Figure 18A As shown in h2, the control processing unit of the cargo handling device 10q1 controls the motor of the third connector 2523, thereby causing the second connector 2522 to move forward until it passes through the first guide rail 7a.

[0358] Next, as Figure 18A As shown in i2, the control processing unit of the cargo handling device 10q1 controls the sliding motor of the third connecting body 2523 to retract the third connecting body 2523 of the cargo handling device 10q1, thereby arranging the rollers 2527 of the first connecting body 2521 and the rollers 2527 of the second connecting body 2522 vertically above the second guide rail 7b.

[0359] Next, as Figure 18A As shown in j2, the control processing unit of the cargo handling device 10q1 controls the sliding motor of the third connecting body 2523, thereby restoring the third connecting body 2523 of the cargo handling device 10q1 to its original length. Therefore, the rollers 2527 of the first connecting body 2521 and the second connecting body 2522 are arranged on the second guide rail 7b.

[0360] Thus, the cargo handling device 10q1 begins to move.

[0361] In addition, Figure 18A The example shown is a left turn, but... Figure 18B The example shown is a right turn.

[0362] Figure 18B These are top and side views illustrating the operation of the cargo handling device according to Embodiment 4 when it turns right at the intersection of the first and second guide rails. The right turn situation is also as follows... Figure 18A As shown, the situation is the same as when turning left, so the explanation is omitted as appropriate.

[0363] exist Figure 18B In the above, assume a right turn from guide rail 7a to guide rail 7b. Additionally, assume the following situation: guide rail 7a and guide rail 7b pass through... Figure 15AThe guide rail connector is located on the left side when viewed along the first guide rail 7a. Furthermore, assume the following: the first connecting body 2521, the second connecting body 2522, and the third connecting body 2523 of the cargo handling device 10q1 are positioned on opposite sides of the guide rail connector across the first guide rail 7a. Assume the cargo handling device 10q1 stops on the first guide rail 7a, and the first connecting body 2521, the second connecting body 2522, and the third connecting body 2523 of the cargo handling device 10q1 are connected to the first guide rail 7a.

[0364] First, such as Figure 18B As shown in a1, the control processing unit of the cargo handling device 10q1 controls the sliding motor of the third connecting body 2523, thereby causing the third connecting body 2523 of the cargo handling device 10q1 to retract. As a result, the main body of the cargo handling device 10q1 is raised, and the rollers 2527 of the first connecting body 2521 and the second connecting body 2522 separate from the first guide rail 7a. The control processing unit of the cargo handling device 10q1 controls the sliding motor of the third connecting body 2523, thereby causing the third connecting body 2523 of the cargo handling device 10q1 to extend. Therefore, the first connecting body 2521 and the second connecting body 2522 do not contact the first guide rail 7a and the second guide rail 7b, and the rollers 2527 of the first connecting body 2521 and the second connecting body 2522 are positioned vertically below the first guide rail 7a.

[0365] Next, as Figure 18B As shown in b1 and c1, the control processing unit of the cargo handling device 10q1 controls the rotary table 2540, thereby causing the rotary table 2540 to rotate 90° clockwise.

[0366] Therefore, as Figure 18B As shown in a2, the cargo handling device 10q1 is positioned such that its length direction is parallel to the length direction of the second guide rail. That is, the rollers 2527 of the first connecting body 2521 and the rollers 2527 of the second connecting body 2522 are arranged vertically below the second guide rail 7b.

[0367] Next, as Figure 18B As shown in b2, the control processing unit of the cargo handling device 10q1 controls the sliding motor of the third connecting body 2523, thereby causing the third connecting body 2523 of the cargo handling device 10q1 to retract. As a result, the main body of the cargo handling device 10q1 is raised, and the rollers 2527 of the first connecting body 2521 and the second connecting body 2522 are positioned vertically above the second guide rail 7b.

[0368] Next, as Figure 18BAs shown in c2, the control processing unit of the cargo handling device 10q1 controls the sliding motor of the third connecting body 2523, thereby restoring the third connecting body 2523 of the cargo handling device 10q1 to its original length. Therefore, the rollers 2527 of the first connecting body 2521 and the rollers 2527 of the second connecting body 2522 are arranged on the second guide rail 7b.

[0369] Next, as Figure 18B As shown in d2, the control processing unit of the cargo handling device 10q1 controls the sliding motor of the third connecting body 2523, causing the third connecting body 2523 of the cargo handling device 10q1 to extend, thereby separating the roller 2527 of the third connecting body 2523 from the first guide rail 7a. At this time, the roller 2527 of the third connecting body 2523 is positioned vertically above the first guide rail 7a and the second guide rail 7b.

[0370] Next, as Figure 18B As shown in e2, the control processing unit of the cargo handling device 10q1 controls the rotary table 2540, thereby causing the rotary table 2540 to rotate 90° counterclockwise. Consequently, the roller 2527 of the third connecting body 2523 is positioned vertically above the second guide rail 7b. The control processing unit of the cargo handling device 10q1 rotates the roller 2527 by controlling the motors of the first connecting body 2521 and the second connecting body 2522, causing the first connecting body 2521 to advance slightly closer to the first guide rail 7a.

[0371] Next, as Figure 18B As shown in f2, the control processing unit of the cargo handling device 10q1 controls the sliding motor of the third connecting body 2523, thereby causing the third connecting body 2523 of the cargo handling device 10q1 to retract. As a result, the main body of the cargo handling device 10q1 is lifted, and the rollers 2527 of the first connecting body 2521 and the second connecting body 2522 separate from the second guide rail 7b.

[0372] Next, as Figure 18B As shown in g2, the control processing unit of the cargo handling device 10q1 controls the sliding motor of the third connecting body 2523, thereby causing the third connecting body 2523 of the cargo handling device 10q1 to extend. Therefore, the first connecting body 2521 and the second connecting body 2522 do not contact the first guide rail 7a and the second guide rail 7b, and the rollers 2527 of the first connecting body 2521 and the second connecting body 2522 are arranged vertically below the second guide rail 7b.

[0373] Next, as Figure 18B As shown in h2, the control processing unit of the cargo handling device 10q1 controls the motor of the third connector 2523, thereby causing the first connector 2521 to move forward until it passes through the first guide rail 7a.

[0374] Next, as Figure 18B As shown in i2, the control processing unit of the cargo handling device 10q1 controls the sliding motor of the third connecting body 2523 to retract the third connecting body 2523 of the cargo handling device 10q1, thereby arranging the rollers 2527 of the first connecting body 2521 and the rollers 2527 of the second connecting body 2522 vertically above the second guide rail 7b.

[0375] Next, as Figure 18B As shown in j2, the control processing unit of the cargo handling device 10q1 controls the sliding motor of the third connecting body 2523, thereby restoring the third connecting body 2523 of the cargo handling device 10q1 to its original length. Therefore, the rollers 2527 of the first connecting body 2521 and the second connecting body 2522 are arranged on the second guide rail 7b.

[0376] Thus, the cargo handling device 10q1 begins to move.

[0377] In addition, even in Figure 15A Even with the guide rail connection intact, the cargo handling device 10q1 can still turn left, even when... Figure 15B In the case of the guide rail connection, the cargo handling device 10q1 can also turn right.

[0378] (Implementation Method 5) Figure 19 This is a diagram illustrating an example of the structure of the logistics system in the implementation method.

[0379] The logistics system Sy4 in this embodiment includes, for example, an office building delivery system Sy1 located in building A; an office building delivery system Sy1 located in building B; and a connecting mechanism that connects these office building delivery systems Sy1. This connecting mechanism is located on a connecting bridge connecting buildings A and B, and includes a transport guide rail 30, a safety net 70, and multiple doors 71 along the connecting bridge. The safety net 70 is located below the transport guide rail 30. Therefore, even if the unmanned transport vehicle 100 traveling on the transport guide rail 30 drops goods 1, it is possible to prevent the goods 1 from falling onto the floor or onto the heads of people traveling on the connecting bridge. Furthermore, doors 71 are provided at the boundary between the connecting bridge and building A or building B, thus preventing intrusion of animals such as birds into building A and building B.

[0380] (Implementation Method 6) Figure 20 This is a diagram illustrating an example of an elevator in the apartment delivery system Sy2 of this embodiment.

[0381] exist Figure 20In the example shown, elevator 200 includes a guide rail lift 33 and a guide rail telescopic device 34. Furthermore, the guide rail telescopic device 34 is a device including an actuator that causes the aforementioned movable guide rail 32a, included in the elevator inner guide rail 32, to move horizontally, thereby extending or retracting the elevator inner guide rail 32. The guide rail telescopic device 34 can also be referred to as a guide rail horizontal movement device.

[0382] When the floor heights of different floors in a building vary, a mechanism is needed to adjust the height of the elevator guide rails 32 each time the elevator car 210 reaches a floor. Therefore, in this embodiment, as... Figure 20 As shown, the guide rail lift 33 makes the height of the guide rail 32 inside the elevator the same as the height of the guide rail 31 inside the floor.

[0383] That is, the elevator car 210 is equipped with a guide rail lift 33 for raising and lowering the elevator inner guide rail 32. According to the above configuration, even if the floor heights of each floor of the building differ, the height of the elevator inner guide rail 32 and the floor inner guide rail 31 can be appropriately matched by the guide rail lift 33. Furthermore, the guide rail lift 33 is configured to change the distance between the elevator inner guide rail 32 and the ceiling of the second elevator space 212 according to the floor heights of each floor of the building. Additionally, the first floor height of the first floor of the building is different from the second floor height of the second floor of the building. In this case, the elevator inner guide rail 32 is in a first first guide rail state on the first floor of the building, and in a second first guide rail state on the second floor of the building. Here, the first distance between the elevator inner guide rail 32 and the ceiling of the second elevator space 212 in the first first guide rail state is different from the second distance between the elevator inner guide rail 32 and the ceiling of the second elevator space 212 in the second first guide rail state. Furthermore, the absolute value of the difference between the height of the first floor and the height of the second floor is equal to the absolute value of the difference between the distance of the first floor and the distance of the second floor.

[0384] Thus, the elevator 200 in this embodiment is an elevator installed in a building, comprising: a lifting car 210 for moving up and down; a partition 221 that divides the space inside the lifting car 210 into a first elevator space 211 for passengers and a second elevator space 212 for unmanned transport vehicles 100; an elevator guide rail 32 disposed in the second elevator space 212; and a guide rail lift 33 that moves the elevator guide rail 32 up and down. The unmanned transport vehicle 100 travels along the elevator guide rail 32. The guide rail lift 33 is configured to change the distance between the elevator guide rail 32 and the ceiling of the second elevator space 212 according to the floor height of each floor of the building.

[0385] Figure 21 This is a diagram illustrating an example of elevator 200 in the office building delivery system Sy1 of this embodiment. (See diagram for example.) Figure 21As shown, elevator 200 of the Sy1 delivery system within the office building can also be connected to... Figure 20 Similarly, the example includes a guide rail lift 33 and a guide rail telescopic device 34.

[0386] Furthermore, the height of the first floor of the Nth floor (N is any natural number) of the building is different from the height of the second floor of the (N-1)th floor of the building. In this case, the elevator inner guide rail 32 is in the first first guide rail state on the Nth floor of the building, and in the second first guide rail state on the (N-1)th floor of the building. Here, the first distance between the elevator inner guide rail 32 in the first first guide rail state and the ceiling of the second elevator space 212 is different from the second distance between the elevator inner guide rail 32 in the second first guide rail state and the ceiling of the second elevator space 212. That is, the first distance L1 between the elevator inner guide rail 32 and the reference position in the first first guide rail state is different from the second distance L2 between the elevator inner guide rail 32 and the reference position in the second first guide rail state.

[0387] (Implementation Method 7) The unmanned transporter 100 in embodiments 1 to 6 described above travels along one guide rail. On the other hand, the unmanned transporter 110 in this embodiment travels along two guide rails.

[0388] Figure 22 This is a diagram illustrating a structural example of the office building delivery system Sy1 in this embodiment. Furthermore, in Figure 22 In, with Figure 1 Similarly, the state of one of the multiple floors of the office building containing the Sy1 delivery system is shown when viewed from an obliquely upward perspective.

[0389] In this embodiment, the office building delivery system Sy1 is installed across the floors of the office building. Additionally, Figure 22 The third floor space 13 in the floor area shown is, for example, larger in the height direction than... Figure 1 The third floor space 13 shown is narrow. Therefore, in this embodiment, the unmanned transport vehicle 110 is configured to be thinner than the unmanned transport vehicle 100 so that it can also travel within the narrow third floor space 13. The unmanned transport vehicle 110 travels along a pair of floor inner guide rails 31 arranged parallel to each other on the horizontal plane. In addition, multiple pairs of floor inner guide rails 31 are provided in the third floor space 13, and the pair of first floor inner guide rails 31a and the pair of second floor inner guide rails 31b included in these multiple pairs of floor inner guide rails 31 are orthogonal to each other.

[0390] For example, the unmanned transport vehicle 100 has four wheels 113 arranged on an imaginary plane (e.g., a horizontal plane). Two of the four wheels 113 are mounted on one of a pair of floor guide rails 31, and the remaining two wheels 113 are mounted on the other floor guide rail 31. Furthermore, the housing 111 of the unmanned transport vehicle 110 is arranged between the pair of floor guide rails 31. In the following description, the left-right direction of the unmanned transport vehicle 110 is along the direction of the axle of each of the four wheels 113, and the front-back direction of the unmanned transport vehicle 110 is along the aforementioned plane on which the four wheels 113 are arranged and is perpendicular to the left-right direction.

[0391] Figure 23 This is a diagram illustrating an example of the movement of an unmanned transporter 110 transferring from one pair of guide rails to another pair of guide rails.

[0392] For example, guide rails 711 and 712, which form a pair of guide rails, intersect perpendicularly with guide rails 713 and 714, which form another pair of guide rails. Furthermore, guide rails 711 and 712 can also be a pair of floor-level guide rails 31 or a pair of first-floor-level guide rails 31a. Similarly, guide rails 713 and 714 can also be a pair of floor-level guide rails 31 or a pair of second-floor-level guide rails 31b. Additionally, guide rails 711 and 712 are positioned lower than guide rails 713 and 714.

[0393] For example, an unmanned transport vehicle 110 with eight wheels 113 travels along guide rails 711 and 712, and transfers from guide rails 711 and 712 to guide rails 713 and 714. Furthermore, in Figure 23 In the diagram, the eight wheels 113 are represented as wheels d1 to d8.

[0394] First, such as Figure 23 As shown in (a), the unmanned transporter 110 travels along guide rails 711 and 712 with wheels d1 and d7 placed on guide rail 711 and wheels d4 and d6 placed on guide rail 712. Then, when wheels d1 and d4 approach guide rail 714 and wheels d7 and d6 approach guide rail 713, the unmanned transporter 110 places wheels d2 and d3 on guide rail 714 and wheels d8 and d5 on guide rail 713. Then, the unmanned transporter 110 removes wheels d1 and d7 from guide rail 711 and removes wheels d4 and d6 from guide rail 712.

[0395] Next, as Figure 23 As shown in (b), the unmanned transporter 110 places wheel d4 on guide rail 714 and wheel d6 on guide rail 713. The unmanned transporter 110 then travels along guide rails 713 and 714 as wheels d2, d3, d4, d8, d5, and d6 rotate. Then, the unmanned transporter 110 brings wheels d3 and d5 close to guide rail 711.

[0396] Next, as Figure 23 As shown in (c), the unmanned transporter 110 makes wheels d3 and d5 pass under the guide rail 711, and then, as Figure 23 As shown in (d), wheels d4 and d6 are made to pass under guide rail 711. As a result, the unmanned transporter 110 travels along guide rails 713 and 714 as wheels d2, d3, d8, and d5 rotate.

[0397] Figure 24 This is a diagram illustrating an example of an unmanned transporter 110 being used in an elevator 200.

[0398] Elevator 200 and Figure 20 The example shown also includes a guide rail lift 33 and a guide rail telescopic device 34. Furthermore, in this embodiment, a pair of floor inner guide rails 31 are provided in the fourth floor space 13b, and a pair of elevator inner guide rails 32 are provided in the second elevator space 212. The unmanned transport vehicle 110 then travels along the pair of floor inner guide rails 31 and along the pair of elevator inner guide rails 32.

[0399] Here, as Figure 24 As shown, at least one wheel 113 of the unmanned transport vehicle 110 is mounted on one of a pair of guide rails 7, and the remaining at least one wheel 113 of the unmanned transport vehicle 110 is mounted on the other of the pair of guide rails 7. Furthermore, the pair of guide rails 7 are either a pair of floor guide rails 31 or a pair of elevator guide rails 32. The housing 111 of the unmanned transport vehicle 110 is configured to be sandwiched between the pair of guide rails 7. Here, the thickness L4 of the unmanned transport vehicle 110 is greater than the height L2 from the bottom of the unmanned transport vehicle 110 to the pair of guide rails 7, and the thickness L3 of the cargo 1 is greater than its height L2.

[0400] Figure 25 This is a diagram illustrating an example of the structure of the logistics system Sy4 in this embodiment.

[0401] The logistics system Sy4 in this embodiment includes, for example, an office building delivery system Sy1 located in building A; an office building delivery system Sy1 located in building B; and multiple pairs of transport rails 30 connecting these office building delivery systems Sy1. The multiple pairs of transport rails 30 are located on the third floor space 13 of the connecting bridge 300 connecting buildings A and B. The transport rails 30 are connected to one end of the floor-level guide rails 31 of each of buildings A and B. Therefore, it can also be said that the floor-level guide rails 31 of building A, the transport rails 30, and the floor-level guide rails 31 of building B are connected in series to form a guide rail 7. Furthermore, in Figure 25 In the example, multiple pairs of transport rails 30 are configured, but it is also possible to configure only one pair of transport rails 30.

[0402] The unmanned transporter 110 travels along a pair of guide rails 7 located on the third floor space 13 of each of Building A, Building B and connecting bridge 300.

[0403] Thus, the structure in this embodiment includes: a first building; a second building; a connecting bridge 300 connecting the first building and the second building; and a guide rail 7 extending from inside the first building through the connecting bridge 300 into the second building for the unmanned transport vehicle 110 to travel on. Furthermore, the first building is, for example, building A, and the second building is, for example, building B. The first building includes a first floor and a second floor, and a first space for the unmanned transport vehicle 110 to travel on is provided between the ceiling of the first floor and the floor of the second floor. Similarly, the second building includes a first floor and a second floor, and a second space for the unmanned transport vehicle 110 to travel on is provided between the ceiling of the first floor and the floor of the second floor. The first space is, for example, the third floor space 13 of building A, and the second space is, for example, the third floor space 13 of building B. Furthermore, the connecting bridge 300 also includes a walkway 301 connecting the second floor of the first building and the second floor of the second building. Below the pedestrian walkway 301, a third space is provided, connecting to the first and second spaces, for the unmanned transporter 110 to travel in. Furthermore, the third space may be, for example, the third floor space 13 connecting to the bridge 300. And, the guide rail 7 is configured to span the first, third, and second spaces.

