Logistics systems and unmanned aerial vehicles

Abstract

The present invention provides a logistics system that can easily transport articles in a building and a building site. The logistics system is mainly controlled by an elevator system. Specifically, the logistics system includes an elevator system installed in a building, and an unmanned aerial vehicle that flies from the first floor of the building to the second floor of the building through the inside of the elevator passage of the elevator system in a state where the article is suspended. With this structure, the article can be easily transported mainly inside the building.

Description

Technical Field

[0001] The present invention relates to the logistics system and unmanned aerial vehicle within the scope of rights of the owner of land and buildings, namely, the buildings on the ground and underground of the land and the building land. Background Art

[0002] Patent Document 1 discloses an autonomous traveling body moving system. According to this autonomous traveling body moving system, an autonomous traveling body can operate in cooperation with an elevator system.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2012-18645 Summary of the invention

[0006] Problem that the invention aims to solve

[0007] However, in the autonomous moving body moving system described in Patent Document 1, if there is an obstacle such as a step between the floor of the elevator system's landing and the floor of the car, or a floor placed at the landing or the car, the autonomous moving body may not be able to get on the car or get off the stairs to the landing. In this case, the autonomous moving body cannot be used to transport items. In addition, the autonomous moving body mainly travels on the ground for mapping, and in the event of theft, there is a safety problem because the control unit of the autonomous moving body contains the map information in the building.

[0008] The present invention is made to solve the above-mentioned problems. The purpose of the present invention is to provide a logistics system and an unmanned aerial vehicle that can easily transport items within the rights of the owner of the land and building, such as inside the building, and mainly control the elevator system, so that the elevator system manages the map information inside the building, thereby reducing the safety risk because it is difficult for people to physically contact the elevator system (control device).

[0009] Means used to solve problems

[0010] The logistics system of the present invention is mainly controlled by an elevator system. Specifically, the logistics system comprises: an elevator system installed in the scope of the land and building owner's rights, that is, the buildings on the ground and underground of the land and the buildings within the scope of the building land; and an unmanned aerial vehicle, which flies from the first floor of the building to the second floor of the building through the interior of the elevator system's lifting passage in a state where the goods are hung.

[0011] The unmanned aerial vehicle of the present invention comprises: a flying main body; and a control unit, which controls the flight of the main body so that the main body moves from the first floor of the building to the second floor of the building through the interior of the elevator passage of the elevator system of the building while an object is hung on the main body. Here, the first floor refers to the floor where the unmanned aerial vehicle enters the elevator passage or the car, and the second floor refers to the floor where the unmanned aerial vehicle exits the elevator passage or the car. In addition, as for the up-down relationship between the first floor and the second floor, as long as the two sides are not the same floor, either floor can be the upper floor or the lower floor.

[0012] Effects of the Invention

[0013] According to these inventions, the elevator system performs the main control, and thus the unmanned aerial vehicle flies from the first floor of the building to the second floor of the building through the interior of the elevator system's hoistway with the articles suspended thereon. Therefore, the articles can be easily transported inside the building. In addition, since the elevator system performs the main control, the articles can be efficiently transported by using the vacant cars of one or each elevator in a group of elevators or a single or multiple vacant cars in the case of using multiple cars in the same hoistway such as a double-decker elevator. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of a building to which the logistics system in Implementation Example 1 is applied.

[0015] Figure 2 This is a block diagram of the logistics system in Implementation Example 1.

[0016] Figure 3 This is a perspective view of the main parts of a building to which the distribution system in the first embodiment is applied.

[0017] Figure 4 This is a perspective view of the main parts of a building to which the distribution system in the first embodiment is applied.

[0018] Figure 5 This is a perspective view of the main parts of a building to which the distribution system in the first embodiment is applied.

[0019] Figure 6 This is a perspective view of the main parts of a building to which the distribution system in the first embodiment is applied.

[0020] Figure 7 This is a perspective view of the main parts of a building to which the distribution system in the first embodiment is applied.

[0021] Figure 8 This is a perspective view of the main parts of a building to which the distribution system in the first embodiment is applied.

[0022] Fig. 9 This is a perspective view of the main parts of a building to which the distribution system in the first embodiment is applied.

[0023] Fig.10 This is a perspective view of the main parts of a building to which the distribution system in the first embodiment is applied.

[0024] Fig.11 This is a perspective view of the main parts of a building to which the distribution system in the first embodiment is applied.

[0025] Fig.12 This is a perspective view of the main parts of a building to which the distribution system in the first embodiment is applied.

[0026] Fig.13 This is a perspective view of the main parts of a building to which the distribution system in the first embodiment is applied.

[0027] Fig.14 This is a perspective view of the main parts of a building to which the distribution system in the first embodiment is applied.

[0028] Fig.15 This is a perspective view of the main parts of a building to which the distribution system in the first embodiment is applied.

[0029] Fig.16 This is a perspective view of the main parts of a building to which the distribution system in the first embodiment is applied.

[0030] Fig.17 This is a perspective view of the main parts of a building to which the distribution system in the first embodiment is applied.

[0031] Fig.18 This is a perspective view of the main parts of a building to which the distribution system in the first embodiment is applied.

[0032] Fig.19 This is a perspective view of the main parts of a building to which the distribution system in the first embodiment is applied.

[0033] Fig. 20 This is a perspective view of the main parts of a building to which the distribution system in the first embodiment is applied.

[0034] Fig.21 This is a perspective view of the main parts of a building to which the distribution system in the first embodiment is applied.

[0035] Fig. 22 This is a perspective view of the main parts of a building to which the distribution system in the first embodiment is applied.

[0036] Fig.23 This is a perspective view of the main parts of a building to which the distribution system in the first embodiment is applied.

[0037] Fig.24 This is a perspective view of the main parts of a building to which the distribution system in the first embodiment is applied.

[0038] Fig.25 This is a perspective view of the main parts of a building to which the distribution system in the first embodiment is applied.