[0404] This enables the unmanned transport vehicle 110 to travel between the first and second buildings via the connecting bridge 300.

[0405] Figure 26 This is a diagram showing an example of the dimensions of the unmanned transporter 110.

[0406] The unmanned transport vehicle 110 travels in the space between the first horizontal wall 22a and the second horizontal wall 22b, i.e., the third floor space 13. The height of this third floor space 13, i.e., the distance between the first horizontal wall 22a and the second horizontal wall 22b, is, for example, 40 cm. The thickness (i.e., height) of the unmanned transport vehicle 110 is, for example, 30 cm. In this case, the gap between the unmanned transport vehicle 110 and the first horizontal wall 22a or the second horizontal wall 22b is, for example, 5 cm. Furthermore, the thickness of the unmanned transport vehicle 110 can also be 30 cm or more depending on the height of the third floor space 13. For example, its thickness can be 35 cm, 40 cm, or 50 cm. In addition, the distance between a pair of guide rails 7 is, for example, 50 cm. The cargo 1 stored in the housing 111 is, for example, 25 × 36 × 40 cm. 25cm is the thickness (i.e., height) of cargo 1, 36cm is the width (i.e., the length along the direction of the pair of guide rails 7), and 40cm is the total length (i.e., the length along the direction of the pair of guide rails 7). Furthermore, the thickness of cargo 1 can be greater than 25cm or less than 25cm. For example, the thickness of cargo 1 can also be 15cm, 20cm, 30cm, etc.

[0407] Figure 27 This is a diagram showing an example of a structure (turntable) used to change the orientation of the unmanned transporter 110.

[0408] Figure 27 The top view is a diagram showing, for example, a plurality of guide rails 7 laid on the first horizontal wall 22a from below. The plurality of guide rails 7 includes two pairs of guide rails 7v, two pairs of guide rails 7h, and one pair of guide rails 7x. Furthermore, guide rails 7v are guide rails 7 along a first direction, and guide rails 7h are guide rails 7 along a second direction perpendicular to the first direction. The first and second directions are directions perpendicular to the vertical direction. A pair of guide rails 7v consists of two parallel guide rails 7v, and a pair of guide rails 7h consists of two parallel guide rails 7h.

[0409] One of the two pairs of guide rails 7v is configured separately from the other pair along the first direction. That is, one pair of guide rails 7v and another pair of guide rails 7v, which are different from the first pair of guide rails 7v, are configured separately along the first direction.

[0410] One of the two pairs of guide rails 7h is configured separately from the other pair along the second direction. That is, one pair of guide rails 7h and another pair of guide rails 7h, which are different from the first pair, are configured separately along the second direction.

[0411] And, as Figure 27As shown in the transverse view, an annular base 37 is mounted on the lower surface of the first horizontal wall 22a. A rotating component is mounted on the base 37. The rotating component includes a ring 36 and four pillars 36a erected vertically from the ring 36 toward the lower central side. Specifically, the base 37 has a groove with an opening on the central side, into which the ring 36 is embedded. Furthermore, two of the four pillars 36a support a guide rail 7x, and the remaining two pillars 36a support other guide rails 7x that are different from the guide rail 7x.

[0412] Ring 36 rotates while sliding relative to base 37 along the groove of base 37. At this time, a pair of guide rails 7x connected to ring 36 via four supports 36a also rotate. Through the rotation of the pair of guide rails 7x, two pairs of guide rails 7v are connected to each other via the pair of guide rails 7x. That is, one pair of guide rails 7v is connected to one pair of guide rails 7x, and further, the pair of guide rails 7x is connected to another pair of guide rails 7v. At this time, the unmanned transport vehicle 110 can travel along one pair of guide rails 7v, one pair of guide rails 7x, and another pair of guide rails 7v. Alternatively, through the rotation of one pair of guide rails 7x, two pairs of guide rails 7h are connected to each other via the pair of guide rails 7h. That is, one pair of guide rails 7h is connected to one pair of guide rails 7x, and further, the pair of guide rails 7x is connected to another pair of guide rails 7h. At this time, the unmanned transport vehicle 110 can travel along one pair of guide rails 7h, one pair of guide rails 7x, and another pair of guide rails 7h.

[0413] Furthermore, when the four wheels 113 of the unmanned transporter 110 are placed on a pair of guide rails 7x, the orientation of the unmanned transporter 110 can be changed if the rotating component rotates.

[0414] Figure 28A and Figure 28B This is a diagram illustrating an example of an action to change the orientation of the unmanned transporter 110.

[0415] For example, such as Figure 28A As shown, the unmanned transport vehicle 110 travels along a pair of guide rails 7h toward the ring 36. At this time, the pair of guide rails 7h are connected to a pair of guide rails 7x. Then, the unmanned transport vehicle 110 stops at the center of the ring 36. That is, the unmanned transport vehicle 110 stops when its four wheels 113 are placed on the pair of guide rails 7x.

[0416] Next, as Figure 28BAs shown, the rotating component rotates. That is, ring 36 rotates by the drive of motor 38 for rotating the turntable. As a result, the longitudinal direction of the pair of guide rails 7x changes from a direction parallel to the pair of guide rails 7h (i.e., the second direction) to a direction parallel to the pair of guide rails 7v (i.e., the first direction). Consequently, the pair of guide rails 7x connects to the pair of guide rails 7v. Thus, the unmanned transport vehicle 110 can travel from the pair of guide rails 7x along the pair of guide rails 7v. Therefore, the orientation, i.e., the direction of travel, of the unmanned transport vehicle 110 changes from the second direction to the first direction.

[0417] Thus, the turntable in this embodiment includes: a base 37; a rotating member, which is rotatably mounted relative to the base 37 about a rotation axis extending in the vertical direction; a first movable guide rail connected to the rotating member; and a second movable guide rail connected to the rotating member. Furthermore, the rotating member may be, for example,... Figures 27-28B As shown, it consists of a ring 36 and four pillars 36a. Furthermore, the first movable guide rail and the second movable guide rail are, for example, a pair of guide rails 7x. Thus, the orientation of the unmanned transporter 110 can be appropriately changed.

[0418] Furthermore, the turntable in this embodiment includes an actuator for rotating the rotating component. The actuator is, for example, a... Figure 28B The illustrated turntable rotation motor 38. Driven by this actuator, the rotating component switches between a first rotation state and a second rotation state. In the first rotation state, a first movable guide rail, one of a pair of guide rails 7x, is connected to a first fixed guide rail extending along a first direction, and a second movable guide rail, the other of the pair of guide rails 7x, is connected to a second fixed guide rail extending along the first direction. The first fixed guide rail and the second fixed guide rail in the first direction are, for example,... Figures 27-28B The pair of guide rails 7v are shown. In the second rotation state, the first movable guide rail is connected to the second direction extending along the second direction by the first fixed guide rail, and the second movable guide rail is connected to the second direction extending along the second direction by the second fixed guide rail. For example, the second direction using the first fixed guide rail and the second direction using the second fixed guide rail are... Figures 27-28B The pair of guide rails shown is 7h.

[0419] Therefore, the orientation of the unmanned transporter 110 can be switched to the first direction and the second direction. Furthermore, the unmanned transporter 110 can travel along the first direction using the first fixed guide rail and the second fixed guide rail, and it can also travel along the second direction using the first fixed guide rail and the second fixed guide rail.

[0420] Figure 29A and Figure 29B This is a diagram illustrating an example of the detailed structure of the unmanned transporter 110. Furthermore, Figure 29A and Figure 29B Figures (a1) and (a2) are views of the unmanned transporter 110 viewed from the left-right direction, that is, from the direction perpendicular to the pair of guide rails 7 in the plane in which the pair of guide rails 7 are arranged. In addition, (a1) shows the appearance of the unmanned transporter 110, and (a2) shows the internal structure of the unmanned transporter 110. Figure 29A and Figure 29B (b) is a view of the unmanned transporter 110 from above, that is, from a direction perpendicular to the plane on which a pair of guide rails 7 are arranged. Figure 29A and Figure 29B Figures (c1), (c2), and (c3) are views of the unmanned transporter 110 viewed from the front-to-back direction, i.e., from the direction along the pair of guide rails 7. Furthermore, (c1) shows a cross-section of the unmanned transporter 110 at a predetermined depth position, (c2) shows a cross-section of the unmanned transporter 110 at other depth positions, and (c3) shows the unmanned transporter 110 in the state of having the cargo 1 placed down. The depth position is defined as the position along the direction of the pair of guide rails 7.

[0421] like Figure 29A and Figure 29B As shown, the unmanned transporter 110 includes a housing 111, a cargo basket 112, a winch 115, electric motors 117a and 117b, and pulleys 116.

[0422] The housing 111 is rectangular and box-shaped, configured to accommodate a cargo basket 112. Goods 1 are stored in the cargo basket 112. A pulley 116 is positioned approximately at the center of the upper surface of the housing 111, and a guide wire 114 is suspended from the pulley 116. One end of the guide wire 114 is connected to approximately the center of the upper surface of the cargo basket 112, and the other end is wound around a winch 115. The winch 115 is driven by an electric motor 117a or 117b to release or wind up the guide wire 114.

[0423] Here, as Figure 29A and Figure 29B As shown in (a2) and (b), the winch 115 is positioned offset from the cargo basket 112 along the direction of a pair of guide rails 7. That is, as Figure 29A and Figure 29B As shown in (b), when viewed from above, the winch 115 is positioned so as not to overlap with the cargo basket 112. Therefore, no space is required within the housing 111 for the winch 115 on the cargo basket 112, thus reducing the thickness of the unmanned transporter 110.

[0424] In addition, such as Figure 29A and Figure 29BAs shown in (b), the unmanned transport vehicle 110 includes two first motors 117L and two second motors 117R for rotating the four wheels 113. These first motors 117L and second motors 117R, like the winch 115, are positioned so as not to overlap with the cargo basket 112 when viewed from above. Additionally, as... Figure 29B As shown in (b), the width of the central portion of the housing 111 in the front-rear direction in the left-right direction can also be configured to be greater than that in the front-rear direction. Figure 29A The example shown in (a) is wide. Additionally, when the unmanned transport vehicle 110 places the cargo 1, as... Figure 29A and Figure 29B As shown in (c3), the bottom of the housing 111 is opened, and the winch 115 releases the wire 114 by the drive of the motor 117a or 117b. As a result, the cargo basket 112 descends from the pulley 116 while suspended by the wire 114.

[0425] like Figure 29A As shown in (c1), the unmanned transporter 110 in this embodiment includes: a housing 111 having a first side 111L and a second side 111R facing each other; a first wheel 113L disposed on the first side 111L; and a second wheel 113R disposed on the second side 111R. The first wheel 113L is a wheel 113 for traveling on a first guide rail 7L, and the second wheel 113R is a wheel 113 for traveling on a second guide rail 7R parallel to the first guide rail 7L. Furthermore, the first guide rail 7L and the second guide rail 7R constitute a pair of guide rails 7. And, as... Figure 29A As shown in (c1), when viewing the housing 111, the first wheel 113L, and the second wheel 113R in a direction extending from the first guide rail 7L and the second guide rail 7R, the axle 113a of each of the first wheel 113L and the second wheel 113R is lower than the upper surface 111u of the housing 111 and higher than the lower surface 111d of the housing 111. Furthermore, the unmanned transport vehicle 110 is also referred to as a transport vehicle.

[0426] As a result, the thickness of the unmanned transporter 110 can be reduced, thus enabling the transporter to operate in a third-floor space 13 (i.e., inside the ceiling, etc.) where the width in the height direction is limited.

[0427] In addition, such as Figure 29A As shown in (b), when the unmanned transporter 110 is viewed from above in the vertical direction, the housing 111 does not overlap with the first wheel 113L and the housing 111 does not overlap with the second wheel 113R.

[0428] Therefore, the first wheel 113L and the second wheel 113R can be effectively made to be lower than the upper surface 111u of the housing 111 and higher than the lower surface 111d of the housing 111, thus enabling the unmanned transporter 110 to be appropriately made thinner.

[0429] Here, the structure of the unmanned transporter 110 in this embodiment can also be represented as follows.

[0430] When the housing 111, the first wheel 113L, and the second wheel 113R are viewed from the direction extending from the first guide rail 7L and the second guide rail 7R, the housing 111 is located between the first guide rail 7L and the second guide rail 7R.

[0431] Furthermore, when the unmanned transporter 110 is viewed from above in the vertical direction, the width of the housing 111 in the direction perpendicular to the direction along the first guide rail 7L and the second guide rail 7R is shorter than the interval between the first guide rail 7L and the second guide rail 7R.

[0432] In addition, such as Figure 29A As shown in (b), when the unmanned transporter 110 is viewed from above in the vertical direction, the width of the housing 111 in the direction perpendicular to the direction along the first guide rail 7L and the second guide rail 7R is shorter than the interval between the first wheel 113L and the second wheel 113R.

[0433] Under such circumstances, it is also possible to appropriately achieve a thinner design for the unmanned transporter 110.

[0434] In addition, in this embodiment, such as Figure 29A As shown in (a2), the unmanned transporter 110 includes: a cargo basket 112 connected to a guide wire 114; a winch 115 capable of releasing and reeling in the guide wire 114; and a pulley 116. The cargo basket 112 is lifted by hanging the guide wire 114 on the pulley 116. Furthermore, as... Figure 29A As shown in (b), when the unmanned transporter 110 is viewed from above in the vertical direction, the cargo basket 112 does not overlap with the winch 115.

[0435] Therefore, the increase in thickness of the unmanned transport machine 110 due to the winch 115 can be suppressed, and the unmanned transport machine 110 can be appropriately made thinner. Generally speaking, the winch 115 is large in size. Therefore, when the unmanned transport machine 110 is viewed from above in the vertical direction, it is difficult to accommodate the winch 115 and the cargo basket 112 within the housing 111, which is narrow in the height direction, when the winch 115 overlaps with the cargo basket 112. As a result, it is difficult to achieve a thin unmanned transport machine 110 in the vertical direction (i.e., the height direction). In contrast, according to this embodiment, when the unmanned transport machine 110 is viewed from above in the vertical direction, the winch 115 does not overlap with the cargo basket 112 within the housing 111, so a thinner unmanned transport machine 110 in the vertical direction can be achieved.

[0436] In addition, in this embodiment, such as Figure 29A As shown in (a2) and (b), the winch 115 is located at a corner within the housing 111. For example, the winch 115 is positioned closer to the upper surface 111u than the lower surface 111d within the housing 111. Additionally, the winch 115 is positioned forward or backward of the center in the longitudinal direction within the housing 111. Furthermore, as... Figure 29A As shown in (b), when the unmanned transporter 110 is viewed from above in the vertical direction, the winch 115 is positioned between the first wheel 113L and the second wheel 113R or between the first motor 117L and the second motor 117R.

[0437] Therefore, when viewing the unmanned transporter 110 from a vertical perspective, the cargo basket 112 and the winch 115 can be effectively kept from overlapping.

[0438] In addition, in this embodiment, such as Figure 29A As shown in (b), the unmanned transport vehicle 110 includes: a first electric motor 117L, which is located within a housing 111 that rotates the first wheel 113L; and a second electric motor 117R, which is located within a housing 111 that rotates the second wheel 113R. Furthermore, when the unmanned transport vehicle 110 is viewed from above in the vertical direction, the first electric motor 117L does not overlap with the cargo basket 112, and the second electric motor 117R does not overlap with the cargo basket 112.

[0439] Therefore, the increase in thickness of the unmanned transport machine 110 due to the first motor 117L and the second motor 117R can be suppressed, and the unmanned transport machine 110 can be appropriately made thinner. That is, when the unmanned transport machine 110 is viewed from above in the vertical direction, the first motor 117L and the second motor 117R do not overlap with the cargo basket 112, so a thinner unmanned transport machine 110 in the vertical direction can be achieved.

[0440] Figures 30A to 30EThis is a diagram illustrating an example of the operation of the transfer guide rail for the unmanned transport vehicle 110. Furthermore, Figures 30A to 30E The upper section of each section shows the state of the unmanned transporter 110 when viewed from the left and right, and the lower section shows the state of the unmanned transporter 110 when viewed from above.

[0441] The unmanned transport vehicle 110, for example, travels along a pair of guide rails 7d, then moves to a guide rail 7u and travels along that guide rail 7u, and then moves to another pair of guide rails 7d and travels along that pair of guide rails 7d. Guide rails 7d and 7u are examples of guide rails 7. The unmanned transport vehicle 110 also includes four wheels 113 for traveling along the pair of guide rails 7d, and two arms 118 and two wheels 119 for traveling along the guide rails 7u.

[0442] The bases of two arms 118 are mounted on the upper surface of the housing 111 of the unmanned transport vehicle 110, approximately at the center of the unmanned transport vehicle 110 in the left-right direction, arranged along the travel direction (i.e., the front-back direction). Two wheels 119 are respectively mounted on the front ends of the arms 118. The two arms 118 are, for example, rod-shaped, and the unmanned transport vehicle 110 rotates the arms 118 around their bases. Furthermore, the rotation axis of the arms 118 is parallel to the left-right direction of the unmanned transport vehicle 110.

[0443] First, such as Figure 30A As shown in (1), the unmanned transporter 110 travels along the pair of guide rails 7d with the two right wheels 113 on the right guide rail 7d and the two left wheels 113 on the left guide rail 7d. At this time, the unmanned transporter 110 lowers the two wheels 119, but when transferring from the pair of guide rails 7d to guide rail 7u, the two wheels 119 are raised by rotating the two arms 118 in advance.

[0444] Next, as Figure 30A As shown in (2), the unmanned transport vehicle 110 approaches the guide rail 7u, which is positioned above the pair of guide rails 7d. Furthermore, when viewed from above, the guide rail 7u and the pair of guide rails 7d are parallel to each other. Additionally, at this time, the end of the guide rail 7u is located lower than the two wheels 119. The first guide rail portion, including the end of the guide rail 7u, is located at the lowest position of the guide rail 7u; the second guide rail portion, continuing from the first guide rail portion, is located at a higher position than the first guide rail portion; and the third guide rail portion, continuing from the second guide rail portion, is located at a higher position than the second guide rail portion. That is, the guide rail 7u is configured such that the three guide rail portions at different heights are connected sequentially via inclined sections, starting from the lowest guide rail portion.

[0445] Next, as Figure 30AAs shown in (3), the unmanned transporter 110 moves along with the rotation of the four wheels 113, with two wheels 119 mounted on the guide rail 7u. At this time, for example, the two wheels 119 are mounted on the second guide rail portion of the guide rail 7u as described above. And, the unmanned transporter 110 moves by the rotation of the two wheels 119 and the four wheels 113.