[0039] Fig.26 This is a flowchart for explaining the outline of the operation of the distribution system in the first embodiment.

[0040] Fig. 27 This is a flowchart for explaining the outline of the operation of the distribution system in the first embodiment.

[0041] Fig.28 This is a flowchart for explaining an outline of an object detection operation and information reading operation performed by an unmanned aerial vehicle in the logistics system in the first embodiment.

[0042] Fig.29 This is a flowchart for explaining an outline of an object detection operation and information reading operation performed by an unmanned aerial vehicle in the logistics system in the first embodiment.

[0043] Fig.30 This is a flowchart for explaining an outline of the optimum instruction operation performed by the elevator system of the logistics system in the first embodiment.

[0044] Fig.31 This is a flowchart for explaining an overview of the article hanging operation performed by the unmanned aerial vehicle of the logistics system in the first embodiment.

[0045] Fig.32 This is a flowchart for explaining an overview of the article hanging operation performed by the unmanned aerial vehicle of the logistics system in the first embodiment.

[0046] Fig.33 This is a flowchart for explaining an overview of the door opening and closing operation performed by the safety system of the logistics system in the first embodiment.

[0047] Fig.34 This is a flowchart for explaining an outline of the combined operation action performed by the elevator system of the logistics system in the first embodiment.

[0048] Fig.35 This is a flowchart for explaining an outline of the combined operation action performed by the elevator system of the logistics system in the first embodiment.

[0049] Fig.36 This is a flowchart for explaining an outline of the first dedicated operation action performed by the elevator system of the logistics system in the first embodiment.

[0050] Fig.37 This is a flowchart for explaining an outline of the first dedicated operation action performed by the elevator system of the logistics system in the first embodiment.

[0051] Fig.38 This is a flowchart for explaining an outline of the first dedicated operation action performed by the elevator system of the logistics system in the first embodiment.

[0052] Fig.39 This is a flowchart for explaining an overview of the destination movement operation performed by the unmanned aerial vehicle of the logistics system in the first embodiment.

[0053] Fig.40 This is a flowchart for explaining an overview of an authentication operation and a first article release operation performed by an unmanned aerial vehicle in the logistics system in the first embodiment.

[0054] Fig.41 This is a flowchart for explaining an overview of an authentication operation and a first article release operation performed by an unmanned aerial vehicle in the logistics system in the first embodiment.

[0055] Fig.42 This is a flowchart for explaining an overview of the return action performed by the unmanned aerial vehicle of the logistics system in the first embodiment.

[0056] Fig.43 This is a flowchart for explaining an overview of the return action performed by the unmanned aerial vehicle of the logistics system in the first embodiment.

[0057] Fig.44 This is a flowchart for explaining an outline of the second article releasing operation performed by the unmanned aerial vehicle of the logistics system in the first embodiment.

[0058] Fig.45 This is a flowchart for explaining an outline of the second article releasing operation performed by the unmanned aerial vehicle of the logistics system in the first embodiment.

[0059] Fig.46 This is a flowchart for explaining an outline of the safety release operation performed by the elevator system of the logistics system in the first embodiment.

[0060] Fig.47 This is a hardware configuration diagram of a control unit of an elevator system applied to the logistics system according to the first embodiment. DETAILED DESCRIPTION

[0061] The embodiment of the present invention will be described with reference to the accompanying drawings. In addition, the same reference numerals are used for the same or corresponding parts in each figure, and the repeated description of the parts is appropriately simplified or omitted.

[0062] Implementation method 1.

[0063] Figure 1 This is a schematic diagram of a building to which the logistics system in Implementation Example 1 is applied.

[0064] Figure 1 The building has a plurality of entrances and exits. The plurality of opening and closing bodies 1 are respectively provided at the respective entrances and exits of the plurality of entrances and exits. For example, the plurality of opening and closing bodies 1 are respectively doors.

[0065] The security system includes a plurality of door units 2, a plurality of sound units 3, a plurality of wireless communication units 4, and a plurality of control units 5. The wireless communication unit 4 may also be configured to perform wired communication with the control unit 13 as required. In this case, the wireless communication unit 4 may also perform wireless communication with the wireless communication unit 20 of the unmanned aerial vehicle.

[0066] The plurality of door parts 2 are respectively provided on each of the plurality of opening and closing bodies 1. The plurality of sound parts 3 are respectively provided near each of the plurality of opening and closing bodies 1. The plurality of wireless communication parts 4 are respectively provided near each of the plurality of opening and closing bodies 1. The plurality of wireless communication parts 4 are respectively provided near each of the plurality of opening and closing bodies 1. The plurality of control parts 5 are respectively provided near each of the plurality of opening and closing bodies 1.

[0067] The elevator system includes a plurality of car units 6, a plurality of drive units 7, a plurality of information display units 8, a plurality of sound units 9, a plurality of landing wireless communication units 10, a plurality of car wireless communication units 11, a plurality of lift channel wireless communication units 12, and a control unit 13. These wireless communication units 10, 11, 12 may also be configured to perform wired communication with the control unit 13 as required. In this case, the landing wireless communication unit 10 needs to be able to perform wireless communication with the wireless communication unit 20 of the unmanned aerial vehicle, and the lift channel wireless communication unit may also perform wireless communication as required.

[0068] A plurality of car units 6 are respectively arranged inside the lifting passage. A plurality of drive units 7 are respectively arranged above or below each of the plurality of car units 6 in the upper or lower part of the lifting passage or in the machine room. A plurality of information display units 8 are respectively arranged inside each of the plurality of car units 6. A plurality of sound units 9 are respectively arranged inside each of the plurality of car units 6. A plurality of floor station wireless communication units 10 are respectively arranged at each of the plurality of floor stations of the elevator system. A plurality of car unit wireless communication units 11 are respectively arranged inside the plurality of car units 6. A plurality of lifting passage wireless communication units 12 are respectively arranged inside the lifting passage. A control unit 13 is arranged in the lifting passage or in the machine room or the management room.