[0446] Next, as Figure 30B As shown in (4), when the unmanned transporter 110 travels further and the two wheels 119 are placed on the third guide rail section via the inclined portion of the guide rail 7u, the four wheels 113 leave the pair of guide rails 7d. Furthermore, when the unmanned transporter 110 travels by rotating the two wheels 119, as... Figure 30B As shown in (5), the unmanned transporter 110 passes through the ends of a pair of guide rails 7d. Thus, the transfer from the pair of guide rails 7d to the guide rail 7u by the unmanned transporter 110 is completed.

[0447] Here, as described above, the guide rail 7u includes a first guide rail portion, a second guide rail portion, and a third guide rail portion, but the third guide rail portion may not be included. That is, the guide rail 7u is configured such that the guide rail portion located at a lower position and the guide rail portion located at a higher position are connected via an inclined portion. In this case, the unmanned transporter 110 can also perform... Figure 30C The actions shown in (4-1) and (5-1) are used to replace Figure 30A The actions shown in (4) and (5). That is, the unmanned transporter 110 in Figure 30A After the state shown in (3), as Figure 30C As shown in (4-1), the two wheels 119 are lowered by driving the two arms 118 in a manner that separates them from each other. For example, the unmanned transporter 110 lowers the two wheels 119 by tilting the two arms 118 at a 45-degree angle from the vertical direction in the forward-backward direction. As a result, the four wheels 113 of the unmanned transporter 110 are lifted from a pair of guide rails 7d. Then, as... Figure 30C As shown in (5-1), when the unmanned transporter 110 moves by rotating two wheels 119, the unmanned transporter 110 passes the ends of a pair of guide rails 7d. Then, as Figure 30C As shown in (6), the unmanned transporter 110 raises its two wheels 119 by rotating its two arms 118. That is, the unmanned transporter 110 raises the front ends of its two arms 118 in the vertical direction. As a result, the housing 111 of the unmanned transporter 110 moves away from the guide rail 7u by the length of the arms 118.

[0448] Next, the unmanned transporter 110 transfers from guide rail 7u to a pair of guide rails 7d. For example, at this time, as... Figure 30DAs shown in (7), the unmanned transport vehicle 110 moves along a pair of guide rails 7d while rotating its two wheels 119. Each pair of guide rails 7d has a first guide rail portion including a starting end, a second guide rail portion connected to the first portion, and a third guide rail portion connected to the second portion via an inclined portion. The first guide rail portion is inclined. That is, the first guide rail portion is formed to be higher towards the end end from the starting end.

[0449] When the unmanned transporter 110 moves along with the rotation of its two wheels 119, and the wheel 113 comes into contact with the first guide rail portion of the guide rail 7d, as... Figure 30D As shown in (8), the wheel 113 is tilted upward by the first guide rail portion of the guide rail 7d and placed on the second guide rail portion. Furthermore, when the unmanned transporter 110 travels by the rotation of the four wheels 113, as... Figure 30E As shown in (9), the four wheels 113 are pushed upward by the inclined portion of the guide rail 7d and placed on the third guide rail section. At this time, the two wheels 119 float up from the guide rail 7u.

[0450] Next, as Figure 30E As shown in (10), when the unmanned transporter 110 moves by rotating its four wheels 113, it passes the end of the guide rail 7u. Thus, the transfer of the unmanned transporter 110 from the guide rail 7u to a pair of guide rails 7d is completed.

[0451] like Figure 30A As shown in (1) and (2), the unmanned transporter 110 in this embodiment includes: a first arm 118F and a second arm 118R, each connected to a housing 111; a third wheel 119F connected to the front end of the first arm 118F; a fourth wheel 119R connected to the front end of the second arm 118R; and at least one actuator that drives the first arm 118F and the second arm 118R. Furthermore, the first arm 118F is one of the two arms 118, and the second arm 118R is the other of the two arms 118. Similarly, the third wheel 119F is one of the two wheels 119, and the fourth wheel 119R is the other of the two wheels 119. Additionally, the number of first wheels 113L and second wheels 113R provided on the housing 111 is two or more. Furthermore, the first arm 118F and the second arm 118R switch between the first arm state and the second arm state via the drive of at least one of the aforementioned actuators. For example... Figure 30A As shown in (2), in the first arm configuration, the third wheel 119F and the fourth wheel 119R are positioned above the first wheel 113L and the second wheel 113R in the first position. Furthermore, as... Figure 30AAs shown in (1), in the second arm position, the third wheel 119F and the fourth wheel 119R are located in the second position, which is lower than the first position.

[0452] Therefore, by switching the states of the first arm 118F and the second arm 118R, the unmanned transporter 110, which travels along the first guide rail 7L and the second guide rail 7R, can be transferred to the third guide rail, i.e., guide rail 7u. Furthermore, the first guide rail 7L and the second guide rail 7R constitute... Figure 30A A pair of guide rails 7d. That is, it is possible to switch from a state in which the first wheel 113L travels on the first guide rail 7L and the second wheel 113R travels on the second guide rail 7R to a state in which the third wheel 119F and the fourth wheel 119R travel on the guide rail 7u.

[0453] Furthermore, the unmanned transporter 110 in this embodiment includes a controller. This controller can be configured as a processor or CPU (Central Processing Unit), or it can perform the following actions by reading and executing a computer program stored in a recording medium such as memory. For example, the first wheel 113L and the second wheel 113R travel from the first section toward the second section on the first guide rail 7L and the second guide rail 7R (i.e., on a pair of guide rails 7d), respectively. Here, as... Figure 30A As shown in (1), there is no guide rail 7u located above the first guide rail 7L and the second guide rail 7R in the first interval. Furthermore, as... Figure 30A As shown in (3), a guide rail 7u exists above the first guide rail 7L and the second guide rail 7R in the second interval. In this case, as Figure 30A As shown in (1), when the first wheel 113L and the second wheel 113R are in the first interval, the controller controls at least one actuator, thereby causing the first arm 118F and the second arm 118R to change from the second arm state to the first arm state. Thus, as Figure 30A As shown in (2) and (3), when the guide rail 7u is below the third wheel 119F and the fourth wheel 119R, the controller causes the third wheel 119F and the fourth wheel 119R to travel on the guide rail 7u.

[0454] Thus, the unmanned transporter 110 can be appropriately transferred from a pair of guide rails 7d, namely the first guide rail 7L and the second guide rail 7R, to the guide rail 7u, namely the third guide rail, which is located above these guide rails.

[0455] In addition, in this embodiment, such as Figure 30CAs in (4-1) and (5-1), the first arm 118F and the second arm 118R are further switched to the third arm state by the drive of at least one actuator. In the third arm state, the third wheel 119F and the fourth wheel 119R are located in a third position, which is lower than the first position and higher than the second position. For example, after the first arm 118F and the second arm 118R are changed from the second arm state to the first arm state and the third wheel 119F and the fourth wheel 119R are traveling on the guide rail 7u, the controller controls at least one actuator, thereby changing the first arm 118F and the second arm 118R from the first arm state to the third arm state.

[0456] This allows the first wheel 113L and the second wheel 113R to be lifted from a pair of guide rails 7d, namely the first guide rail 7L and the second guide rail 7R. That is, it allows the unmanned transporter 110 to be properly transferred from the pair of guide rails 7d, namely the first guide rail 7L and the second guide rail 7R, to the guide rail 7u, namely the third guide rail.

[0457] In addition, in this embodiment, such as Figure 30E As shown in (9) and (10), the first wheel 113L and the second wheel 113R travel on the first guide rail 7L and the second guide rail 7R respectively (i.e., on a pair of guide rails 7d), while the third wheel 119F and the fourth wheel 119R disengage from the guide rail 7u. Then, the controller controls at least one actuator, thereby... Figure 30A As shown in (1), the first arm 118F and the second arm 118R are changed from the first arm state to the second arm state.

[0458] Thus, the unmanned transporter 110 can be properly transferred from guide rail 7u, i.e., the third guide rail, to a pair of guide rails 7d, i.e., the first guide rail 7L and the second guide rail 7R.

[0459] In addition, such as Figures 30A to 30E As shown, the unmanned transport vehicle 110 in this embodiment is a transport vehicle having at least one wheel 119 and at least two wheels 113. Wheel 119 may also be referred to as the first wheel, and wheel 113 may also be referred to as the second wheel. At least one wheel 119 is used to travel on a guide rail 7u, which is located outside the first building, for the transport vehicle to travel outdoors. Guide rail 7u may also be referred to as the first guide rail. Furthermore, at least two wheels 113 are used to travel on a pair of guide rails 7d, which are located inside the first building, for the transport vehicle to travel indoors. Guide rails 7d may also be referred to as the second guide rail.

[0460] Thus, the unmanned transport vehicle 110, by having at least one wheel 119 and at least two wheels 113, is able to travel along guide rail 7u and also along a pair of guide rails 7d. That is, the unmanned transport vehicle 110 can move freely both indoors and outdoors in Building 1.

[0461] Furthermore, the unmanned transporter 110 in this embodiment is configured to switch between a first driving mode for at least one wheel 119 to travel on a guide rail 7u and a second driving mode for at least two wheels 113 to travel on a pair of guide rails 7d.

[0462] Thus, by switching between the first driving mode and the second driving mode, the unmanned transporter 110 can move between the guide rail 7u and a pair of guide rails 7d.

[0463] In this embodiment, the guide rail structure includes: a pair of guide rails 7d disposed inside the first building for the unmanned transport vehicle 110 to travel indoors; and a guide rail 7u located outside the first building for the unmanned transport vehicle 110 to travel outdoors. Furthermore, the guide rail structure includes a first area for the unmanned transport vehicle 110 to transfer from guide rail 7u to the pair of guide rails 7d or from the pair of guide rails 7d to the first guide rail 7u. The first area is, for example, a... Figure 30A The area shown in (3) or Figure 30D The area shown in (8).

[0464] Therefore, it is possible to easily transfer between guide rails based on the unmanned transporter 110.

[0465] In addition, in this embodiment, when the first region is viewed from above in the vertical direction, the guide rail 7u is located between a pair of guide rails 7d.

[0466] Thus, the unmanned transporter 110 can be stably transferred to the guide rail 7u.

[0467] In addition, in this embodiment, such as Figure 30A As shown in (3), when viewing the first region horizontally, guide rail 7u is located above a pair of guide rails 7d. Furthermore, when viewing the first region horizontally, there exists a first part where the distance between guide rail 7u and the pair of guide rails 7d increases towards the first direction. Here, the first direction is the direction in which the unmanned transporter 110 moves from the interior of the first building to the exterior of the first building. Figure 30A In example (3), the first direction is the direction indicated by the arrow.

[0468] Therefore, it is possible to suppress the active movement of the unmanned transporter 110 and properly transfer the unmanned transporter 110 from a pair of guide rails 7d to guide rail 7u.

[0469] In addition, in this embodiment, such as Figure 30A As shown in (3), in the first part, the higher the guide rail 7u is from the ground, the more it is towards the first direction.

[0470] Thus, the unmanned transporter 110 can be properly transferred from a pair of guide rails 7d to guide rail 7u with a simple structure.

[0471] In addition, in this embodiment, such as Figure 30D As shown in (8), in the first part, the closer to the second direction, the higher the height of the pair of guide rails 7d above the ground. Here, the second direction is the direction in which the unmanned transporter 110 moves from the outside of the first building to the inside of the first building. Figure 30D In example (8), the second direction is the direction indicated by the arrow.

[0472] Therefore, it is possible to suppress the active movement of the unmanned transporter 110 and properly transfer the unmanned transporter 110 from the guide rail 7u to a pair of guide rails 7d.

[0473] Figure 31 This is an example diagram showing an unmanned transport vehicle 110 entering building A from the outside. Furthermore, Figure 31 (A) shows what Building A and the drone 110 look like from above. Figure 31 (B) shows the view of Building A and the unmanned transporter 110 from a horizontal perspective. Additionally, in Figure 31 The image shows a cross-section of building A. Additionally, Figure 31 An example is shown where the unmanned transporter 110 passes through position (a), position (b), and position (c) in sequence.

[0474] exist Figure 31 In the example, guide rail 7u is installed in the third-floor space 13 of building A in a horizontal direction, and a pair of guide rails 7d are installed below guide rail 7u in the third-floor space 13 of building A. Specifically, guide rail 7u is installed in a straight line through openings A1 and A2 of building A. On the other hand, as... Figure 31 As shown in (A), a pair of guide rails 7d are arranged along the guide rails 7u from the opening A1 to the position (c) inside the building A, but when viewed from the direction from the opening A1 toward the opening A2, the pair of guide rails 7d are bent to the left in the horizontal direction inside the building A.

[0475] The unmanned transport vehicle 110 enters building A from the outside through opening A1 along guide rail 7u. At this time, the unmanned transport vehicle 110 is in a state where the front ends of its two arms 118 are raised vertically, placing its two wheels 119 on guide rail 7u. The unmanned transport vehicle 110 moves in this state by rotating the two wheels 119.

[0476] When the unmanned transport vehicle 110 enters and moves into building A, its four wheels 113 are positioned above a pair of guide rails 7d. As the unmanned transport vehicle 110 moves, the height of the pair of guide rails 7d located below the four wheels 113 increases. As a result, as... Figure 31 As shown in (B), in position (a), four wheels 113 are mounted on a pair of guide rails 7d, and two wheels 119 are displaced upwards from the pair of guide rails 7d. Thus, the unmanned transporter 110 travels along the pair of guide rails 7d by the rotation of the four wheels 113.

[0477] Here, as Figure 31 As shown in (A), viewed from the direction of travel of the unmanned transporter 110, the portion of the pair of guide rails 7d located at position (b) is shifted to the left, for example, by about 10 cm, compared to the portion of the pair of guide rails 7d located at position (a). Therefore, during the period when the unmanned transporter 110 passes position (a) and moves towards position (b), the position of the unmanned transporter 110 shifts to the left. As a result, when the unmanned transporter 110 passes position (b), no guide rail 7u is positioned below the two wheels 119. Therefore, when the unmanned transporter 110 passes position (b) and moves towards position (c), the two arms 118 can be rotated in such a way that the front ends of the two arms 118 are lowered, thereby lowering the two wheels 119.

[0478] Then, as Figure 31 As shown in (A), the unmanned transporter 110 travels while bending to the left along a pair of guide rails 7d.

[0479] Figure 32 These are other examples illustrating how the unmanned transport vehicle 110 enters building A from the outside. Furthermore, Figure 32 (A) shows what Building A and the drone 110 look like from above. Figure 32 (B) shows the view of Building A and the unmanned transporter 110 from a horizontal perspective. Additionally, in Figure 32 The image shows a cross-section of building A. Additionally, in... Figure 32 In the example, guide rail 7u and a pair of guide rails 7d are used with Figure 31 The example has the same form configuration. Additionally, Figure 32An example is shown where the unmanned transporter 110 passes through position (a), position (c), and position (d) in sequence.

[0480] The unmanned transport vehicle 110 is positioned outside building A with its two arms 118 raised vertically, each front end of which carries two wheels 119 on guide rail 7u. In this configuration, the unmanned transport vehicle 110 moves by rotating the wheels 119. Here, the unmanned transport vehicle 110 enters building A from the outside via opening A1 along guide rail 7u. At this time, the unmanned transport vehicle 110 rotates its two arms 118 at approximately a 45° angle from vertical in the forward and backward directions. As a result, the housing 111 of the unmanned transport vehicle 110 approaches guide rail 7u, increasing its height above the ground.

[0481] Furthermore, when the unmanned transport vehicle 110 enters and moves into building A, its four wheels 113 are positioned above a pair of guide rails 7d. As the unmanned transport vehicle 110 moves, the height of the pair of guide rails 7d located below the four wheels 113 increases. However, in Figure 32 In the example, with Figure 31 Unlike the previous example, the housing 111 of the unmanned transport vehicle 110 is located near the guide rail 7u and at a height above the ground. Therefore, even when the unmanned transport vehicle 110 passes through positions (a) and (c), the four wheels 113 will not be placed on the pair of guide rails 7d. That is, the unmanned transport vehicle 110 will not transfer from the guide rail 7u to the pair of guide rails 7d. As a result, the unmanned transport vehicle 110 continues to travel along the guide rail 7u and passes through position (d). There is no pair of guide rails 7d below the unmanned transport vehicle 110. Therefore, when the unmanned transport vehicle 110 passes through position (d), the two arms 118 each raise their respective front ends in a vertical direction, thereby rotating the two arms 118. Then, the unmanned transport vehicle 110 continues to travel along the guide rail 7u and exits from building A to the outside.

[0482] Thus, the guide rail structure in this embodiment includes a guide rail 7d and a guide rail 7u located above the guide rail 7d. Guide rail 7d is also referred to as the first guide rail, and guide rail 7u is also referred to as the second guide rail. Figure 31 and Figure 32As shown, when regions existing sequentially along the direction extending from guide rail 7u are defined as region 1, region 2, region 3, and region 4, guide rail 7d exists in regions 2 and 3. Furthermore, region 2 includes a first ramp region, the distance between guide rail 7d and guide rail 7u in the height direction narrows as it moves away from region 1. Guide rail 7d includes a first portion, and in region 3, when viewed from above in the vertical direction, the distance between the first portion and guide rail 7u increases as it moves away from region 2.

[0483] Therefore, since region 2 includes region 1 (slope 1), thus... Figure 31 As shown, the unmanned transporter 110 can easily transfer from guide rail 7u to guide rail 7d. Furthermore, since the guide rail 7d includes the first part, the unmanned transporter 110 can easily leave the guide rail 7u in the horizontal direction by traveling along the guide rail 7d.

[0484] In the first slope region, guide rail 7d is inclined relative to the horizontal direction, and guide rail 7u is along the horizontal direction.

[0485] Thus, the unmanned transporter 110 can move along the guide rail 7u while its four wheels 113 move as if... Figure 31 As shown, it is close to guide rail 7d, and can be easily transferred from guide rail 7u to guide rail 7d.

[0486] In addition, such as Figure 31 As shown, the first part includes a first shifting portion that moves horizontally away from the guide rail 7u as it moves away from the second region and connects with the first parallel portion of the guide rail 7d. In the third region, the first parallel portion is parallel to the guide rail 7u.

[0487] Thus, the first part of the guide rail 7d includes the first displacement part, so the unmanned transporter 110 traveling along the guide rail 7d can easily leave the guide rail 7u in the horizontal direction.

[0488] In addition, such as Figure 31 As shown, the first part includes a first curved section, which has a shape that bends in the horizontal direction, changing the travel direction of the guide rail 7d.

[0489] Therefore, the first part of the guide rail 7d includes the first curve section, so the unmanned transporter 110 traveling along the first curve section can easily change its direction of travel without stopping.

[0490] Figure 33 These are other examples illustrating how the unmanned transport vehicle 110 enters building A from the outside. Furthermore, Figure 33 (A) shows what Building A and the drone 110 look like from above. Figure 33(B) shows the view of Building A and the unmanned transporter 110 from a horizontal perspective. Additionally, in Figure 33 The image shows a cross-section of building A. Additionally, Figure 33 Examples of unmanned transport vehicles 110 passing through positions (a), (b), (c), (d), and (e) in sequence are shown.

[0491] exist Figure 33 In the example, with Figure 31 and Figure 32 Similarly, guide rail 7u is installed in the third-floor space 13 of building A in a manner that extends horizontally through building A. Additionally, in Figure 33 In the example, a pair of guide rails 7da and a pair of guide rails 7db are respectively arranged as a pair of guide rails 7d in the third-floor space 13 of building A. The pair of guide rails 7da are arranged on the opening A1 side of the third-floor space 13, and the pair of guide rails 7db are arranged on the opening A2 side of the third-floor space 13. Additionally, as... Figure 33 As shown in (A), a pair of guide rails 7da are arranged along guide rail 7u from the opening A1 to the position (b) inside the building A, but when viewed from the direction from the opening A1 towards the opening A2, the pair of guide rails 7da bends to the left in the horizontal direction inside the building A. On the other hand, a pair of guide rails 7db are arranged along guide rail 7u from the center of the building A to the position (e) inside the building A, but when viewed from the direction from the opening A1 towards the opening A2, the pair of guide rails 7db bends to the right in the horizontal direction inside the building A. In addition, the portions of each pair of guide rails 7da and the pair of guide rails 7db on the opening A1 side are located at a lower position than the other portions.

[0492] The unmanned transport vehicle 110 enters building A from the outside through opening A1 along guide rail 7u. At this time, the unmanned transport vehicle 110 places its two wheels 119 on guide rail 7u while tilting its two arms 118 at approximately 45° forward and backward from the vertical direction. As a result, the housing 111 of the unmanned transport vehicle 110 is close to guide rail 7u, positioned at a height above the ground. Consequently, after entering building A, the unmanned transport vehicle 110 continues to travel along guide rail 7u, and even when passing through positions (a) and (b), its four wheels 113 do not rest on the pair of guide rails 7d. That is, the unmanned transport vehicle 110 does not transfer from guide rail 7u to the pair of guide rails 7d.

[0493] Furthermore, when the unmanned transport vehicle 110 is traveling in the center of building A, a pair of guide rails 7db are located below the four wheels 113. At this time, the two arms 118 each raise their respective front ends in a vertical direction, thereby causing the unmanned transport vehicle 110 to rotate the two arms 118. As a result, the distance between the guide rails 7u and the housing 111 of the unmanned transport vehicle 110 widens, and the height of the housing 111 above the ground decreases. Consequently, when the unmanned transport vehicle 110 passes position (c), the four wheels 113 of the unmanned transport vehicle 110 are placed on the pair of guide rails 7db, and the two wheels 119 move upward away from the guide rails 7u. Furthermore, the unmanned transport vehicle 110 begins to travel along the pair of guide rails 7db by rotating the four wheels 113, and deviates to the left during the journey from position (c) to position (d). As a result, when the unmanned transport vehicle 110 passes position (d), the guide rails 7u are not positioned below the two wheels 119. Therefore, when the unmanned transporter 110 passes through position (d) and moves toward position (e), it can lower the two wheels 119 by rotating the arm 118.

[0494] Then, as Figure 33 As shown in (A), the unmanned transporter 110 travels while bending to the right along a pair of guide rails 7db.

[0495] Thus, the guide rail structure in this embodiment includes guide rail 7da, guide rail 7db, and guide rail 7u located above guide rail 7da and guide rail 7db. Guide rail 7da, guide rail 7db, and guide rail 7u are also referred to as the first lower guide rail, the second lower guide rail, and the upper guide rail, respectively. When regions existing sequentially along the direction extending from guide rail 7u are defined as the first region, the second region, the third region, the fourth region, and the fifth region, guide rail 7da exists in the second and third regions, and guide rail 7db exists in the fourth and fifth regions. The second region includes a first ramp region, the distance between guide rail 7da and guide rail 7u in the height direction narrows as it moves away from the first region. Guide rail 7da includes a first portion, and in the third region, when viewed from a vertical direction, the distance between the first portion and guide rail 7u increases as it moves away from the second region. The fourth region includes a second ramp region, the distance between guide rail 7db and guide rail 7u in the height direction narrows as it moves away from the third region. The guide rail 7db includes a second part in the fifth region. When viewed from above in the vertical direction, the distance between the second part and the guide rail 7u increases as the second part moves away from the fourth region.

[0496] Therefore, since region 2 includes region 1 (slope 1), thus... Figure 33As shown, the unmanned transport vehicle 110 can easily transfer from guide rail 7u to guide rail 7da. Furthermore, since guide rail 7da includes the first section, the unmanned transport vehicle 110 can easily leave guide rail 7u horizontally by traveling along guide rail 7da. Similarly, since the fourth region includes the second ramp region, therefore... Figure 33 As shown, the unmanned transporter 110 can easily move from guide rail 7u to guide rail 7db. Furthermore, since the guide rail 7db includes the second part, the unmanned transporter 110 can easily leave the guide rail 7u in the horizontal direction by traveling along the guide rail 7db.

[0497] Additionally, in the first ramp region, guide rail 7da is inclined relative to the horizontal direction, while guide rail 7u is along the horizontal direction. In the second ramp region, guide rail 7db is inclined relative to the horizontal direction, while guide rail 7u is along the horizontal direction.

[0498] Thus, the unmanned transporter 110 can move along the guide rail 7u while its four wheels 113 move as if... Figure 33 As shown, the unmanned transporter 110 can easily move from guide rail 7u to guide rail 7da by approaching guide rail 7da. Similarly, the unmanned transporter 110 can move along guide rail 7u while its four wheels 113 are positioned as shown. Figure 33 As shown, it is close to guide rail 7db, and can be easily transferred from guide rail 7u to guide rail 7db.

[0499] Additionally, the first part includes a first shifting portion that horizontally moves away from the guide rail 7u as it moves away from the second region and connects to the first parallel portion of the guide rail 7da. In the third region, the first parallel portion is parallel to the guide rail 7u. The second part includes a second shifting portion that horizontally moves away from the guide rail 7u as it moves away from the fourth region and connects to the second parallel portion of the guide rail 7db. In the fifth region, the second parallel portion is parallel to the guide rail 7u.

[0500] Therefore, the first part of guide rail 7da includes a first displacement portion, so the unmanned transporter 110 traveling along guide rail 7da can easily leave guide rail 7u in the horizontal direction. Similarly, the first part of guide rail 7db includes a second displacement portion, so the unmanned transporter 110 traveling along guide rail 7db can easily leave guide rail 7u in the horizontal direction.

[0501] Part 1 includes a first bend section, which has a shape that bends in the horizontal direction, changing the travel direction of guide rail 7da. Part 2 includes a second bend section, which has a shape that bends in the horizontal direction, changing the travel direction of guide rail 7db.

[0502] Therefore, the first section of guide rail 7da includes a first curve section, so the unmanned transporter 110 traveling along the first curve section can easily change its direction of travel without stopping. Similarly, the second section of guide rail 7db includes a second curve section, so the unmanned transporter 110 traveling along the second curve section can easily change its direction of travel without stopping.

[0503] Figure 34 These are other examples illustrating how the unmanned transport vehicle 110 enters building A from the outside. Furthermore, Figure 34 (A) shows what Building A and the drone 110 look like when viewed horizontally. Figure 34 (B) shows the view of Building A and the drone 110 from above. Additionally, in Figure 34 The image shows a cross-section of building A. Additionally, Figure 34 Examples of unmanned transport vehicles 110 passing through positions (a), (b), (c), (d), and (e) in sequence are shown.

[0504] exist Figure 34 In this example, a pair of guide rails 7dc and a pair of guide rails 7dd are arranged horizontally through the third floor space 13 of building A, while a pair of guide rails 7de are arranged on the exterior of building A. Furthermore, the pair of guide rails 7dc, 7dd, and 7de are each a pair of guide rails 7d that carry the wheels 113. That is, three pairs of guide rails 7d are provided. Guide rail 7u is arranged above the three pairs of guide rails 7d.

[0505] Specifically, the guide rails 7d included in the pair of guide rails 7dc and the pair of guide rails 7dd are arranged approximately parallel to each other on a straight line through openings A1 and A2 of building A. Additionally, as... Figure 34 As shown in (B), a pair of guide rails 7de are arranged to extend outward from opening A3 of building A. In addition, there are ceiling beams 22ab above openings A1, A2 and A3.

[0506] like Figure 34 As shown in (B), the guide rail 7u has: a first side end along a pair of guide rails 7dc; a central portion spanning a pair of guide rails 7dd; and a second side end penetrating the opening A3. The first side end is configured such that its height from the ground increases as it moves from the end at the opening A1 towards the central portion. The second side end is configured such that its height from the ground decreases as it moves from its central portion towards the opening A3. Furthermore, a pair of guide rails 7de are disposed below the portion of the second side end located outside the building A. Additionally, viewed from the direction from the opening A2 towards the opening A1, the central portion of the first side end and its central portion are configured to curve to the right in the horizontal direction.

[0507] The unmanned transport vehicle 110 travels along a pair of guide rails 7dc by rotating its four wheels 113 and enters building A through opening A2. Upon reaching position (a), the unmanned transport vehicle 110 raises the front ends of its two arms 118 in a vertical direction. Then, the unmanned transport vehicle 110, by rotating its four wheels 113, places two wheels 119 on the first side end of guide rail 7u, located above the pair of guide rails 7dc. As a result, the unmanned transport vehicle 110 travels along the first side end of guide rail 7u by rotating its two wheels 119. That is, the unmanned transport vehicle 110 moves from the pair of guide rails 7dc to the first side end of guide rail 7u. At this time, as described above, the first side end is shaped such that its height from the ground increases as it moves from the end on the opening A1 side towards the central portion. Therefore, the four wheels 113 of the unmanned transport vehicle 110 move upwards from the pair of guide rails 7dc. Then, the unmanned transport vehicle 110 travels from position (b) along the guide rail 7u, curving to the right, and passes through the central portion of the guide rail 7u, i.e., position (c). Here, the central portion of the guide rail 7u is located at a height above the ground. That is, the central portion of the guide rail 7u is sufficiently far away in the vertical direction from the pair of guide rails 7dd located directly below it. Therefore, when the unmanned transport vehicle 110 passes through position (c), even assuming that other unmanned transport vehicles 110 travel along the pair of guide rails 7dd and come directly below the unmanned transport vehicle 110, the vertical distance between the unmanned transport vehicle 110 and the other unmanned transport vehicles 110 can be ensured to be a distance d (d is, for example, 1 cm or more).

[0508] The unmanned transport vehicle 110 travels along guide rail 7u from the central portion toward the second side end while descending, and reaches its second side end (e.g., position (d)). At this time, a pair of guide rails 7de are arranged below the four wheels 113 of the unmanned transport vehicle 110. And, by descending along the guide rail 7u accompanying the travel of the unmanned transport vehicle 110, at position (e), the four wheels 113 are placed on the pair of guide rails 7de. Then, the unmanned transport vehicle 110 travels along the pair of guide rails 7de by the rotation of the four wheels 113. As a result, the unmanned transport vehicle 110 transfers from guide rail 7u to the pair of guide rails 7de.

[0509] Figure 35 These are other examples illustrating how the unmanned transport vehicle 110 enters building A from the outside. Furthermore, Figure 35 (A) shows what Building A and the drone 110 look like when viewed horizontally. Figure 35 (B) shows the view of Building A and the drone 110 from above. Additionally, in Figure 35 The image shows a cross-section of building A. Additionally, in... Figure 35In the example, rail 7u, a pair of rails 7dc, a pair of rails 7dd, and a pair of rails 7de are connected to... Figure 34 The example has the same form configuration.

[0510] The unmanned transport vehicle 110 travels along a pair of guide rails 7dc by the rotation of its four wheels 113 and enters building A through opening A2. Figure 34 In the example, the unmanned transporter 110 raises the front ends of each of its two arms 118. However, in Figure 35 In this example, the unmanned transport vehicle 110 does not raise the front ends of its two arms 118. As a result, the unmanned transport vehicle 110 continues to travel along a pair of guide rails 7dc in the space 13 on the third floor of building A. That is, the unmanned transport vehicle 110 does not transfer along the guide rails but continues to travel along the pair of guide rails 7dc.

[0511] Thus, the guide rail structure in this embodiment includes a guide rail 7d and a guide rail 7u located above the guide rail 7d. Guide rail 7d is also referred to as the first guide rail, and guide rail 7u is also referred to as the second guide rail. Figure 34 As shown, when regions existing sequentially along the direction extending from guide rail 7d are defined as region 1 and region 2, guide rail 7u exists in region 2. Region 2 includes a ramp region, whose distance in the height direction between guide rail 7d and guide rail 7u widens as it moves away from region 1. Guide rail 7u includes a first portion, and in region 2, when viewed from above in the vertical direction, the distance between the first portion and guide rail 7d increases as it moves away from region 1.

[0512] Therefore, since region 2 includes a slope area, thus... Figure 34 As shown, the unmanned transport vehicle 110 can easily transfer from guide rail 7d to guide rail 7u. Furthermore, since the guide rail 7u includes the first part, the unmanned transport vehicle 110 can easily leave the guide rail 7d in the horizontal direction by traveling along the guide rail 7u.

[0513] Additionally, in the slope region, guide rail 7d is along the horizontal direction, while guide rail 7u is inclined relative to the horizontal direction.

[0514] Thus, the unmanned transporter 110 travels along the guide rail 7d while simultaneously moving its two wheels 119 as... Figure 34 As shown, the machine is placed on guide rail 7u and rotated, thereby allowing the four wheels 113 to disengage from guide rail 7d. As a result, the unmanned transporter 110 can be easily transferred from guide rail 7u to guide rail 7d.

[0515] Additionally, the first part includes a curved section that has a shape that bends in the horizontal direction, changing the travel direction of the guide rail 7u.

[0516] Therefore, the first part of the guide rail 7u includes a curved section, so the unmanned transporter 110 traveling along the curved section can easily change its direction of travel without stopping.

[0517] Furthermore, the unmanned transporter 110 in this embodiment includes: a housing 111; wheels 113 disposed on the housing 111; an arm 118, the first end of which is connected to the housing 111; at least one actuator that drives the arm 118; and wheels 119 connected to the second end of the arm 118. The arm 118 is referred to as the first arm, the first end of the arm 118 as the base, and the second end of the arm 118 as the front end. The wheels 113 and 119 can also be referred to as the first wheel and the second wheel, respectively. The wheel 113 travels on the guide rail 7d, and the wheel 119 travels on the guide rail 7u located above the guide rail 7d. The arm 118 switches between the first arm state and the second arm state by being driven by at least one actuator. Figure 31 As shown in (B), in the first arm configuration, wheel 119 is located in a first position above wheel 113. Furthermore, in the second arm configuration, wheel 119 is located in a second position below the first position.

[0518] Thus, by switching the arm 118 between the first arm state and the second arm state, the unmanned transporter 110 can move from the guide rail 7d to the guide rail 7u, and conversely, it can move from the guide rail 7u to the guide rail 7d.

[0519] Furthermore, arm 118 is further switched to the third arm state by being driven by at least one actuator. For example... Figure 32 As shown in (B), in the third arm configuration, wheel 119 is located in the third position, which is lower than the first position and higher than the second position. Furthermore, the first, second, and third positions are vertical positions relative to wheel 113.

[0520] Therefore, the unmanned transporter 110, as Figure 32 As shown, by positioning wheel 119 in the third position, wheel 113 can be lifted off guide rail 7d, thus preventing transfer from guide rail 7u to guide rail 7d.

[0521] In addition, such as Figure 31 As shown, when the arm 118 is in the first arm state and the wheel 119 is traveling on the guide rail 7u, if the wheel 113 travels on the guide rail 7d and the wheel 119 leaves the guide rail 7u, the arm 118 changes from the first arm state to the second arm state by the drive of at least one actuator.

[0522] Therefore, the unmanned transporter 110 can retract unused wheels 119 and can perform stable driving based on wheels 113.

[0523] In addition, such as Figure 32 and Figure 33 As shown, when the arm 118 is in the first arm state and the wheel 119 is traveling on the guide rail 7u, in order to prevent the wheel 113 from contacting the structure, the arm 118 changes from the first arm state to the third arm state by the drive of at least one actuator.

[0524] Thus, the unmanned transporter 110 can avoid contact with the structure (e.g., guide rail 7d) of the wheel 113 and can travel properly along the guide rail 7u.

[0525] In addition, such as Figure 32 As shown, when the arm 118 is in the first arm state and the wheel 119 is traveling on the guide rail 7u, in order to prevent the wheel 113 from contacting the structure, the arm 118 changes from the first arm state to the third arm state by the drive of at least one actuator, and then changes from the third arm state to the first arm state by the drive of at least one actuator.

[0526] Thus, the unmanned transporter 110 can travel along the guide rail 7u by crossing over structures.

[0527] Figure 36 The diagram shows other examples of the unmanned transporter 110.

[0528] Therefore, when the unmanned transporter 110 travels on curved sections of the guide rail 7u, especially on curves with sharp angles, the wheels 119 may derail. Figure 36In the example shown in (5-1), a rotating structure is provided that allows the wheel 119 to rotate in the direction along the guide rail 7u. The rotating structure can be any structure as long as the wheel 119 can rotate in the direction along the guide rail 7u. Furthermore, the rotating structure can be installed at the connection point between the arm 118 and the housing 111, or at the connection point between the arm 118 and the wheel 119. The rotating structure can also be provided for each arm 118. The rotating structure allows the direction in which the housing 111 extends to be different from the orientation of the front wheels 119Fa and 119Fb. The rotating structure allows the direction in which the housing 111 extends to be different from the orientation of the rear wheels 119Ra and 119Rb. The rotating structure allows the direction along the guide rail 7u of the front wheels 119Fa and 119Fb to be different from the direction along the guide rail 7u of the rear wheels 119Ra and 119Rb. That is, through the rotating structure, the front wheels 119Fa and 119Fb along the guide rail 7u can form an angle with the rear wheels 119Ra and 119Rb along the guide rail 7u. Therefore, when the unmanned transport vehicle 110 travels along a curve on the guide rail 7u, the front wheels 119Fa and 119Fb along the guide rail 7u and / or the rear wheels 119Ra and 119Rb along the guide rail 7u can change along the curve, thus reducing the possibility of wheel 119 derailing when the unmanned transport vehicle 110 travels along a curve on the guide rail 7u. Furthermore, the number of wheels 119 connected to one arm 118 can also be as follows... Figure 36 As in example (5-1), there are two wheels 119. By setting two wheels 119, compared to the case where there is only one wheel 119, the contact between the wheel 119 and the guide rail 7u can be made more stable. As a result, the possibility of the wheel 119 derailing can be further reduced.