[0069] A plurality of ports are respectively provided on the ceilings of the plurality of entrances and exits of the building and the ceilings of the plurality of landings. The plurality of ports are respectively provided with a power supply unit 14, a wireless communication unit 15 and a control unit 16. The wireless communication unit 15 can also be provided to perform wired communication with the control unit 13 as required.

[0070] Each of the plurality of unmanned aerial vehicles includes a main body unit B, a driving unit 17 , a sensing unit 18 , an information reading unit 19 , an information display unit 19A, a sound unit V, a wireless communication unit 20 , and a control unit 21 .

[0071] The remote control device is carried by a person. The remote control device includes a remote control unit 22 and a wireless communication unit 23. The remote control unit 22 and the wireless communication unit 23 may be replaced by ordinary car buttons, landing buttons, or sensor buttons as needed, and the communication may be wired communication with the control unit 13.

[0072] For example, when a truck 24 transporting an article 25 arrives at a sensing space near an entrance or exit of a building, the security system, the elevator system, and a plurality of unmanned aerial vehicles operate in a coordinated manner.

[0073] At this time, the unmanned aerial vehicle hangs the article 25 loaded by the truck 24. After that, the unmanned aerial vehicle flies from the first floor to the second floor using the elevator. After that, after confirming the authentication object, the unmanned aerial vehicle releases the hanging of the article 25. After that, the unmanned aerial vehicle returns to the empty docking port. Here, the authentication object refers to information consistent with the information obtained from the information reading unit 19 when a person receives the article 25, and refers to the object or image presented by the recipient, such as text information such as the postal code, address, and name of the destination, such as a one-dimensional barcode or a two-dimensional barcode that collects these logistics information, such as the person himself (face, fingers, hands, upper body, whole body, etc.).

[0074] Next, use Figure 2 Explain the functions of each part of the logistics system.

[0075] Figure 2 This is a block diagram of the logistics system in Implementation Example 1.

[0076] In the security system, the door unit 2 is configured to unlock and lock the door provided at the entrance and exit of the security space. The door unit 2 is configured to open or close the door. In addition, the door unit 2 may also perform processing based on recognition using sensors or cameras responsible for the security of the security space. The sound unit 3 is configured to output sound or broadcast. The wireless communication unit 4 is configured to send and receive information wirelessly. The wireless communication unit 4 is configured to perform wireless relay as needed. The wireless communication unit 4 may also be configured to perform wired communication with the control unit 13 as needed. In this case, the wireless communication unit 4 needs to be able to perform wireless communication with the wireless communication unit 20 of the unmanned aerial vehicle. The control unit 5 is configured to determine the content of the information on the status to be sent. The control unit 5 is configured to understand the content of the information of the received instruction. The control unit 5 is configured to control the door unit 2 and the sound unit 3.

[0077] In the elevator system, the car section 6 is configured to allow people, unmanned aerial vehicles, etc. to enter and exit. The driving section 7 is configured to generate a driving force when the car section 6 moves. The information display section 8 is configured to visually transmit information to people. The sound section 9 is configured to output sound or broadcast. The landing wireless communication section 10 is configured to be able to send and receive information wirelessly. The landing wireless communication section 10 is configured to be able to perform wireless relay as needed. The car wireless communication section 11 is configured to be able to send and receive information wirelessly. The car wireless communication section 11 is configured to be able to perform wireless relay as needed. The lift channel wireless communication section 12 is configured to be able to send and receive information wirelessly. The lift channel wireless communication section 12 is configured to be able to perform wireless relay as needed. These wireless communication sections 10, 11, and 12 can also be configured to communicate with the control section 13 by wire as needed. In this case, the landing wireless communication section 10 needs to be able to also perform wireless communication with the wireless communication section 20 of the unmanned aerial vehicle, and the car wireless communication section and the lift channel wireless communication section 12 are configured to be able to perform wireless communication as needed. The control unit 13 is configured to cooperatively control the security system, the elevator system, and the unmanned aerial vehicle.

[0078] At the docking port, the power supply unit 14 is configured to supply power to the unmanned aerial vehicle by contact or non-contact. The wireless communication unit 15 is configured to send and receive information by wireless. The wireless communication unit 15 is configured to perform wireless relay as required. The control unit 16 is configured to control the power supply unit 14 and the wireless communication unit 15. The wireless communication unit 15 can also be configured to communicate with the control unit 13 by wire as required.

[0079] In the unmanned aerial vehicle, the main body B is configured to be able to hang an object 25. The driving unit 17 is configured to be able to generate a driving force when the unmanned aerial vehicle is flying. The sensing unit 18 is configured to be able to detect obstacles, objects, people, objects, etc. The information reading unit 19 is configured to be able to read information. The wireless communication unit 20 is configured to be able to send and receive information wirelessly. The wireless communication unit 20 is configured to be able to perform wireless relay as needed. In addition, wired communication can also be performed between the docking port and the unmanned aerial vehicle arriving at the docking port through the wireless communication unit 15 and the wireless communication unit 20. From the wireless communication unit 15 to the control unit 21, it is configured to be able to determine the content of the information to be sent. The control unit 21 is configured to be able to understand the content of the information of the received instruction. The control unit 21 is configured to be able to control the driving unit 17, the sensing unit 18 and the information reading unit 19. The sensing unit 18 is configured to be a structure capable of detecting an object, such as a scanning LIDER, a millimeter wave radar, a sensor, a stereo camera, etc. The information reading unit 19 is configured to be a structure capable of reading text or information, such as a one-dimensional or two-dimensional barcode reader, a camera, etc. The information display unit 19A is provided to draw attention by lighting a lamp on the UAV body or displaying an image toward the ground when the UAV is moving, or to guide a person to a reading position so that the information reader can read easily.