[0529] Thus, as Figure 36As shown in (5-1), the unmanned transporter 110 in this embodiment includes: a housing 111; a first arm 118F, the first end e1 of which is connected to the housing 111; one or more wheels 119 connected to the second end e2 of the first arm 118F; a second arm 118R, the first end e1 of which is connected to the housing 111; and one or more wheels 119 connected to the second end e2 of the second arm 118R. Furthermore, the first arm 118F and the second arm 118R are also referred to as arm 118. Additionally, the one or more wheels 119 of the first arm 118F are also referred to as one or more first wheels, and the one or more wheels 119 of the second arm 118R are also referred to as one or more second wheels. Additionally, the unmanned transporter 110 includes: a rotating structure that changes the orientation of one or more first wheels and one or more second wheels; and at least one actuator that drives the first arm 118F, the second arm 118R, and the rotating structure. One or more first wheels of the first arm 118F are used to travel on the guide rail 7u, and one or more second wheels of the second arm 118R are used to travel on the guide rail 7u.

[0530] Therefore, the orientation of one or more first wheels and one or more second wheels can be changed via the rotating structure in accordance with the curve of the guide rail 7u on which the unmanned transporter 110 travels. As a result, the stability of the unmanned transporter 110 when traveling on curves can be improved.

[0531] Additionally, one or more first wheels include wheel 119Fa and wheel 119Fb. Furthermore, wheel 119Fa and wheel 119Fb are also referred to as the first first wheel and the second first wheel, respectively. Additionally, one or more second wheels include wheel 119Ra and wheel 119Rb. Furthermore, wheel 119Ra and wheel 119Rb are also referred to as the first second wheel and the second second wheel, respectively.

[0532] Therefore, since multiple wheels 119 are installed relative to one arm 118, the stability of the unmanned transporter 110 when traveling on curves can be further improved.

[0533] In addition, the rotating structure, based on the curvature of the bend in the guide rail 7u, causes the orientation of one or more first wheels to change to a different degree than that of one or more second wheels.

[0534] This further suppresses the possibility of more than one first wheel and more than one second wheel derailing from guide rail 7u.

[0535] Figure 37 This is a diagram illustrating an example of a structure including guide rail 7d in this embodiment. Specifically, Figure 37 This involves structures including fire door J2 and guide rail 7d.

[0536] exist Figure 37 In this design, a pair of guide rails 7d, namely movable guide rails 7xL and 7xR, are integrally installed relative to the fire door J2 and rotate together with the fire door J2. Therefore, even when it is necessary to close the fire door J2 during a fire, the guide rails 7d can be prevented from becoming an obstruction and preventing the fire door J2 from closing.

[0537] The following is about Figure 37 The structure is described below. The fire door J2 is rotatably connected to the fireproof wall J1. Movable guide rails 7xL and 7xR are connected to the fire door J2 via support ha. Furthermore, in... Figure 37 In the fireproof door J2, a counterweight hb is provided on the side opposite to the side containing the movable guide rails 7xL and 7xR to counteract the weight of the movable guide rails 7xL, 7xR, and the two support parts ha. Therefore, when the fireproof door J2 rotates relative to the fireproof wall J1, the movable guide rails 7xL, 7xR, the two support parts ha, and the counterweight hb rotate together with the fireproof door J2.

[0538] The fire door J2 can switch between an open and a closed state. In the open state, the movable guide rail 7xL is connected to guide rail 7L of the fixed pair of guide rails 7d, and the movable guide rail 7xR is connected to guide rail 7R of the fixed pair of guide rails 7d. Guide rails 7L and 7R are also referred to as fixed guide rails. Thus, the unmanned transport vehicle 110 can travel along guide rails 7d, passing through the frame of the fire door J2. Here, the movable guide rail 7xL and guide rail 7L are connected by engagement between a first protrusion g1 provided on the movable guide rail 7xL and a second protrusion g2 provided on the guide rail 7L.

[0539] Fire door J2 is kept open by stop J2a. Alternatively, fire door J2 can automatically close when stop J2a disengages. An elastic body such as a spring can also be used as a means of automatically closing fire door J2. For example, when stop J2a disengages, a contracted spring extends and presses against fire door J2, thereby closing fire door J2. When stop J2a disengages and fire door J2 begins to rotate, the connection between movable guide rail 7xL and guide rail 7L disengages. Furthermore, movable guide rails 7xR and 7R also change to the same shape as movable guide rails 7xL and 7L.

[0540] Thus, the structure in this embodiment includes: a fireproof wall J1, which is a wall; a fireproof door J2, which is a door that is rotatably connected to the fireproof wall J1; a support ha, which is connected to the fireproof door J2; and a movable guide rail 7xL or 7xR, which is connected to the support ha, for the unmanned transporter 110 to travel on, and rotates together with the fireproof door J2.

[0541] Therefore, since the movable guide rail 7xL or 7xR rotates together with the fire door J2, the movable guide rail 7xL or 7xR can be set to an appropriate state according to the shape of the fire door J2.

[0542] Furthermore, the structure can switch between the open state (door 1) and the closed state (door 2) of fire door J2. In the door 1 state, the movable guide rail 7xL or 7xR is connected to the fixed guide rail. In the door 2 state, the movable guide rail 7xL or 7xR is not connected to the fixed guide rail. The fixed guide rail is guide rail 7L or 7R.

[0543] Thus, by opening the fire door J2 to connect the movable guide rail 7xL or 7xR with the fixed guide rail, the unmanned transporter 110 can travel along the guide rail 7d, and the movable guide rail 7xL or 7xR can move together with the fire door J2 to properly close the fire door J2.

[0544] Furthermore, the structure has a stop J2a, which prevents the movement of the fire door J2 in order to maintain the first door state.

[0545] As a result, the first door state of fire door J2 is maintained, so the unmanned transporter 110 can safely travel along guide rail 7d.

[0546] The movable guide rail 7xL includes a first protrusion g1, and the fixed guide rail 7L includes a second protrusion g2. Furthermore, in the first door state, the first protrusion g1 and the second protrusion g2 are in contact, thereby connecting the movable guide rail 7xL and the guide rail 7L.

[0547] This stabilizes the connection between the movable guide rail 7xL and the guide rail 7L.

[0548] Furthermore, the fire door J2 has a first surface h1 and a second surface h2. Movable guide rails 7xL and 7xR and two support parts ha are provided on the first surface h1. In addition, the structure has a counterweight hb provided on the second surface h2.

[0549] Therefore, the weight of the first side h1 of the fire door J2 can be balanced with the weight of the second side h2 of the fire door J2, and the operation or state of the fire door J2 can be stabilized.

[0550] Figure 38 This is a diagram illustrating an example of the general structure of the unmanned transport vehicle, structure, and logistics system in the above embodiments.

[0551] like Figure 38As shown, the unmanned transport vehicle includes, for example, a control unit 120, a communication unit 130, and a drive unit 140. Furthermore, the unmanned transport vehicle can be either unmanned transport vehicle 100 or unmanned transport vehicle 110. The control unit 120, for example, includes a CPU or processor, which controls various processing actions of the unmanned transport vehicle by reading and executing programs stored in memory. Such a control unit 120 includes a motion controller 121, a gyroscope sensor 122, a GPS 123, and a speed sensor 124. The motion controller 121 performs processing actions to rotate wheels 103, 113, 119, etc., to move the unmanned transport vehicle. The gyroscope sensor 122 detects the acceleration, tilt, etc., of the unmanned transport vehicle; the GPS (Global Positioning System) sensor 123 detects the position of the unmanned transport vehicle; and the speed sensor 124 detects the speed of the unmanned transport vehicle. The motion controller 121 can also control the movement of the unmanned transport vehicle based on the detection results of these sensors. The communication unit 130 communicates with machines or equipment located outside the unmanned transport vehicle via wired or wireless means. Wireless communication can be conducted via Wi-Fi (registered trademark), Bluetooth (registered trademark), ZigBee (registered trademark), or specific low-power wireless, but is not limited to these. The drive unit 140 includes a battery 141, a motor 142, and a winch 143. The battery 141 supplies power for the unmanned transporter to move or for the communication unit 130 to communicate. The motor 142 is, for example, an actuator for driving the boom 118, wheels 119, wheels 113, rotating structures, etc. The unmanned transporter may also have multiple motors 142. The winch 143 may also be used as a winch 115.

[0552] Structure 400 is the aforementioned guide rail structure or structure, and may include, for example, a motor 401, a communication unit 402, and a control unit 403. The motor 401 may be a turntable rotation motor 38, or an actuator for opening and closing the aforementioned fire door J2. The communication unit 402, similar to the communication unit 130 of the unmanned transport vehicle, communicates with external machines or equipment via wired or wireless means. For example, the communication unit 402 may also communicate with the unmanned transport vehicle.

[0553] The logistics system 500 can be, for example, an office building delivery system Sy1, an apartment delivery system Sy2, a logistics system Sy3, a logistics system Sy4, etc. Such a logistics system 500 may include a control unit 501, a communication unit 502, an elevator 200, and a drive unit 503. The elevator 200 includes a motor 203 and a winch 204. The motor 203 may also be an actuator such as a guide rail lift 33 or a guide rail extension device 34 installed in the elevator 200. The winch 204 moves the elevator car 210 up and down by releasing or winding the car guide wire 202. The drive unit 503 may also be an actuator for moving guide rails installed in buildings or other structures. The communication unit 502, similar to the communication unit 130 of the unmanned transport vehicle, communicates with external machines or equipment of the logistics system 500 via wired or wireless means. For example, the communication unit 502 may also communicate with the unmanned transport vehicle. Additionally, the logistics system 500 may also include a structure 400.

[0554] (Implementation Method 8) The unmanned transporter 100 in embodiments 1 to 6 described above travels along one guide rail 7. On the other hand, the unmanned transporter 110 in embodiment 7 described above, like the unmanned transporter 110a in this embodiment, travels along two guide rails 7. The unmanned transporters 100 and 110 in embodiments 1 to 7 travel with the housing 111 positioned below the guide rail 7 or between the two guide rails 7. The unmanned transporter 110a in this embodiment travels with the housing 111 positioned on the two guide rails 7.

[0555] Figure 39A This is a diagram illustrating an example of the unmanned transporter 110a in embodiment 8 being applied to elevator 200. Figure 39A In (a), a pair of floor guide rails 31 and a pair of elevator guide rails 32 are shown in a state where they are not connected. Figure 39A (b) shows the state in which a pair of floor guide rails 31 are connected to a pair of elevator guide rails 32.

[0556] The office building delivery system Sy1 described in this embodiment is installed on the floors of the office building. The office building delivery system Sy1 includes an unmanned transport vehicle 110a and an elevator 200.

[0557] In this embodiment, the unmanned transport machine 110a is configured to be thinner in the vertical direction than the unmanned transport machines 100 and 110 described above, so that it can travel even in narrow spaces such as the third floor space 13. The unmanned transport machine 110a travels along a pair of floor guide rails 31 arranged parallel to each other on the horizontal plane. The unmanned transport machines 100, 110, and 110a are examples of transport machines.

[0558] Additionally, a pair of floor guide rails 31 are provided in the fourth floor space 13b, and a pair of elevator guide rails 32 are provided in the second elevator space 212. The unmanned transport vehicle 110a can travel along the pair of floor guide rails 31 or along the pair of elevator guide rails 32.

[0559] In the second elevator space 212, a second car door 232 is formed opposite to a pair of floor guide rails 31. Additionally, in the fourth floor space 13b, a second floor door 62 is formed opposite to a pair of floor guide rails 31. When the elevator car 210 of the elevator 200 reaches a designated floor, the second car door 232 is positioned opposite the second floor door 62. At this time, the height of the pair of elevator guide rails 32 is the same as the height of the pair of floor guide rails 31.

[0560] When the floor heights of different floors in a building are different, whenever the elevator car 210 reaches a designated floor, the height of the pair of elevator inner guide rails 32 is adjusted to match the height of the pair of floor inner guide rails 31. Alternatively, the aforementioned guide rail lift 33 can be used to match the height of the pair of elevator inner guide rails 32 to match the height of the pair of floor inner guide rails 31, or the aforementioned control unit 501 can control the elevator car 210 to match the height of the pair of elevator inner guide rails 32 to match the height of the pair of floor inner guide rails 31.

[0561] For example, the unmanned transport vehicle 110a has four wheels 113 disposed on an imaginary plane (e.g., a horizontal plane). Two of the four wheels 113 are mounted on one of a pair of floor guide rails 31, and the remaining two wheels 113 are mounted on the other floor guide rail 31. Furthermore, the four wheels 113 are disposed below the housing 111 of the unmanned transport vehicle 110a, thus the housing 111 of the unmanned transport vehicle 110a is disposed above the pair of floor guide rails 31. Here, in the system including the unmanned transport vehicle 110a and the guide rails 7, the sum of the thickness (height) L4 of the unmanned transport vehicle 110a and the thickness (height) L5 of a portion of the guide rail 7 in contact with the four wheels 113 of the unmanned transport vehicle 110a constitutes the height of the system described above.

[0562] Furthermore, in the following description, the left-right direction of the unmanned transporter 110a is along the direction of the axle of each of the four wheels 113, and the front-back direction of the unmanned transporter 110a is along the aforementioned plane on which the four wheels 113 are arranged and is perpendicular to the left-right direction.

[0563] In this embodiment, elevator 200 and Figure 20 , Figure 24 The example shown also includes a guide rail telescopic device 34.

[0564] The guide rail telescopic device 34 causes the pair of movable guide rails 32a contained in the pair of elevator inner guide rails 32 to move horizontally, thereby connecting the pair of movable guide rails 32a to the pair of floor inner guide rails 31.

[0565] When the height of the pair of elevator inner guide rails 32 is the same as the height of the pair of floor inner guide rails 31, the guide rail telescopic device 34 is controlled by the control unit 501, thereby causing the pair of movable guide rails 32a to move horizontally to connect with the pair of floor inner guide rails 31. The first end 32k of the pair of movable guide rails 32a in the pair of elevator inner guide rails 32 is connected to the second end 31k of the pair of floor inner guide rails 31. Thus, the pair of movable guide rails 32a are connected to the pair of floor inner guide rails 31.

[0566] Figure 39B This is a diagram showing the connection between a pair of movable guide rails 32a and a pair of floor guide rails 31.

[0567] Here, the first end 32k of a pair of movable guide rails 32a and the second end 31k of a pair of floor guide rails 31 are processed to be easy to connect.

[0568] Specifically, the first end 32k has a protrusion 32t that protrudes close to the second end 31k of the pair of floor guide rails 31. The protrusion 32t is a part of the first end 32k and is the upper edge portion of the first end 32k. The protrusion 32t has a protruding inclined portion 32t1. In the protrusion 32t, the portion that engages with the second end 31k, i.e., the protruding inclined portion 32t1, slopes upwards the closer it is to the second end 31k. The protruding inclined portion 32t1 has a straight surface or an arc-shaped curved surface opposite to the second end 31k. The second end 31k has a notch 31t that is cut out in a manner that engages with the first end 32k. The notch 31t is shaped by cutting off the upper edge portion of the second end 31k in a manner that engages with the protrusion 32t of the first end 32k when the pair of movable guide rails 32a are connected to the pair of floor guide rails 31. The notch portion 31t has a notch inclined portion 31t1. In the notch portion 31t, the portion that engages with the first end 32k, i.e., the notch inclined portion 31t1, slopes downwards the closer it is to the second end 31k. The notch inclined portion 31t1 has a straight surface or an arc-shaped curved surface opposite to the first end 32k.

[0569] When the first end 32k of a pair of movable guide rails 32a is connected to the second end 31k of a pair of floor inner guide rails 31, the first end 32k and the second end 31k engage, thereby connecting the first end 32k and the second end 31k with the protrusion 32t of the first end 32k positioned above the notch 31t of the second end 31k. Therefore, when the unmanned transport vehicle 110a travels on the pair of movable guide rails 32a and the pair of floor inner guide rails 31 connected by the first end 32k and the second end 31k, the weight of the unmanned transport vehicle 110a can be supported by the pair of movable guide rails 32a and the pair of floor inner guide rails 31. Therefore, when the unmanned transport vehicle 110a travels along the pair of movable guide rails 32a and the pair of floor inner guide rails 31, it is not easy to detach from these pair of movable guide rails 32a and the pair of floor inner guide rails 31.

[0570] Furthermore, the end of the pair of movable guide rails 32a opposite to the side of the first end 32k has a protrusion 32m that protrudes upward in part. The protrusion 32m has a straight surface or an arc-shaped curved surface on the side of the first end 32k. Therefore, when the first end 32k is connected to the second end 31k, even when the unmanned transport vehicle 110a traveling from the pair of floor guide rails 31 toward the end of the pair of movable guide rails 32a reaches the end of the pair of movable guide rails 32a, the force of the traveling unmanned transport vehicle 110a can be released in the tangential direction of the straight surface or the arc-shaped curved surface in the protrusion 32m. Therefore, compared with the case where the protrusion only protrudes vertically from the end, the sharp collision of the unmanned transport vehicle 110a with the end of the pair of movable guide rails 32a can be suppressed.

[0571] In this way, the unmanned transport vehicle 110a located in the second elevator space 212 can travel along a pair of elevator inner guide rails 32 and a pair of floor inner guide rails 31 to move from the second elevator space 212 to the fourth floor space 13b. Conversely, the unmanned transport vehicle 110a located in the fourth floor space 13b can also travel along a pair of floor inner guide rails 31 and a pair of elevator inner guide rails 32 to move from the fourth floor space 13b to the second elevator space 212.

[0572] In this embodiment, a pair of floor guide rails 31 are provided in the fourth floor space 13b, and a pair of elevator guide rails 32 are provided in the second elevator space 212. Then, the unmanned transport vehicle 110a travels along the pair of floor guide rails 31 and along the pair of elevator guide rails 32.

[0573] Figure 39C This is another example of an unmanned transporter 110 being applied to an elevator 200. Figure 39C In (a), a pair of floor guide rails 31 and a pair of elevator guide rails 32 are shown in a state where they are not connected. Figure 39C(b) shows the state in which a pair of floor guide rails 31 are connected to a pair of elevator guide rails 32. Figure 39C In (c), the unmanned transporter 110 is shown suspended from the high-altitude guide rail 7d1 by the first arm and the second arm.

[0574] exist Figure 39C The example shown is Sy1, an office building delivery system that uses unmanned transporter 110, but unmanned transporters 100, 110a, and 110b can also be used.

[0575] Elevator 200 and Figure 39B Similarly, the example shown includes a guide rail lift 33 and a guide rail telescopic device 34. In this embodiment, a pair of floor guide rails 31 are provided in the fourth floor space 13b, and a pair of elevator guide rails 32 are provided in the second elevator space 212. The heights of the fourth floor space 13b and the second elevator space 212 are set to be greater than that of the other two floors. Figure 39B The situation is low.

[0576] At least one wheel 113 of the housing 111 is mounted on one of a pair of guide rails 7, and at least one remaining wheel 113 of the unmanned transporter 110 is mounted on the other of the pair of guide rails 7. Furthermore, the housing 111 of the unmanned transporter 110 is configured to be sandwiched between the pair of guide rails 7.

[0577] Here, the thickness L4 of the unmanned transporter 110 is greater than the height L2 from the bottom of the unmanned transporter 110 to the pair of guide rails 7, and the thickness L3 of the cargo 1 is greater than its height L2.

[0578] In this case, the wheels of the first arm and the second arm of the unmanned transporter 110 are moved to a position lower than the wheels 113 of the housing 111 (second position) (the first arm and the second arm are in the second arm state). Then, the unmanned transporter 110 travels along the pair of floor guide rails 31 and the pair of elevator guide rails 32.

[0579] Furthermore, when the height of the second elevator space 212 is set relatively high, a high-altitude guide rail 7d1 is sometimes installed in the second elevator space 212. In this case, the wheels of the first arm and the second arm of the unmanned transport vehicle 110 are moved to a position higher than the wheels 113 of the housing 111 (first position) (the first arm and the second arm are in the first arm state). Then, the unmanned transport vehicle 110 travels along the pair of floor guide rails 31 and the pair of elevator guide rails 32.

[0580] Figure 40 This is a diagram illustrating a structural example of the office building delivery system Sy1 in Embodiment 8. Furthermore, in Figure 40 In, with Figure 1 , Figure 22Similarly, the state of one of the multiple floors of the office building containing the Sy1 delivery system is shown when viewed from an obliquely upward perspective.

[0581] In this embodiment, the office building delivery system Sy1 is installed across the floors of the office building. Additionally, Figure 40 The third floor space 13 in the floor area shown is, for example, larger in the height direction than... Figure 22 The third floor space 13 shown is narrow. Therefore, in this embodiment, the unmanned transport vehicle 110a is configured to be thinner than the unmanned transport vehicles 100 and 110 described above, so that it can also travel within the narrow third floor space 13. The unmanned transport vehicle 110 can travel along a pair of floor inner guide rails 31 arranged parallel to each other on the horizontal plane. In addition, multiple pairs of floor inner guide rails 31 are provided in the third floor space 13, and the pair of first floor inner guide rails 31a and the pair of second floor inner guide rails 31b included in these multiple pairs of floor inner guide rails 31 are orthogonal to each other.

[0582] For example, the unmanned transport vehicle 110a has four wheels 113 arranged on an imaginary plane (e.g., a horizontal plane). Two of the four wheels 113 are mounted on one of a pair of floor guide rails 31, and the remaining two wheels 113 are mounted on the other floor guide rail 31. Furthermore, the housing 111 of the unmanned transport vehicle 110a is arranged between the pair of floor guide rails 31. In the following description, the left-right direction of the unmanned transport vehicle 110a is along the direction of the axle of each of the four wheels 113, and the front-back direction of the unmanned transport vehicle 110a is along the aforementioned plane on which the four wheels 113 are arranged and perpendicular to the left-right direction.

[0583] Figure 41 This is a diagram illustrating an example of the structure of the logistics system Sy4 in embodiment 8.

[0584] The logistics system Sy4 in this embodiment includes, for example, an office building delivery system Sy1 located in building A; an office building delivery system Sy1 located in building B; and multiple pairs of transport rails 30 connecting these office building delivery systems Sy1. The multiple pairs of transport rails 30 are located on the third floor space 13 of the connecting bridge 300 connecting buildings A and B. Each transport rail 30 is connected to one end of a pair of floor-level guide rails 31 in buildings A and B respectively. Therefore, it can also be said that a pair of floor-level guide rails 31 in building A, the transport rails 30, and a pair of floor-level guide rails 31 in building B are connected in series to form a guide rail 7. Furthermore, in Figure 41 In the example, multiple pairs of transport rails 30 are configured, but it is also possible to configure only one pair of transport rails 30.

[0585] The unmanned transporter 110a travels along a pair of guide rails 7 located on the third floor space 13 of each of Building A, Building B and connecting bridge 300.

[0586] Thus, the structure in this embodiment includes: a first building; a second building; a connecting bridge 300 connecting the first building and the second building; and a guide rail 7 extending from inside the first building through the connecting bridge 300 into the second building for the unmanned transport vehicle 110a to travel on. Furthermore, the first building is, for example, building A, and the second building is, for example, building B. The first building includes a first floor and a second floor, and a first space for the unmanned transport vehicle 110a to travel on is provided between the ceiling of the first floor and the floor of the second floor. Similarly, the second building includes a first floor and a second floor, and a second space for the unmanned transport vehicle 110a to travel on is provided between the ceiling of the first floor and the floor of the second floor. The first space is, for example, the third floor space 13 of building A, and the second space is, for example, the third floor space 13 of building B. Furthermore, the connecting bridge 300 also includes a walkway 301 connecting the second floor of the first building and the second floor of the second building. Below the pedestrian walkway 301, a third space is provided, connecting to the first and second spaces, for the unmanned transport vehicle 110a to travel in. Furthermore, the third space may be, for example, the third floor space 13 connecting to the bridge 300. And, the guide rail 7 is configured to span the first, third, and second spaces.

[0587] This enables the unmanned transport vehicle 110a to travel between the first and second buildings via the connecting bridge 300.

[0588] Figure 42 This is a diagram showing the groove structure 7p of the guide rail 7 in embodiment 8. Figure 42 The diagram shows a cross-sectional view of guide rail 7 at line α1-α1 and a cross-sectional view of guide rail 7 at line α2-α2. Guide rail 7 is an example of the first guide rail.

[0589] In this embodiment, the delivery system Sy1 within the office building has a trench structure 7p.

[0590] The trench structure 7p is applied to the aforementioned pair of transport guide rails 30, pair of floor guide rails 31, and pair of elevator guide rails 32. In the trench structure 7p, three pairs of guide rails 7 are connected from the first direction toward the third direction.

[0591] The pair of guide rails 7a1, represented by solid lines, travels straight in the first direction. The pair of guide rails 7a1 is an example of a pair of straight-traffic trenches. The pair of guide rails 7a2, represented by dashed lines, travels left from the transfer section 7g of the trench structure 7p. The pair of guide rails 7a2 is an example of a pair of left-turn trenches. The pair of guide rails 7a3, represented by dashed lines, travels right from the transfer section 7g in the third direction. The pair of guide rails 7a3 is an example of a pair of right-turn trenches. The pair of guide rails 7 is a collective term for the pair of guide rails 7a1 to 7a3.

[0592] The pair of guide rails 7a1 to 7a3 disposed in the groove structure 7p can also be groove-shaped. In this case, the depths of the pair of guide rails 7a1 to 7a3 are different. In this embodiment, the depth d2 of the pair of guide rails 7a2 and 7a3 is deeper than the depth d1 of the pair of guide rails 7a1. Alternatively, the depth of the pair of guide rails 7a1 can also be deeper than the depth of the pair of guide rails 7a2 and 7a3. The depth d2 of the pair of guide rails 7a2 and 7a3 is the same. Furthermore, the depths of the pair of guide rails 7a2 and the pair of guide rails 7a3 can also be different.

[0593] The widths of a pair of guide rails 7a1 to 7a3 are different. The width of guide rail 7a1 is greater than that of guide rails 7a2 and 7a3. The width of guide rail 7a3 is greater than that of guide rail 7a2.

[0594] The groove structure 7p has a branch point, namely the transfer section 7g, where multiple pairs of guide rails 7 are formed. In the transfer section 7g, there is a plane with the same depth d2 as a pair of guide rails 7a2 and 7a3 and the same bottom surface.

[0595] There is a situation where the unmanned transporter 110a wants to drive into each other using a pair of guide rails 7a2 and a pair of guide rails 7a3. In this case, the unmanned transporter 110a can also adjust the width of a pair of front wheels 113a1 and a pair of rear wheels 113b1 at the transfer unit 7g.

[0596] Specifically, the unmanned transporter 110a also includes a wheel width adjustment unit for adjusting the width of the wheels 113. The control unit 120 of the unmanned transporter 110a controls the wheel width adjustment unit to adjust the wheel width of a pair of front wheels 3514a and a pair of rear wheels 3514b to match or match a pair of guide rails 7a2. The wheel width adjustment unit can simultaneously adjust the width of both the pair of front wheels 3514a and the pair of rear wheels 3514b along the axial direction of the wheels 113. Thus, the front wheels 113a1 are configured to allow for changing the distance between the first and second front wheels on the left and right sides, and the rear wheels 113b1 are also configured to allow for changing the distance between the first and second rear wheels on the left and right sides.

[0597] Furthermore, in this embodiment, the groove structure 7p can also be configured to allow for the interchange of a pair of guide rails 7a2, 7a3 and a pair of guide rails 7a1. In this case, the depths of the pair of guide rails 7a1 and the pair of guide rails 7a2, 7a3 are different. Therefore, the groove structure 7p can also include an inclined portion for adjusting the depth difference between the pair of guide rails 7a1 and the pair of guide rails 7a2, 7a3 by allowing the unmanned transport vehicle 110a to interchange, as well as a flat portion for adjusting the wheel width.

[0598] Alternatively, in this embodiment, an unmanned transporter 110b can also be used. Furthermore, in the above embodiment, an unmanned transporter 110b can also be used. The unmanned transporter 110b is an example of a transporter.

[0599] Figure 43 The block diagram of the unmanned transporter 110b according to embodiment 8 is shown as an example. Figure 44 The diagram illustrates, for example, the first arm 3511 and the second arm 3512 of the unmanned transporter 110b according to Embodiment 8, moving on the guide rail 7 in the second arm state. Figure 44 (a) shows the unmanned transporter 110b traveling on guide rail 7 as viewed from the side. Figure 44 (b) shows a frontal view of the unmanned transporter 110b traveling on guide rail 7. Figure 44 (c) shows the situation when the steering angle of the front wheel 113a1 of the unmanned transporter 110b traveling on the guide rail 7 is adjusted, as viewed from the top surface. Figure 44 (d) shows the situation when the steering angle of the front wheel 113a1 of the unmanned transporter 110b traveling on guide rail 7 is adjusted, as viewed from the front. Figure 45A The diagram illustrates, for example, the first arm 3511 and the second arm 3512 of the unmanned transporter 110b according to Embodiment 8 traveling on the aerial guide rail 7d1 in the first arm state. Figure 45A (a) shows the unmanned transporter 110b traveling on the high-altitude guide rail 7d1 as viewed from the side. Figure 45A (b) shows a frontal view of the unmanned transporter 110b traveling on the high-altitude guide rail 7d1. Figure 45A (c) shows the situation when the steering angle of the front wheel 113a1 of the unmanned transporter 110b traveling on the high-altitude guide rail 7d1 is adjusted, as viewed from the top surface. Figure 45A (d) shows the situation when the steering angle of the front wheel 113a1 of the unmanned transporter 110b traveling on the high-altitude guide rail 7d1 is adjusted, as viewed from the front. Figure 45BThe diagram illustrates, for example, the first arm 3511 and the second arm 3512 of the unmanned transporter 110b according to Embodiment 8 traveling on the high-altitude guide rail 7d1 in the third arm state. Figure 45B (a) shows the unmanned transporter 110b traveling on the high-altitude guide rail 7d1 as viewed from the side. Figure 45B (b) shows a frontal view of the unmanned transporter 110b traveling on the high-altitude guide rail 7d1.

[0600] like Figures 43-45B As shown, the unmanned transport vehicle 110b can deliver goods to structures such as residences, apartments, and buildings. Guide rails 7 are distributed throughout the structure. The guide rails 7 are a pair of guide rails consisting of a first guide rail 7c1 and a second guide rail 7c2. In this embodiment, the first guide rail 7c1 and the second guide rail 7c2 are collectively referred to as guide rails 7. The guide rails 7 are distributed, for example, throughout each floor and room of the structure. Furthermore, the guide rails 7 are distributed in a way that connects two adjacent structures, and are also distributed in residential areas, roads, bridges, etc. The unmanned transport vehicle 110b can deliver goods from the sender to the receiver by traveling along these guide rails 7.

[0601] Specifically, the unmanned transporter 110b has a main body 3501, wheels 113a1 and 113b1, a first arm 3511, a second arm 3512, a wheel drive unit 144, a steering angle device 145, an arm drive unit 146, and a control unit 120.

[0602] The main body 3501 has a storage space designed to accommodate goods. For example, a courier might store goods within the storage space of the main body 3501. A cargo basket, as described above, can also be installed within the storage space. The main body 3501 is an example of the shell 111.

[0603] Multiple wheels 113a1 and 113b1 are provided on the main body 3501. In this embodiment, since the main body 3501 is cubic in shape, two front wheels 113a1 are arranged on the left and right sides in the forward direction of the main body 3501, and two rear wheels 113b1 are arranged on the left and right sides in the rear direction of the main body 3501. When the unmanned transporter 110b travels along the guide rail 7, the right front wheel 113a1 in the forward direction and the right rear wheel 113b1 in the rear direction are mounted on the first guide rail 7c1, and the left front wheel 113a1 in the forward direction and the left rear wheel 113b1 in the rear direction are mounted on the second guide rail 7c2.

[0604] The first arm 3511 is located at the front of the main body 3501 and at the center of the main body 3501 in the width direction. The second arm 3512 is located at the rear of the main body 3501 and at the center of the main body 3501 in the width direction. When viewed from above, the width direction of the main body 3501 is orthogonal to the extension direction of the guide rail 7.

[0605] Arm drive units 146 are provided on the first arm 3511 and the second arm 3512. Each arm drive unit 146 is an actuator controlled by the control unit 120, thereby enabling the first arm 3511 and the second arm 3512 to rotate (drive). The first arm 3511 and the second arm 3512 switch between a first arm state and a second arm state by being driven by at least one arm drive unit 146. As shown in FIG45(a), in the first arm state, the wheels 3511a of the first arm 3511 and the wheels 3512a of the second arm 3512 are located in a first position above the front wheel 113a1 and the rear wheel 113b1. In addition, as Figure 44 As shown in (a), in the second arm state, the wheel 3511a of the first arm 3511 and the wheel 3512a of the second arm 3512 are located in the second position, which is lower than the first position.

[0606] Wheel drive units 144 are respectively provided on the main body 3501, the first arm 3511, and the second arm 3512. Each wheel drive unit 144 is controlled by the control unit 120, thereby enabling the rotation (driving) of multiple wheels 113a1, 113b1 of the main body 3501, the wheel 3511a connected to the front end of the first arm 3511, and the wheel 3512a connected to the front end of the second arm 3512.

[0607] The steering angle device 145 is controlled by the control unit 120, thereby enabling adjustment (change) of the steering angle of the front wheel 113a1 of the main body 3501. However, the steering angle device 145 cannot adjust (change) the steering angle of the rear wheel 113b1 of the main body 3501. That is, the front wheel 113a1 is configured to have its steering angle changed, while the rear wheel 113b1 is configured not to have its steering angle changed. The steering angle device 145 is an example of a steering system.

[0608] The radius of the front wheel 113a1 is smaller than that of the rear wheel 113b1. That is, the diameter of the front wheel 113a1 is smaller than that of the rear wheel 113b1, so the steering angle device 145 can easily adjust the steering angle of the front wheel 113a1.

[0609] If the steering angle cannot be adjusted, the 110b unmanned transporter will have difficulty operating as intended. Figure 42It can turn right or left. Furthermore, the unmanned transport vehicle 110b can also travel along the guide rail 7, but if the unmanned transport vehicle 110b travels at a high speed, it is assumed that it will climb off the guide rail 7 when turning left or right. Therefore, in the unmanned transport vehicle 110b, the steering angle device 145 can smoothly turn right and left by adjusting the steering angle of the front wheel 113a1. Thus, compared to using a turntable or similar device that can change the orientation of the unmanned transport vehicle 110b to adjust the direction of travel of the main body 3501, the manufacturing cost of the unmanned transport vehicle 110b is less likely to increase.

[0610] The control unit 120 is capable of controlling the drive units 146 of each arm that drives the first arm 3511 and the second arm 3512. Furthermore, the control unit 120 is capable of controlling the drive units 144 of each wheel that drives the multiple wheels 113a1, 113b1 of the main body 3501, the wheels 3511a of the first arm 3511, and the wheels 3512a of the second arm 3512. The control unit 120 is also capable of controlling the steering angle device 145 that adjusts the steering angle of the front wheel 113a1 of the main body 3501. The control unit 120 is an example of a controller.

[0611] The control unit 120 controls the wheel drive unit 144, the steering angle device 145, and the arm drive unit 146 at times that may be based on image data obtained from the camera unit mounted on the unmanned transporter 110b, or on map information related to the guide rail 7 and the aerial guide rail 7d1 obtained from the management server. When map information is obtained, the unmanned transporter 110b has a wireless communication unit capable of communicating with the management server. The aerial guide rail 7d1 is an example of a second guide rail.

[0612] The management server sets the movement route of the unmanned transport robot 110b based on the location information of the recipient and the sender of the package. Furthermore, the management server may also obtain the location information of the unmanned transport robot 110b and change the route according to the status of the set movement route. Additionally, the management server may set the movement route of the unmanned transport robot 110b based on other movable or pre-set movable unmanned transport robots 110b. The management server may also send a departure instruction to the unmanned transport robot 110b according to the set movement route. Furthermore, the management server may also manage the travel status of the unmanned transport robot 110b. Such a management server is implemented by a computer, cloud server, etc. The movement route is the travel path of the unmanned transport robot 110b when moving on areas and structures with guide rails 7, and is represented by map information.

[0613] The unmanned transporter 110b is capable of performing the following actions.

[0614] like Figure 44 and Figure 45A As shown, the lower ends of the first arm 3511 and the second arm 3512 are rotatably mounted on the main body 3501 via arm drive units 146, with the width direction of the main body 3501 as the axis. Each arm drive unit 146 is an electric motor or the like. Each arm drive unit 146 is controlled by the control unit 120, thereby causing the first arm 3511 and the second arm 3512 to extend upward from the main body 3501 with the wheels 3511a of the first arm 3511 and the wheels 3512a of the second arm 3512 positioned above the main body 3501. When the unmanned transporter 110b moves to the elevated guide rail 7d1, which is positioned higher than the guide rail 7, the first arm 3511 and the second arm 3512 rotate with the wheels 3511a of the first arm 3511 and the wheels 3512a of the second arm 3512 mounted on the elevated guide rail 7d1. Furthermore, the wheel drive unit 144 is controlled by the control unit 120, causing the wheels 3511a of the first arm 3511 and the wheels 3512a of the second arm 3512 to rotate, thereby enabling the unmanned transporter to travel on the elevated guide rail 7d1.