[0080] In the remote control device, the remote control unit 22 is configured to accept external operations or set a predetermined floor, etc. The wireless communication unit 23 is configured to transmit and receive information wirelessly. For example, it refers to a structure that can transmit and receive such as Bluetooth (registered trademark) and Wi-Fi (registered trademark). In addition, as a minimum, the wireless communication unit 23 may only transmit. For example, it refers to a structure that can transmit such as an RF tag, a non-contact key, and a remote control communication unit.

[0081] Next, use Figures 3 to 11 A first example of a method of transporting the article 25 using an unmanned aerial vehicle will be described.

[0082] Figures 3 to 11 This is a perspective view of the main parts of a building to which the distribution system in the first embodiment is applied.

[0083] like Figure 3 As shown, a truck or the like 24 transporting an article 25 goes to a position corresponding to the first floor of the building. For example, the truck or the like 24 goes to the vicinity of the first floor. The truck or the like 24 is in a state where there is no obstacle directly above the article 25, so that the authentication object can be recognized when the article 25 is placed on the cargo platform.

[0084] The unmanned aerial vehicle D located at the landing gate P on the first floor detects an object that can be hung, and moves toward the object at a height that allows it to fly close to the ceiling. The unmanned aerial vehicle D that has arrived directly above the object that can be hung reads the authentication object located at the object while gradually approaching directly below. After reading the authentication object, the object 25 is hung. After hanging, the unmanned aerial vehicle D returns to the route it flew from and arrives near the landing gate P. Next, the unmanned aerial vehicle D flies to the landing station and sends information to the landing station operating panel to instruct the elevator system to operate a special operation.

[0085] Thereafter, the elevator system starts operating the car unit 6 determined to be optimal, after confirming that there is no abnormality at the landing of the second floor using a Hall motion sensor or the like as needed.

[0086] For example, the elevator system cancels the landing call and the car call of the car unit 6. The elevator system makes the car unit 6 go straight to the first floor. The elevator system makes the car unit 6 wait for the door to open on the first floor. When the user is inside the car unit 6, the elevator system notifies the user to leave the car unit 6.

[0087] For example, the elevator system cancels the landing call of the car unit 6. The elevator system responds to the car call of the car unit 6. The elevator system makes the car unit 6 go straight to the first floor after responding to the last car call. The elevator system makes the car unit 6 wait for the door to open on the first floor.

[0088] For example, when the unmanned aerial vehicle D specifies the first floor, the elevator system causes the car unit 6 to move straight to the first floor. Figure 4 As shown, the elevator system opens a dedicated UAV entrance 26 on the first floor.

[0089] After that, the unmanned aerial vehicle D flies into the elevator passage through the unmanned aerial vehicle dedicated entrance 26 of the landing.

[0090] Afterwards, if Figure 5 As shown, the unmanned aerial vehicle D moves toward the second floor through the lifting passage.

[0091] Afterwards, if Figure 6 As shown, the elevator system opens the dedicated entrance 26 for unmanned aerial vehicles on the second floor. After that, the unmanned aerial vehicle D senses an object at a height close to the ceiling and starts to fly. At the same time, the elevator system closes the dedicated entrance 26 for unmanned aerial vehicles on the second floor. After completion, the elevator stops the dedicated operation and returns to full automatic operation.

[0092] Afterwards, if Figure 7 As shown, the unmanned aerial vehicle D detects and reads the authentication object. The unmanned aerial vehicle D sends the status to the control unit 13, and determines whether the authentication object information is consistent.

[0093] Afterwards, if Fig. 9 As shown, the control unit 13 sends an instruction to the unmanned aerial vehicle D, and the unmanned aerial vehicle D releases the object 25 at an appropriate height according to the received instruction. In addition, the appropriate height means a height that does not damage the object 25 and does not cause it to malfunction.

[0094] exist Figure 7 In the case where the unmanned aerial vehicle cannot detect the authentication object, such as Figure 8 As shown, the user moves to a double or higher security space. The double or higher security space refers to a space that the recipient can release.

[0095] In this case, if Fig.10 As shown, the control unit 13 sends information about the release of the double or more safety space to the safety system or unmanned aerial vehicle D. The received safety system or unmanned aerial vehicle D performs the release instruction of the double or more safety space. After that, the control unit 13 sends an instruction to the release unmanned aerial vehicle D, and the unmanned aerial vehicle D enters the double or more safety space according to the received instruction and releases the object 25 at an appropriate height.

[0096] Afterwards, if Fig.11 As shown, the unmanned aerial vehicle D rises from the appropriate height of the release to the top, and goes to the unillustrated docking port on the second floor, such as docking port X, at a height close to the ceiling, and returns if it is vacant. If it is not vacant, it receives the instruction of the elevator system and returns to the docking port indicated by the instruction. The other unmanned aerial vehicles other than the unmanned aerial vehicle D that delivers the item 25 pass through the elevator passage and go to the first floor according to the instruction of the elevator system. After arriving, they receive the door opening instruction of the unmanned aerial vehicle dedicated entrance and exit 26 and come out from the first floor. After coming out from the first floor, the other unmanned aerial vehicles return to the vacant docking port to which the unmanned aerial vehicle D originally returned. After returning to the docking port P on the first floor, the other unmanned aerial vehicles sense objects in the building site and wait for the objects to be detected.

[0097] In addition, when the owner of the land and building sets the security of other companies or manual security, the truck 24 transporting the goods 25 can go to the entrance and exit of the security space. In this case, the individual or legal person transporting the goods 25, the owner of the land and building or the person acting as the land and building agent, or the person who obtains permission from them can instruct the release of the security according to the permitted method, or instruct the release of the security and the special operation of the elevator system.

[0098] In addition, if the individual or legal person transporting the item 25 confirms that the unmanned aerial vehicle is hanging the item 25 and enters the elevator channel after reaching the floor station on the first floor without colliding with people, objects, etc., the individual or legal person transporting the item 25 will consider that the delivery of the item 25 is completed and move.

[0099] Alternatively, the recipient may read a barcode attached to the item 25 and send information indicating receipt of the item 25 to a system such as a sender of the item 25, thereby receiving points, a reduction in delivery charges, and the like.

[0100] In addition, the truck 24 of the individual or legal person transporting the article 25 may be manned or unmanned. In the case where the individual or legal person transporting the article 25 is unmanned, for example, an unmanned aerial vehicle confirms the arrival of the truck 24, hangs the article and instructs safe release, performs safe release and instructs the dedicated operation of the elevator system.

[0101] In addition, the legal person transporting the object 25 and the owner of the land and building can also transport the object 25 and the unmanned aerial vehicle as a group based on a pre-signed license agreement, and take them to the destination building by truck, etc. 24. In this case, multiple groups can also be stacked in the vertical direction. The unmanned aerial vehicle can read the location, name, first floor, second floor and other information of the building from the barcode, OCR, etc. installed on the object 25 in advance. The unmanned aerial vehicle can act independently based on its own unique number.

[0102] Even after the unmanned aerial vehicle with the object 25 hung thereon in paragraph 0045 has just started flying toward the landing station on the first floor, the legal person may move the truck etc. 24 .

[0103] The unmanned aerial vehicle of the object in paragraph 0045 can wait in a double or more secure space while maintaining the hanging lock of the object 25. The recipient can make the unmanned aerial vehicle read the inherent information such as the delivery number and barcode. When the read inherent information is consistent with the pre-registered inherent information, the unmanned aerial vehicle can release the hanging lock of the object 25. The unmanned aerial vehicle of the object in paragraph 0045 sends information indicating that the inherent information has been read as a receipt completion notification to the legal person operating the truck, etc. 24. When the unmanned aerial vehicle of the object in paragraph 0045 moves from the double or more secure space without releasing the hanging of the object 25, an abnormality such as an alarm is notified. The unmanned aerial vehicle of the object in paragraph 0045 can wait in a double or more secure space while maintaining the hanging lock of the object 25. Afterwards, the unmanned aerial vehicle can be collected by the patrolling truck, etc. 24 and reused.

[0104] When the elevator system has a plurality of unmanned aerial vehicles, if other unmanned aerial vehicles are waiting, the elevator system repeats the dedicated operation. When all unmanned aerial vehicles with articles 25 hung are no longer on the first floor, the elevator system switches the car unit 6 from the dedicated operation to the fully automatic operation.

[0105] In addition, a double or more safety space may be provided at the entrance of the first floor or the first layer of the safety space. In this case, the individual or legal person transporting the article 25 may place the article 25 in the double or more safety space. In this case, the unmanned aerial vehicle flies toward the double or more safety space on the first floor, releases the safety and hangs the article 25. After that, the unmanned aerial vehicle sets the safety of the first floor. After moving in the elevator passage, the safety is released in the double or more safety space on the second floor and the article 25 is released from the suspension. After that, the unmanned aerial vehicle sets the safety and returns to the vacant parking port after coming out of the double or more safety space. In the case where the article 25 remains in the double or more safety space on the first floor, the unmanned aerial vehicle repeats the same action. In the case where the article 25 does not remain in the double or more safety space on the first floor, the unmanned aerial vehicle instructs the elevator system to release the dedicated operation and returns to the fully automatic operation.

[0106] Furthermore, individuals or legal persons who are moving can also use the present logistics system to move in articles 25 .

[0107] Next, use Figures 12 to 18 A second example of the method of transporting the article 25 using the unmanned aerial vehicle will be described.

[0108] Figures 12 to 18 This is a perspective view of the main parts of a building to which the distribution system in the first embodiment is applied.

[0109] exist Fig.12 In the above, the actions of the unmanned aerial vehicle D and others are similar to Figure 3 The actions of the unmanned aerial vehicle D in are the same.

[0110] Afterwards, if Fig.13 As shown, the elevator system starts operating the car unit 6 determined to be optimal after confirming that there is no abnormality at the landing using a Hall motion sensor or the like as needed.

[0111] For example, the elevator system cancels the landing call of the car unit 6. The elevator system responds to the car call of the car unit 6. After responding to the last car call of the car unit 6, the elevator system moves the car unit 6 straight to the first floor. The elevator system notifies that a dedicated operation using the car unit 6 is being performed. Thereafter, the elevator system starts a dedicated operation of a mobile unmanned aerial vehicle using the car unit 6.

[0112] For example, the elevator system cancels the landing call of the car unit 6. The elevator system moves the car unit 6 straight to the first floor. If the user is inside the car unit 6, the elevator system opens the door of the car unit 6 and then notifies the user of information prompting him to get out of the car unit 6. Thereafter, the elevator system starts the dedicated operation of the mobile unmanned aerial vehicle using the car unit 6.

[0113] Thereafter, the unmanned aerial vehicle D flies toward the interior of the car section 6, maintains a height in the air near the car ceiling, and then closes the door.

[0114] Afterwards, if Fig.14 As shown, in this dedicated operation elevator, the unmanned aerial vehicle D maintains a height above the floor of the car in the air near the ceiling of the car 6 and moves between floors together with the car 6 in this state.

[0115] Afterwards, if Fig.15 As shown, the elevator system opens the door on the second floor. After that, the unmanned aerial vehicle D passes through the car door on the second floor, and then senses the object at a height close to the ceiling and starts flying. At the same time, the door on the second floor is closed. After completion, the elevator system cancels the dedicated operation and returns to full automatic operation.

[0116] Afterwards, if Fig.16 As shown, the unmanned aerial vehicle D detects and reads the authentication object, and sends the status to the control unit 13 to determine whether the authentication object information is consistent.

[0117] Afterwards, if Fig.17 As shown, the control unit 13 sends an instruction to the unmanned aerial vehicle D, and the unmanned aerial vehicle D releases the object 25 at an appropriate height according to the received instruction. In addition, the appropriate height means a height that does not damage the object 25 and does not cause it to malfunction.