[0615] Specifically, when the front wheel 113a1 and the rear wheel 113b1 are traveling from the first section to the second section on the guide rail 7, and there is no high-altitude guide rail 7d1 at a position higher than the guide rail 7 in the first section, and there is a high-altitude guide rail 7d1 at a position higher than the guide rail 7 in the second section, when the front wheel 113a1 and the rear wheel 113b1 are in the first section, the control unit 120 controls at least one arm drive unit 146, thereby changing the first arm 3511 and the second arm 3512 from the second arm state to the first arm state. Thus, when the high-altitude guide rail 7d1 is below the wheels 3511a of the first arm 3511 and the wheels 3512a of the second arm 3512, the wheels 3511a of the first arm 3511 and the wheels 3512a of the second arm 3512 travel on the high-altitude guide rail 7d1.

[0616] That is, the unmanned transporter 110b can move from the guide rail 7 located below the main body 3501 to the high-altitude guide rail 7d1 located at a higher position than the main body 3501, and can continuously travel from the guide rail 7 to the high-altitude guide rail 7d1.

[0617] like Figure 45BAs shown, the first arm 3511 and the second arm 3512 are sometimes further switched to a third arm state by being driven by at least one arm drive unit 146. In the third arm state, the wheels 3511a of the first arm 3511 and the wheels 3512a of the second arm 3512 are located in a third position, which is lower than the first position and higher than the second position. In the third arm state, the main body 3501 is able to float compared to the first arm state.

[0618] For example, when the first arm 3511 and the second arm 3512 are in the first arm state, and the unmanned transporter 3500 is traveling on the high-altitude guide rail 7d1, by switching the first arm 3511 and the second arm 3512 to the third arm state, the main body 3501 of the unmanned transporter 3500 can approach the high-altitude guide rail 7d1.

[0619] In addition, such as Figure 44 and Figure 45A As shown, by means of the opposite method described above, the unmanned transporter 110b can also be transferred from the high-altitude guide rail 7d1 to the guide rail 7.

[0620] When the main body 3501 travels on the guide rail 7, the wheels 3511a of the first arm 3511 and the wheels 3512a of the second arm 3512 are positioned on the lower side of the guide rail 7.

[0621] Specifically, after the front wheel 113a1 and rear wheel 113b1 are traveling on the guide rail 7 and the wheels 3511a of the first arm 3511 and 3512a of the second arm 3512 have left the high-altitude guide rail 7d1, the control unit 120 controls at least one arm drive unit 146, thereby changing the first arm 3511 and the second arm 3512 from the first arm state to the second arm state. Thus, the unmanned transporter 110b continues to travel on the guide rail 7.

[0622] When the unmanned transport vehicle 110b is traveling on the guide rail 7, the control unit 120 controls the wheel drive unit 144 to rotate the plurality of wheels 113a1 and 113b1 located on the lower side of the body 3501 of the unmanned transport vehicle 110b. For example, when the unmanned transport vehicle 110b moves from the elevated guide rail 7d1 to the guide rail 7, the wheel drive unit 144 is controlled by the control unit 120, thereby rotating the plurality of wheels 113a1 and 113b1 of the body 3501. As a result, the unmanned transport vehicle 110b can move from the elevated guide rail 7d1, which is located at a higher position than the body 3501, to the guide rail 7, which is located below the body 3501, and can travel continuously from the elevated guide rail 7d1 to the guide rail 7.

[0623] When the wheels 3511a of the first arm 3511 and 3512a of the second arm 3512 leave the high-altitude guide rail 7d1, the wheel drive unit 144 is controlled by the control unit 120, thereby stopping the rotation of the wheels 3511a of the first arm 3511 and 3512a of the second arm 3512. Additionally, each arm drive unit 146 is controlled by the control unit 120, causing the first arm 3511 and the second arm 3512 to rotate respectively, so that the wheels 3511a of the first arm 3511 and 3512a of the second arm 3512 are mounted on the underside of the main body 3501.

[0624] When viewing the main body 3501, the front wheel 113a1, and the guide rail 7 for the front wheel 113a1 to travel along the direction extending along the axle of the front wheel 113a1 and the rear wheel 113b1, the bottom surface of the main body 3501 is located between the front wheel 113a1 and the point of contact between the front wheel 113a1 and the guide rail 7.

[0625] When observing the main body 3501, the front wheel 113a1, and the guide rail 7 along the direction extending from the axle of the front wheel 113a1 and the rear wheel 113b1, the distance between the bottom surface of the main body 3501 and the position of the tangent point is more than 5 mm and less than 15 mm.

[0626] Figure 46 This is a diagram illustrating Sy1, an in-building delivery system used in office buildings. Figure 47 This is a diagram illustrating elevator 200 of the Sy1 delivery system within the office building on the same floor as the office building. Figure 46 and Figure 47 The example shown is of unmanned transporter 110, but it could also be unmanned transporter 100, 110a, or 110b.

[0627] The office building delivery system Sy1 includes an elevator 200. In this embodiment, the elevator car 210 is also suspended in the vertical lifting path via a car guide wire, and is raised and lowered by the release and rewinding of the car guide wire by an elevator winch.

[0628] In such an office building delivery system Sy1, the unmanned transport vehicle 110 also travels along a pair of elevator internal guide rails 32. In this embodiment, multiple pairs of elevator internal guide rails 32 are arranged within the second elevator space 212.

[0629] When the first door of the corridor and the first car door of the first elevator space 211 for passenger use are closed, and the second door 62 of the fourth floor space 13b in the corridor and the second car door 232 of the second elevator space 212 for unmanned transport vehicle 110 are closed, the unmanned transport vehicle 110 stops suspended on a pair of elevator inner guide rails 32. In this case, the movable guide rails of the pair of elevator inner guide rails 32 are not connected to the pair of floor inner guide rails 31, thus prohibiting the movement of the unmanned transport vehicle 110 between the fourth floor space 13b and the second elevator space 212.

[0630] When the first floor door and the first car door, as well as the second floor door 62 and the second car door 232, are opened, a pair of elevator internal guide rails 32 connect with a pair of floor internal guide rails 31 located in the third floor space. Thus, the unmanned transport vehicle 110 located in the second elevator space 212 can travel along the pair of elevator internal guide rails 32 and the pair of floor internal guide rails 31, moving from the second elevator space 212 to the fourth floor space 13b. Conversely, the unmanned transport vehicle 110 located in the fourth floor space 13b can also travel along the pair of floor internal guide rails 31 and the pair of elevator internal guide rails 32, moving from the fourth floor space 13b to the second elevator space 212.

[0631] The multiple pairs of floor-level guide rails 31 include a pair of first-floor-level guide rails 31a and a pair of second-floor-level guide rails 31b. The pair of first-floor-level guide rails 31a and the pair of second-floor-level guide rails 31b are orthogonal to each other. Therefore, the unmanned transport vehicle 110 can switch its direction of travel at the intersection of the pair of first-floor-level guide rails 31a and the pair of second-floor-level guide rails 31b.

[0632] Figure 48 This diagram illustrates an example of applying the Sy1 in-building delivery system within an office building with a floor height of 4.5m. Figure 48 In (a), a pair of floor guide rails 31 and a pair of elevator guide rails 32 are shown in a state where they are not connected. Figure 48 (b) shows the state in which a pair of floor guide rails 31 are connected to a pair of elevator guide rails 32. Figure 48 The example shown is the use of unmanned transporter 110. Alternatively, unmanned transporters 110a and 110b described above can also be used.

[0633] exist Figure 48In the example shown, the third floor space 13 in the aforementioned space of the floor area is divided into two floor spaces. Specifically, the third floor space 13 includes, for example, a third floor space 13a, which is a space for laying pipes, wires, etc.; and a fourth floor space 13b, which is arranged so that multiple pairs of floor guide rails 31 are arranged in a horizontal direction. The third floor space 13a is located above the fourth floor space 13b and is separated from the upper floor by a first horizontal wall 22a. The third floor space 13a and the fourth floor space 13b are divided by a third horizontal wall 22c.

[0634] The height of the floor area, i.e., the height between the two first horizontal walls 22a, is 4.5m. Furthermore, the height of the first floor space 11, i.e., the height between the lower first horizontal wall 22a and the second horizontal wall 22b, is 3m. And, the height of the fourth floor space 13b, located above the first floor space 11, i.e., the height between the second horizontal wall 22b and the upper first horizontal wall 22a, is 40cm to 50cm. The height of the unmanned transport machine 110, i.e., the height between the bottom surface and the top surface of the unmanned transport machine 110, is 30cm. Therefore, the distance between the bottom surface of the unmanned transport machine 110 and the second horizontal wall 22b, and the distance between the top surface of the unmanned transport machine 110 and the second horizontal wall 22b, is 5 to 10cm. The height between the ceiling of the first elevator space 211 (the floor of the second elevator space 212) and the ceiling of the second elevator space 212 is 1m. However, these heights are merely examples and are not limited to these.

[0635] A second floor door 62 is provided opposite to the second car door 232 and opens and closes in conjunction with the second car door 232. By opening the second floor door 62 and the second car door 232 in conjunction, the fourth floor space 13b is connected to the second elevator space 212.

[0636] Elevator 200 is equipped with a guide rail lift 33 and a guide rail telescopic device 34.

[0637] The guide rail lift 33 ensures that the height of the pair of elevator inner guide rails 32 is consistent with the height of the pair of floor inner guide rails 31. That is, when the second floor door 62 and the second car door 232 open in conjunction, the guide rail lift 33 is controlled by the control unit 501 to adjust the position (height) of the pair of elevator inner guide rails 32 so that the height of the pair of elevator inner guide rails 32 is consistent with the height of the pair of floor inner guide rails 31.

[0638] The guide rail telescopic device 34 is controlled by the control unit 501, thereby causing a pair of movable guide rails 32a to move horizontally and connect with a pair of floor inner guide rails 31. The first end 32k of the movable guide rail 32a in the pair of elevator inner guide rails 32 is connected to the second end 31k of the pair of floor inner guide rails 31. Thus, the pair of floor inner guide rails 31 are connected to the pair of elevator inner guide rails 32.

[0639] The unmanned transport vehicle 110 located in the second elevator space 212 can travel along a pair of elevator inner guide rails 32 and a pair of floor inner guide rails 31 to move from the second elevator space 212 to the fourth floor space 13b. Conversely, the unmanned transport vehicle 110 located in the fourth floor space 13b can also travel along a pair of floor inner guide rails 31 and a pair of elevator inner guide rails 32 to move from the fourth floor space 13b to the second elevator space 212.

[0640] Figure 49 This is a diagram illustrating an office building delivery system Sy1, which includes a first car door 231 and a first floor door 61, as well as a second floor door 62 and a second car door 232 for unmanned transport vehicles 110 to pass through.

[0641] The height between the upper and lower first horizontal walls 22a in the first floor space 11 is 7m. In this case, even if a pair of floor guide rails 31 are arranged above the first floor space 11, it is difficult to make the position of the pair of floor guide rails 31 coincide with the position of the pair of elevator guide rails 32 arranged in the second elevator space 212. Furthermore, these heights are merely examples and are not limited thereto.

[0642] Therefore, in Figure 49 In the first elevator space 211, a first floor door 61 is provided opposite to the first car door 231 and opens and closes in conjunction with the first car door 231. On the opposite side of the first car door 231, a second car door 232 of the second elevator space 212 is provided. On the opposite side of the second car door 232, a second floor door 62 is provided and opens and closes in conjunction with the second car door 232. That is, the first car door 231 and the first floor door 61 for pedestrian passage are on opposite sides of the second floor door 62 and the second car door 232 for unmanned transport vehicle 110 passage.

[0643] In this case, the unmanned transporter 110 can also travel between a pair of elevator inner rails 32 and a pair of floor inner rails 31.

[0644] Figure 50 This is a diagram illustrating Sy1, an in-building delivery system used in office buildings.

[0645] A pair of floor guide rails 31 are positioned below the beam 22ab supporting the office building. The height between the second horizontal wall 22b of the ceiling and the beam 22ab within the fourth floor space 13b is at least 70cm. The pair of floor guide rails 31 are distributed between the second horizontal wall 22b and the beam 22ab in a manner parallel to the second horizontal wall 22b. Furthermore, these heights are merely an example and are not limited thereto.

[0646] For example, when elevator 200 arrives at a designated floor of the office building, a pair of elevator inner rails 32 configured in the second elevator space 212 of elevator 200 are connected to a pair of floor inner rails 31 in the fourth floor space 13b. The unmanned transport vehicle 110 can move from the second elevator space 212 to the fourth floor space 13b by traveling along the pair of floor inner rails 31 from the pair of elevator inner rails 32.

[0647] The unmanned transport vehicle 110 travels along a pair of internal guide rails 31 on the fourth floor space 13b and stops above the delivery box 43. A driveway 28 is formed in the second horizontal wall 22b of the ceiling above the delivery box 43. The unmanned transport vehicle 110 unloads a cargo basket from the driveway 28 and stores the goods in the delivery box 43. Once the goods are stored in the delivery box 43, the cargo basket is raised and retrieved. This allows goods to be delivered to the designated delivery box 43.

[0648] Here, an example is shown of the unmanned transport vehicle 110 retrieving goods, but the unmanned transport vehicle 110 can also unload the cargo basket from the driving port 28 and retrieve the goods contained in the express box 43.

[0649] Figure 51 This is a diagram illustrating Sy1, a delivery system within an office building on the top floor.

[0650] The height between the ceiling of the first elevator space 211 and the ceiling of the second elevator space 212 is 60 cm. In this case, it is difficult to increase the height of the second elevator space 212 and the fourth floor space 13b at the top floor, so it is preferable to make the mechanical equipment for the elevator 200 installed in the elevator 200 thinner. In addition, it is preferable to set a pair of floor guide rails 31 and a pair of elevator guide rails 32 as one floor. Furthermore, these heights are only examples and are not limited thereto.

[0651] Figure 52 This is another diagram illustrating the Sy1 delivery system within an office building.

[0652] exist Figure 50 The diagram shows a case where a pair of elevator inner guide rails 32 configured in the second elevator space 212 of elevator 200 and a pair of floor inner guide rails 31 configured in the fourth floor space 13b are on the same floor. Figure 52 The example illustrates a case where a pair of elevator inner rails 32 in the second elevator space 212 of elevator 200 and a pair of floor inner rails 31 in the fourth floor space 13b are arranged in two layers in the vertical direction.

[0653] That is, a pair of elevator inner guide rails 32 configured in the second elevator space 212 of elevator 200 are respectively arranged vertically. The upper pair of elevator inner guide rails 32 and the lower pair of elevator inner guide rails 32 are distributed parallel to the second horizontal wall 22b at a height such that even if the unmanned transport vehicle 110 travels on them respectively, the unmanned transport vehicle 110 will not come into contact with each other.

[0654] In addition, a pair of floor guide rails 31 in the fourth floor space 13b are respectively arranged vertically. The upper pair of floor guide rails 31 and the lower pair of floor guide rails 31 are distributed parallel to the second horizontal wall 22b at a height such that even if the unmanned transport vehicle 110 travels on them, the unmanned transport vehicle 110 will not come into contact with each other.

[0655] When the upper pair of floor guide rails 31 are connected to the upper pair of elevator guide rails 32, the guide rail lift 33 is controlled by the control unit 501 to adjust the position (height) of the upper pair of elevator guide rails 32 so that the upper pair of floor guide rails 31 and the upper pair of elevator guide rails 32 are at the same height. The guide rail telescopic device 34 is controlled by the control unit 501 to move the pair of movable guide rails horizontally to connect with the upper pair of floor guide rails 31. Thus, the upper pair of floor guide rails 31 are connected to the upper pair of elevator guide rails 32. The unmanned transport vehicle 110 can travel between the upper pair of elevator guide rails 32 and the upper pair of floor guide rails 31.

[0656] With the lower pair of floor guide rails 31 connected to the lower pair of elevator guide rails 32, the guide rail lift 33 is controlled by the control unit 501 to adjust the position (height) of the lower pair of elevator guide rails 32 so that the lower pair of floor guide rails 31 and the lower pair of elevator guide rails 32 are at the same height. The guide rail telescopic device 34 is controlled by the control unit 501 to move the pair of movable guide rails horizontally to connect with the lower pair of floor guide rails 31. Thus, the lower pair of floor guide rails 31 are connected to the lower pair of elevator guide rails 32. The unmanned transport vehicle 110 can travel between the lower pair of elevator guide rails 32 and the lower pair of floor guide rails 31.

[0657] A pair of internal floor rails 31 are positioned below the beam 22ab supporting the office. The height between the second horizontal wall 22b of the ceiling and the beam 22ab within the fourth floor space 13b is at least 70cm. Therefore, at the lower section where the height between the second horizontal wall 22b of the ceiling and the beam 22ab within the fourth floor space 13b is lower, the pair of internal floor rails 31 in the fourth floor space 13b form a single layer. Furthermore, these heights are merely an example and are not limited to this.

[0658] For example, when elevator 200 arrives at a designated floor in the office, a pair of elevator inner rails 32 configured in the second elevator space 212 of elevator 200 connects to a pair of floor inner rails 31 in the fourth floor space 13b. The unmanned transport vehicle 110 can travel from the second elevator space 212 to the fourth floor space 13b along the pair of floor inner rails 31 from the pair of elevator inner rails 32.

[0659] The unmanned transport vehicle 110 travels along a pair of internal guide rails 31 on the fourth floor space 13b and stops above the delivery box 43. A driveway 28 is formed in the second horizontal wall 22b of the ceiling above the delivery box 43. The unmanned transport vehicle 110 unloads a cargo basket and stores the goods in the delivery box 43. Once the goods are stored in the delivery box 43, the cargo basket is raised and retrieved. This allows goods to be delivered to designated delivery boxes 43. Additionally, the unmanned transport vehicle 110 can also retrieve goods from the delivery box 43.

[0660] Figure 53 This is a diagram illustrating an elevator 200 in the delivery system Sy1 within an office building, which has a second elevator space 212 and a fourth elevator space 214.

[0661] exist Figure 53 In, also with Figure 52 Similarly, an example is shown where a pair of elevator inner rails 32 in the second elevator space 212 of elevator 200 and a pair of floor inner rails 31 in the fourth floor space 13b are respectively arranged in two layers in the vertical direction.

[0662] exist Figure 52 The example illustrates a scenario where a pair of elevator inner guide rails 32 in the second elevator space 212 of elevator 200 and a pair of floor inner guide rails 31 in the fourth floor space 13b are arranged in two layers in the vertical direction. Figure 53 In the elevator 200, a fourth elevator space 214 is formed below the first elevator space 211. In the fourth elevator space 214, similar to the second elevator space 212, a pair of floor guide rails 31 connected to a pair of elevator inner guide rails 32 located on the fourth floor space 13b, which is located on the floor below the first floor space 11 (N-1) floors, are arranged in two layers in the vertical direction.

[0663] A pair of elevator internal guide rails 32 configured in the fourth elevator space 214 are also configured in the vertical direction. The upper pair of elevator internal guide rails 32 and the lower pair of elevator internal guide rails 32 are distributed parallel to the second horizontal wall 22b at a height where the unmanned transport vehicle 110 will not come into contact with each other even if it travels on them.