[0118] Afterwards, if Fig.16 As shown, the unmanned aerial vehicle D rises from the appropriate height of the release to the top, and goes to the docking port on the second floor at a height close to the ceiling, and returns if it is vacant. If it is not vacant, the unmanned aerial vehicle D receives the instruction of the elevator system and returns to the docking port indicated by the instruction. The other unmanned aerial vehicles other than the unmanned aerial vehicle D that has delivered the item 25 enter the interior of the car section 6 and go to the first floor according to the instruction of the elevator system, and come out of the first floor after arriving. After coming out of the first floor, the other unmanned aerial vehicles return to the vacant docking port to which the unmanned aerial vehicle D originally returned. After returning to the docking port on the first floor, the other unmanned aerial vehicles sense objects in the building site and wait for the objects to be detected.

[0119] Next, use Figures 19 to 25 A third example of the method of transporting the article 25 using the unmanned aerial vehicle will be described.

[0120] Figures 19 to 25 This is a perspective view of the main parts of a building to which the distribution system in the first embodiment is applied.

[0121] In the third example, the method is described in the form of preparing a dedicated car for unmanned aerial vehicles. However, in the case of a double-decker elevator or an elevator with more than two cars, there are already more than two cars. Therefore, even if a dedicated car for unmanned aerial vehicles is not additionally provided, it can be applied if it is handled by the logistics system of the present invention.

[0122] exist Fig.19 In the Figure 3 The actions of the unmanned aerial vehicle in are the same.

[0123] Thereafter, the elevator system starts operating the car unit 6 determined to be optimal after confirming that there is no abnormality in the landing of the second floor using a Hall motion sensor or the like as necessary.

[0124] For example, the elevator system cancels the landing call of the car unit 6. The elevator system responds to the car call of the car unit 6. After responding to the last car call of the car unit 6, the elevator system moves the car unit 6 straight to the first floor. The elevator system opens the unmanned aerial vehicle dedicated entrance 26 on the first floor.

[0125] For example, the elevator system cancels the landing call and the car call of the car unit 6. The elevator system moves the car unit 6 straight to the first floor. If the user is inside the car unit 6, the elevator system opens the door of the car unit 6 and then notifies the user to exit the car unit 6. The elevator system opens the unmanned aerial vehicle dedicated entrance 26 on the first floor.

[0126] For example, when the unmanned aerial vehicle specifies the first floor, the elevator system causes the car unit 6 to move straight to the first floor. The elevator system opens the unmanned aerial vehicle dedicated entrance 26 on the first floor.

[0127] Afterwards, if Fig. 20 As shown, the unmanned aerial vehicle D flies into the dedicated space above the car unit 6 through the unmanned aerial vehicle dedicated entrance and exit 26 .

[0128] Afterwards, if Fig.21 As shown, the unmanned aerial vehicle D moves toward the second floor together with the car unit 6. At this time, the unmanned aerial vehicle D moves in a floating state inside the dedicated space. Alternatively, the unmanned aerial vehicle D may land inside the dedicated space. Alternatively, the unmanned aerial vehicle D may return to the parking port inside the dedicated space.

[0129] Afterwards, if Fig. 22As shown, the elevator system opens the dedicated entrance 26 for unmanned aerial vehicles on the second floor. After that, the unmanned aerial vehicle D senses an object at a height close to the ceiling and starts to fly. At the same time, the elevator system closes the dedicated entrance 26 for unmanned aerial vehicles on the second floor, and after completion, the dedicated operation is terminated and the fully automatic operation is returned.

[0130] Afterwards, if Fig.23 As shown, the unmanned aerial vehicle D detects and reads the authentication object, and sends the status to the control unit 13 to determine whether the authentication object information is consistent.

[0131] Afterwards, if Fig.24 As shown, the control unit 13 sends an instruction to the unmanned aerial vehicle D, and the unmanned aerial vehicle D releases the object 25 at an appropriate height according to the received instruction. In addition, the appropriate height means a height that does not damage the object 25 and does not cause it to malfunction.

[0132] Afterwards, if Fig.25 As shown, the unmanned aerial vehicle D rises from the appropriate height of release to the top, and goes to the docking port on the second floor at a height close to the ceiling. If it is vacant, it returns to, for example, docking port X. If it is not vacant, it receives instructions from the elevator system and returns to the docking port indicated by the instructions. The other unmanned aerial vehicles other than the unmanned aerial vehicle D that has delivered the item 25 pass through the elevator passage and go to the first floor according to the instructions of the elevator system. After arriving, they receive the door opening instructions of the unmanned aerial vehicle dedicated entrance and exit 26 and come out from the first floor. After coming out of the first floor, the other unmanned aerial vehicles return to the vacant docking port to which the unmanned aerial vehicle D originally returned. After returning to the docking port on the first floor, the other unmanned aerial vehicles sense objects in the building site and wait for the objects to be detected.

[0133] In addition, the registration of the landing call and car call of the floors between the first floor and the floor through which the unmanned aerial vehicle passes can also be set to be valid. In this case, the unmanned aerial vehicle can send information about the floors through which it passes to the elevator system. Based on this information, the elevator system can set the registration of the landing call and car call that will be the target to be valid.

[0134] Next, use Fig.26 and Fig. 27 An overview of the operation of the logistics system is described below.

[0135] Fig.26 and Fig. 27 This is a flowchart for explaining the outline of the operation of the distribution system in the first embodiment.

[0136] First, in order to start the operation of the logistics system, the operation of step S1 or step S2 is triggered. In step S1, the unmanned aerial vehicle performs an object detection operation and an information reading operation. In step S2, the elevator system performs a safety release operation based on an operation or instruction based on an authentication object including a person.

[0137] After step S1 and step S2, the elevator system performs the operation of step S3. In step S3, the elevator system performs the optimum instruction operation in order to perform step S5 described later.

[0138] After step S3, the first optimal operation is performed. The first optimal operation is any one of the first mode, the second mode, the third mode, and the fourth mode.

[0139] In the first mode, the operations of step S4, step S5, and step S6 are performed. In the second mode, the operation of step S4 is not performed, but the operations of step S5 and step S6 are performed. In the third mode, the operation of step S4 is not performed, the operation of step S5 is performed, and the operation of step S6 is not performed. In the fourth mode, the operations of step S4, step S5, and step S6 are not performed.

[0140] In step S4, the elevator system performs an instruction operation to the door. In step S5, the unmanned aerial vehicle performs an item hanging operation. In step S6, the elevator system performs an instruction operation to the door.

[0141] After that, the elevator system instructs the elevator how to operate to perform the second optimal operation. The first optimal operation and the second optimal operation are different processes. The second optimal operation is any one of the first mode, the second mode, and the third mode.

[0142] In the first mode, the operation of step S7 is performed. In the second mode, the operation of step S8 is performed. In the third mode, the operation of step S9 is performed.

[0143] In step S7, the elevator system performs a fully automatic operation. In step S8, the elevator system performs a first dedicated operation. In step S9, the elevator system performs a second dedicated operation.

[0144] After step S7, the process of the second optimal action ends. After the end, as long as there is no special phenomenon, such as an earthquake, or a special instruction such as a stop instruction of the elevator, the process returns to the beginning of the process of the first optimal action on the basis of maintaining full automatic operation.

[0145] After step S8 or step S9, the third optimal operation is performed to perform step S12 or S13 described later. The third optimal operation is any one of the first mode, the second mode, and the third mode. The third optimal operation is a flow in the second optimal operation.

[0146] In all of the 1st mode, the 2nd mode and the 3rd mode, when the elevator system is able to determine that it is in a state where it can start the action of step S10, that is, the elevator door on the second floor is closed and it is able to run in full automatic mode, in order to improve the operating efficiency of the elevator, the full automatic operation of the elevator can also be started in parallel with the flight of the unmanned aerial vehicle.

[0147] As in all of the following 1st mode, 2nd mode and 3rd mode, after the unmanned aerial vehicle has returned to the docking port according to the third optimal action, the fully automatic operation of the elevator may be started.

[0148] In the first mode, the operations of step S10, step S11, and step S12 are performed. In the second mode, the operations of step S10, step S11, and step S13 are performed. In the third mode, the operations of step S10 and step S12 are performed.

[0149] In step S10, the unmanned aerial vehicle performs a flying action at a height that allows it to fly near the ceiling of the second floor. In step S11, the unmanned aerial vehicle performs a safety release action as needed. In step S12, the unmanned aerial vehicle performs a first object hanging release action. In step S13, the unmanned aerial vehicle performs a second object hanging release action.

[0150] After that, the fourth optimal operation is performed in order to perform step S15 described later. The fourth optimal operation is any mode of the first mode and the second mode. The fourth optimal operation is a flow in the second optimal operation.

[0151] In the first mode, the operations of step S14, step S15, and step S16 are performed. In the second mode, the operation of step S14 is not performed, but the operations of step S15 and step S16 are performed.

[0152] In step S14, the elevator system performs the third special operation as needed. In step S15, the unmanned aerial vehicle performs a return operation to the landing gate. In step S16, the elevator system performs a fully automatic operation.

[0153] After that, the process of the second optimal action ends. After the end, as long as there is no special phenomenon, such as an earthquake, or a special instruction such as a stop instruction of the elevator, the process returns to the beginning of the first optimal action on the basis of maintaining the full automatic operation.

[0154] Next, use Fig.28 and Fig.29 The following describes an overview of the object detection operation and information reading operation performed by the unmanned aerial vehicle.

[0155] Fig.28 and Fig.29 This is a flowchart for explaining an outline of an object detection operation and information reading operation performed by an unmanned aerial vehicle in the logistics system in the first embodiment.

[0156] In step S21, the unmanned aerial vehicle always detects objects near the entrance and exit of the building. Thereafter, the unmanned aerial vehicle performs the operation of step S22. In step S22, the unmanned aerial vehicle determines whether the movement of one or more objects is detected.

[0157] If the movement of one or more objects is not detected in step S22, the UAV returns to the operation of step S21. If the movement of one or more objects is detected in step S22, the UAV performs the operation of step S23.

[0158] In step S23, the unmanned aerial vehicle determines whether the detected object is stationary for a fixed time. If the detected object is not stationary for a fixed time in step S23, the unmanned aerial vehicle returns to the action of step S21. If the detected object is stationary for a fixed time in step S23, the unmanned aerial vehicle performs the action of step S24. In step S24, the unmanned aerial vehicle determines whether the stationary object is within a specified size range.

[0159] If the stationary object is not within the range of the specified size in step S24, the unmanned aerial vehicle performs the operation of step S25. In step S25, the unmanned aerial vehicle broadcasts a message notifying that the object cannot be delivered outside the range of the specified size and a message urging the object 25 to be laid flat if the object 25 is stacked vertically. After that, the unmanned aerial vehicle returns to the operation of step S21.

[0160] If the stationary object is within the specified size range in step S24, the unmanned aerial vehicle performs step S26. In step S26, the unmanned aerial vehicle transmits information that the weight of the item 25 that can be hung is less than M by displaying, lighting, broadcasting, or sounding. Thereafter, the unmanned aerial vehicle performs step S27. In step S27, the unmanned aerial vehicle determines whether the stationary object has moved.

[0161] If the stationary object moves in step S27, the unmanned aerial vehicle performs the operation of step S28. In step S28, the unmanned aerial vehicle excludes the moved object.

[0162] If the stationary object does not move in step S27 or after step S28, the unmanned aerial vehicle performs the operation of step S29. In step S29, the unmanned aerial vehicle focuses on the destination information of the target articles 25 one by one and reads the destination information.

[0163] Thereafter, the unmanned aerial vehicle performs the operation of step S30. In step S30, the unmanned aerial vehicle determines whether the reading of the destination information of all the target objects has been completed.