[0664] A beam 22ab is installed in the fourth floor space 13b between the floor (Nth floor) where the first floor space 11 is located and the floor (N-1) below the first floor space 11. Therefore, a fifth elevator space 215 is formed between the fourth elevator space 214 and the first elevator space 211. The fifth elevator space 215 is set to the same height as the beam 22ab.

[0665] When a person can move between the first elevator space 211 and the first floor space 11, the fourth elevator space 214 can connect with the fourth floor space 13b between the floor (Nth floor) where the first floor space 11 is located and the floor (N-1) below the first floor space 11. That is, since the second elevator space 212 and the fourth elevator space 214 are formed in the elevator 200, the unmanned transport machine 110 can simultaneously travel between a pair of floor guide rails 31 and a pair of elevator guide rails 32 in the fourth floor space 13b above the floor (Nth floor) where the first floor space 11 is located and the fourth floor space 13b (N-1) below the first floor space 11. Furthermore, when the elevator 200 reaches the lowest floor, sometimes the fourth floor space 13b is not formed under the floor, so the unmanned transport machine 110 can also standby in the fourth elevator space 214.

[0666] The guide rail lift 33 is controlled by the control unit 501 to adjust the position (height) of the pair of elevator inner guide rails 32 in two-story units, so that their heights are consistent with the heights of the pair of elevator inner guide rails 32 located in the second elevator space 212 and the pair of floor inner guide rails 31 located in the fourth floor space 13b on the Nth floor. Furthermore, the guide rail lift 33 is controlled by the control unit 501 to adjust the position (height) of the pair of elevator inner guide rails 32 in two-story units, so that their heights are consistent with the heights of the pair of elevator inner guide rails 32 located in the fourth elevator space 214 and the pair of floor inner guide rails 31 located in the fourth floor space 13b on the (N-1)th floor.

[0667] The guide rail telescopic device 34 is controlled by the control unit 501, thereby moving a pair of movable guide rails arranged in the second elevator space 212 two floors horizontally in connection with a pair of floor inner guide rails 31 arranged in the fourth floor space 13b on the Nth floor. Furthermore, the guide rail telescopic device 34 is controlled by the control unit 501, thereby moving a pair of movable guide rails arranged in the fourth elevator space 214 two floors horizontally in connection with a pair of floor inner guide rails 31 arranged in the fourth floor space 13b on the (N-1)th floor.

[0668] Therefore, a pair of floor guide rails 31 above the floor (Nth floor) where the first floor space 11 is located are connected to a pair of elevator guide rails 32 located in the second elevator space 212, on a two-story basis. Furthermore, a pair of floor guide rails 31 on the floor (N-1) below the first floor space 11 (Nth floor) are connected to a pair of elevator guide rails 32 located in the fourth elevator space 214, on a two-story basis.

[0669] Furthermore, the unmanned transport vehicle 110 can travel between a pair of floor inner guide rails 31 above the floor (Nth floor) where the first floor space 11 is located and a pair of elevator inner guide rails 32 arranged in the second elevator space 212. In addition, the unmanned transport vehicle 110 can also travel between a pair of floor inner guide rails 31 on the floor below the first floor space 11 (N-1) and a pair of elevator inner guide rails 32 arranged in the fourth elevator space 214.

[0670] Figure 54 This is an example diagram of elevator 200 with a fourth elevator space 214 in the delivery system Sy1 within an office building.

[0671] exist Figure 54 In, also with Figure 53 Similarly, an example is shown where a fourth elevator space 214 is formed below the first elevator space 211 of elevator 200, and a pair of floor guide rails 31 on the next (N-1) floor below the floor where the first floor space 11 is located and a pair of elevator guide rails 32 arranged in the fourth elevator space 214 are arranged in two layers in the vertical direction.

[0672] exist Figure 54 In, such as Figure 53 As shown, a second elevator space 212 is not formed above the first elevator space 211 of elevator 200.

[0673] Figure 55 This diagram illustrates, for example, the first elevator space 211 of elevator 200 in the delivery system Sy1 within an office building and the first floor space 11 of the office building. Figure 56 This diagram illustrates, for example, the second elevator space 212 of elevator 200 in the delivery system Sy1 of the office building and the fourth floor space 13b of the office building.

[0674] Multiple elevators 200 are installed in the office building. However, for some elevators 200, even when no one is using them, if an unmanned transport vehicle 110 is using the elevator 200 or if there is an unmanned transport vehicle 110 that wants to use the elevator 200, the elevator 200 can still be moved. In addition, in the office building, in the fourth floor space 13b located above the corridor of the first floor space 11, space is ensured for the arrangement of a pair of floor guide rails 31.

[0675] A fourth floor space 13b is formed above the first floor space 11 of the office building. A second elevator space 212 is formed above the first elevator space 211 of the elevator 200.

[0676] A pair of floor guide rails 31 are distributed throughout the fourth floor space 13b. The unmanned transport vehicle 110 can travel between the pair of floor guide rails 31 and the pair of elevator guide rails 32, thus moving along the pair of floor guide rails 31 to the fourth floor space 13b corresponding to each room. The unmanned transport vehicle 110 stops above the delivery box 43 of the recipient, unloads the cargo basket from the access port 28 above the delivery box 43, and stores the goods in the delivery box 43. When the goods are stored in the delivery box 43, the cargo basket is raised and retrieved. In this way, goods can be delivered to the designated delivery box 43. Additionally, the unmanned transport vehicle 110 can also unload the cargo basket from the access port 28 and retrieve the goods stored in the delivery box 43.

[0677] Figure 57 This is a diagram illustrating an office building delivery system Sy1 with a pipe 35 that allows unmanned transport vehicles 110 to travel. Figure 58 This is a diagram illustrating an office building delivery system Sy1, exemplified by a pipe 35 navigable by an unmanned transport vehicle 110 and a beam 22ab through which the pipe 35 passes. Figure 58 In (a), the pipe 35 of the through hole 22ac of the insert beam 22ab is shown. Figure 58 In (b), a pipe 35 is shown positioned below beam 22ab. Figure 58 In (c), an unmanned transporter 110 is shown traveling along pipe 35 and a pair of floor rails 31 inside pipe 35.

[0678] Pipes 35 are distributed throughout the fourth floor space 13b. Specifically, pipes 35 are distributed throughout the fourth floor space 13b above the first floor space 11, and are also connected to the second floor door located in the fourth floor space 13b.

[0679] The pipe 35 is cylindrical, but it can also be square. Inside the pipe 35, there are guide rails 7, namely a pair of floor guide rails 31, for the unmanned transporter 110 to travel on. Therefore, the unmanned transporter 110 can travel along the pair of floor guide rails 31 inside the pipe 35.

[0680] In locations where beams 22ab supporting the office building are present, unmanned transport vehicles 110 have difficulty moving. However, in this embodiment, through holes 22ac for pipes 35 to pass through are formed in beams 22ab. Therefore, pipes 35 can be distributed throughout the fourth floor space 13b.

[0681] To deliver goods to the recipient's parcel box 43, the unmanned transport robot 110 has a through hole in the pipe 35 at a position corresponding to (opposite to) the driveway 28 above the parcel box 43. Thus, the unmanned transport robot 110 unloads the cargo basket above the recipient's parcel box 43 via the through hole and driveway 28, storing the goods in the parcel box 43. Once the goods are stored in the parcel box 43, the cargo basket is raised and retrieved. This allows goods to be delivered to the designated parcel box 43. Additionally, the unmanned transport robot 110 can also unload the cargo basket from the driveway 28 and retrieve the goods stored in the parcel box 43.

[0682] Figure 59 This diagram illustrates, for example, the application of the Sy1 delivery system with pipes 35 within an office building. Figure 59 In (a), a case is shown where two layers of pipes 35 are arranged vertically in the fourth floor space 13b between the upper first horizontal wall 22a and the upper second horizontal wall 22b. In the two layers of pipes 35, the upper pipe 35 is not arranged vertically above the lower pipe 35. Figure 59 In (b), a case is shown where a layer of pipes 35 is arranged in the fourth floor space 13b.

[0683] In the conduit 35, a through hole 35a is formed at a position corresponding to (opposite to) the travel opening 28 above the express delivery box 43. A gate 35c is disposed at the through hole 35a. When the unmanned transport vehicle 110 reaches above the gate 35c, the gate drive unit is controlled by the control unit, thereby opening the gate 35c. Thus, the unmanned transport vehicle 110 can unload the cargo basket through the through hole 35a and the travel opening 28.

[0684] Reference Figure 60 The following explains the situation regarding the construction of pipe 35 in the office building.

[0685] Figure 60 A flowchart illustrating an example of installing pipe 35 in an office building is shown.

[0686] like Figure 59 (a) and Figure 60 As shown, the inner diameter of pipe 35 is 50cm. The height between the lower end of beam 22ab and the lower end of pipe 35 is 20cm. Furthermore, these heights are merely examples and are not limited to these.

[0687] First, the operator performs various piping works on the office building (S11). Specifically, pipe 35 and a pair of floor guide rails 31 are installed in the fourth floor space 13b. In addition, the operator also installs air conditioning pipes and ventilation pipes in the office building.

[0688] Next, the workers carried out piping work on the office building, including water pipes, gas pipes, fire extinguishing pipes such as sprinklers (S12).

[0689] Next, the workers carried out electrical wiring, communication wiring and other wiring works in the office building, as well as the installation of fire alarms, surveillance cameras and other equipment (S13).

[0690] Next, the workers install the ceiling, i.e., the second horizontal wall 22b, on the office building (S14). This creates the fourth floor space 13b between the upper first horizontal wall 22a and the second horizontal wall 22b, and conceals wiring, piping, pipes 35, a pair of floor rails 31, etc.

[0691] Next, the workers installed lighting fixtures, air conditioning equipment, etc. on the second horizontal wall 22b of the office building (S15).

[0692] Next, the operator creates a passageway 28 on the second horizontal wall 22b of the office building and removes the blind cover 35b of the through hole 35a of the pipe 35, which is pre-installed at a position opposite to the passageway 28 (S16). Multiple through holes 35a are pre-formed on the pipe 35, and blind covers 35b covering the through holes 35a of the pipe 35 are also pre-installed. The blind cover 35b is removed only at the position corresponding to the passageway 28. At this time, since a gap is formed between the through hole 35a and the passageway 28, the operator installs a pipe 35d connecting the through hole 35a to the passageway 28. Additionally, the operator installs a gate 35c capable of opening and closing the through hole 35a. Furthermore, the operator installs a control unit and a gate drive unit to control the gate drive unit, so that the gate 35c is driven by the gate drive unit.

[0693] Next, the workers installed unmanned transporters 110 (S17) on the office building, which are capable of traveling on a pair of floor guide rails 31. Thus, the project for the office building is completed.

[0694] Therefore, the unmanned transport vehicle 110 stops above the delivery box 43 of the recipient. When the gate 35c opens the through hole 35a, the cargo basket can be unloaded through the through hole 35a and the driveway 28 above the delivery box 43, and the goods can be stored in the delivery box 43. In this way, goods can be delivered to the designated delivery box 43. In addition, the unmanned transport vehicle 110 can also unload the cargo basket from the driveway 28 and retrieve the goods stored in the delivery box 43.

[0695] In this embodiment, the delivery system Sy1 in an office building is described, but it can also be applied to the delivery system Sy2 in an apartment building, and the logistics systems Sy3 and Sy4.

[0696] Alternatively, in this embodiment, the aforementioned cargo baskets can also be mounted on unmanned transport vehicles 110, 110a, and 110b.

[0697] Figures 61-64A This is a diagram illustrating a structural example of the office building delivery system Sy1 in this embodiment. Figure 61 of (a), Figure 62 of (a), Figure 63 of (a), Figure 64A (a) and Figure 1 , Figure 22 Similarly, the state of one of the multiple floors of the office building containing the Sy1 delivery system is shown when viewed from an obliquely upward perspective. Figure 61 (b) Figure 62 (b) Figure 63 (b) Figure 64A (b) shows the view from above the third floor space 13, the second elevator space 212, and the unmanned transporter 110c.

[0698] In addition, Figure 61 The image shows the state of one floor (also known as the floor area) of a multi-story office building housing the Sy1 in-building delivery system, viewed from an oblique, top-down perspective. Figure 61 The diagram shows an elevator with a lift car 210 installed in an office building and an automated guided vehicle (AGV) 110c. An elevator lobby and a corridor connecting to the elevator lobby are formed in front of the entrance / exit of the lift car 210. The elevator lobby and corridor are included in the first floor space 11 of the aforementioned floor area. Furthermore, where no symbols are specified in this diagram, the same symbols as described above are used for illustrative purposes.

[0699] The third floor space 13 included in the floor area is equipped with floor guide rails 31 (first floor inner guide rail 31a, second floor inner guide rail 31b) for unmanned transport vehicles 110c to travel in a horizontal direction.

[0700] Multiple second-floor internal guide rails 31b are arranged horizontally in the third-floor space 13, including passenger second-floor internal guide rails 31b and departure second-floor internal guide rails 31b extending from the passenger second-floor internal guide rails 31b to the elevator hall. At the intersection of the passenger second-floor internal guide rails 31b and the departure second-floor internal guide rails 31b, a diamond intersection is formed, similar to railway rails. That is, at the intersection point (diamond intersection) of the passenger second-floor internal guide rails 31b and the departure second-floor internal guide rails 31b, the unmanne...

Claims

1. An elevator installed in a building, comprising: The elevator car is raised and lowered. A partition divides the space inside the elevator car into a first space for passengers and a second space for unmanned transport vehicles. An elevator internal guide rail, disposed in the second space, includes a movable guide rail; and An actuator that moves the movable guide rail. The unmanned transport vehicle travels along the guide rails inside the elevator. The movable guide rail switches between a first guide rail state and a second guide rail state via the actuator. In the state of the first guide rail, The first end of the movable guide rail is connected to the second end of the floor guide rail located on a specified floor of the building. In the state of the second guide rail, The first end is not connected to the second end.

2. The elevator according to claim 1, wherein, The elevator also features: The first car door opens and closes an opening leading to the first space and formed in the elevator car; and The second car door opens and closes the opening leading to the second space and formed in the elevator car.

3. The elevator according to claim 2, wherein, The first car door and the second car door are integrally formed.

4. The elevator according to claim 1, wherein, The second space is located above the first space. The elevator's internal guide rails are installed on the ceiling of the second space.

5. The elevator according to claim 1, wherein, The unmanned transporter has the following features: Goods baskets, which are connected to wires; and A winch that can release and wind up the conductor.

6. The elevator according to claim 1, wherein, The elevator internal guide rails also include fixed guide rails. The movable guide rail stops at a predetermined position by sliding relative to the fixed guide rail, thereby switching from the second guide rail state to the first guide rail state.

7. The elevator according to any one of claims 1 to 6, wherein, The elevator also features: A second partition, which is disposed within the elevator car below the first partition, which serves as the partition; and The second elevator internal guide rail, which differs from the first elevator internal guide rail, includes a movable guide rail. The space inside the elevator car is divided into a first space, a second space, and a third space for the unmanned transport vehicle to ride in by the first partition and the second partition. The second elevator internal guide rail is configured in the third space. The movable guide rail of the second elevator inner guide rail switches between the third guide rail state and the fourth guide rail state by being driven by an actuator. In the third guide rail state The third end of the movable guide rail of the second elevator inner guide rail is connected to the fourth end of the inner guide rail located on the floor below the specified floor of the building. In the fourth guide rail state, The third end is not connected to the fourth end.

8. The elevator according to claim 1, further comprising: A guide rail lift, which raises and lowers the guide rails inside the elevator.

9. The elevator according to claim 8, wherein, The guide rail lifting mechanism is capable of changing the distance between the elevator guide rail and the ceiling of the second space according to the floor height of each floor of the building.

10. The elevator according to claim 9, wherein, The height of the first floor of the building is different from the height of the second floor of the building. The elevator's internal guide rails are in their first guide rail state on the first floor of the building, and in their second guide rail state on the second floor of the building. The first distance between the elevator inner guide rail and the ceiling of the second space in the first first guide rail state is different from the second distance between the elevator inner guide rail and the ceiling of the second space in the second first guide rail state.

11. The elevator according to claim 10, wherein, The absolute value of the difference between the first floor height and the second floor height is equal to the absolute value of the difference between the first distance and the second distance.

12. An elevator installed in a building, comprising: The elevator car is raised and lowered. A partition divides the space inside the elevator car into a first space for passengers and a second space for unmanned transport vehicles. Elevator internal guide rails, which are configured in the second space; and A guide rail lift, which raises and lowers the guide rails inside the elevator. The unmanned transport vehicle travels along the guide rails inside the elevator. The guide rail lifting mechanism is capable of changing the distance between the elevator guide rail and the ceiling of the second space according to the floor height of each floor of the building.

13. An elevator installed in a building, comprising: The elevator car is raised and lowered. The first and second partitions separate the space inside the elevator car. Within the space of the elevator car, from the vertical direction upwards, there are sequentially a first second space for the unmanned transport vehicle to ride in, the first partition, a first space for people to ride in, the second partition, and a second second space for the unmanned transport vehicle to ride in; The first elevator internal guide rail, configured in the first second space, is used for the movement of the unmanned transport machine; and The second elevator internal guide rail, which is configured in the second second space, is used for the unmanned transport machine to travel.

14. The elevator according to claim 13, wherein, further, The first elevator internal guide rail includes a first movable guide rail. The second elevator internal guide rail includes a second movable guide rail. The elevator also features: A first actuator that moves the first movable guide rail; and The second actuator moves the second movable guide rail. The first movable guide rail switches between a first first guide rail state and a first second guide rail state via the drive of the first actuator. In the first guide rail state, The first end of the first movable guide rail is connected to the first second end of the floor guide rail located on a specified floor of the building. In the first second guide rail state, The first terminal is not connected to the first terminal. The second movable guide rail switches between the second first guide rail state and the second second guide rail state via the drive of the second actuator. In the second first guide rail state, The second first end of the second movable guide rail is connected to the second second end of the floor guide rail located on a specified floor of the building. In the second guide rail state, The second first end is not connected to the second second end.

15. The elevator according to claim 13 or 14, further comprising: The first guide rail lift, which causes the guide rails inside the first elevator to move up and down; and The second guide rail lift causes the guide rails inside the second elevator to move up and down.

16. A delivery system comprising: An elevator, which is installed in a building; Floor guide rails, installed on designated floors of the building, include movable guide rails; and An actuator that moves the movable guide rail. The elevator has the following features: The elevator car is raised and lowered. A partition divides the space inside the elevator car into a first space for passenger transport and a second space for unmanned transport vehicles; and The elevator's internal guide rails are located in the second space. The unmanned transport vehicle travels along the guide rails inside the elevator. The movable guide rail switches between a first guide rail state and a second guide rail state via the actuator. In the state of the first guide rail, The first end of the movable guide rail is connected to the second end of the elevator inner guide rail. In the state of the second guide rail, The first end is not connected to the second end.

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