[0164] If the reading of the destination information of all the target objects is not completed in step S30, the unmanned aerial vehicle performs the operation of step S31. In step S31, the unmanned aerial vehicle leaves the docking port at a height that allows it to fly near the ceiling, moves to the top of the object whose destination information has not been read, and sequentially focuses on and reads the destination information. Thereafter, the unmanned aerial vehicle performs the operation of step S32. In step S32, the unmanned aerial vehicle determines whether the reading of the destination information of all the target objects is completed.

[0165] If the destination information of all the target objects is not read in step S32, the unmanned aerial vehicle performs the operation of step S33. In step S33, the unmanned aerial vehicle transmits information for notifying that the delivery cannot be made because the destination information of the item 25 directly below is not read by displaying, lighting, broadcasting or sounding directly above the object for which the destination information is not read. Thereafter, the unmanned aerial vehicle performs the operation of step S34. In step S34, the unmanned aerial vehicle excludes the object for which the destination information is not read from the target objects.

[0166] When the destination information of all the objects to be transported is read in step S30 or step S32 or after step S34, the unmanned aerial vehicle performs the operation of step S35. In step S35, the unmanned aerial vehicle determines that there are more than one object 25. At this time, the unmanned aerial vehicle transmits information notifying the transported object 25 by displaying, lighting, broadcasting or sounding as needed. After that, the unmanned aerial vehicle performs the operation of step S36. In step S36, the unmanned aerial vehicle transmits information indicating that there are more than one object 25 to the elevator system. After that, the unmanned aerial vehicle completes the object detection operation and the information reading operation.

[0167] Next, use Fig.30 An overview of the optimum instruction operation in the elevator system will be described.

[0168] Fig.30 This is a flowchart for explaining an outline of the optimal instruction operation based on the elevator system of the logistics system in the first embodiment.

[0169] In step S41, the elevator system receives information indicating that there are one or more objects 25 from the unmanned aerial vehicle or information indicating that the person and the destination match from the security system. Then, the elevator system performs the operation of step S42. In step S42, the elevator system sends a transmission instruction of status information to the elevator, security system, landing gate, and unmanned aerial vehicle.

[0170] After that, the elevator system performs the action of step S43. In step S43, the elevator system receives status information from the elevator, the safety system, the landing gate, and the unmanned aerial vehicle. After that, the elevator system performs the action of step S44. In step S44, based on the status information, the elevator system determines the optimal action of the car unit 6, the unmanned aerial vehicle, and the opening and closing body 1, and sends the instruction of the action to the elevator, the safety system, the landing gate, and the unmanned aerial vehicle. After that, the elevator system waits to receive the information of the middle or result of the action of the elevator, the safety system, the landing gate, and the unmanned aerial vehicle, that is, the information of the successive status.

[0171] Next, use Fig.31 and Fig.32 The following is an overview of the item hanging operation performed by an unmanned aerial vehicle.

[0172] Fig.31 and Fig.32 This is a flowchart for explaining an overview of the article hanging operation performed by the unmanned aerial vehicle of the logistics system in the first embodiment.

[0173] In step S51, the unmanned aerial vehicle repeatedly outputs a display, lighting, broadcast or sound for notifying that the vehicle is moving from before the vehicle starts moving and starts moving. Thereafter, the unmanned aerial vehicle performs the operation of step S52. In step S52, the unmanned aerial vehicle sends the destination information of the object 25 to the elevator system.

[0174] After that, the unmanned aerial vehicle performs the operation of step S53. In step S53, the unmanned aerial vehicle starts flying according to the instructions based on the drawing from the elevator system. After that, the unmanned aerial vehicle performs the operation of step S54. In step S54, the unmanned aerial vehicle sends information one by one, and changes the flight path as needed according to the instructions based on the drawing from the elevator system.

[0175] After that, the unmanned aerial vehicle performs the action of step S55. In step S55, the unmanned aerial vehicle arrives directly above the object 25 as the target. After that, the unmanned aerial vehicle performs the action of step S56. In step S56, the unmanned aerial vehicle outputs a display, lighting, broadcast, or sound for notifying the hanging object 25 while approaching the object 25 after confirming that there are no obstacles, people, etc. between the unmanned aerial vehicle and the object 25.

[0176] Thereafter, the unmanned aerial vehicle performs the operation of step S57. In step S57, the unmanned aerial vehicle determines whether an object 25 is hung.

[0177] In the case where the object 25 is not hung in step S57, the unmanned aerial vehicle performs the action of step S58. In step S58, the unmanned aerial vehicle outputs a display or lighting or broadcast or sound for notifying that the object 25 directly below cannot be hung. Thereafter, the unmanned aerial vehicle performs the action of step S59. In step S59, the unmanned aerial vehicle sends information about the situation in which the object 25 cannot be hung to the elevator system. Thereafter, the unmanned aerial vehicle performs the action of step S60. In step S60, the unmanned aerial vehicle waits for the next instruction from the elevator system. Thereafter, the unmanned aerial vehicle receives the instruction using the information from the elevator system in step S61A, and if a retry is required, the action of step S51 is performed. If a retry is not required, the action of step S65 is performed. The unmanned aerial vehicle receives the information of the next instruction from the elevator system.

[0178] In the case where the object 25 is hung in step S57, the unmanned aerial vehicle performs the action of step S61. In step S61, the unmanned aerial vehicle rises to a height that allows it to fly near the ceiling while outputting a display, lighting, broadcast, or sound for notifying that it is moving. Thereafter, the unmanned aerial vehicle performs the action of step S62. In step S62, the unmanned aerial vehicle moves toward the docking port at a height that allows it to fly near the ceiling. Thereafter, the unmanned aerial vehicle performs the action of step S63. In step S63, the unmanned aerial vehicle changes the flight path as needed based on instructions based on the drawing from the elevator system.

[0179] Then, the unmanned aerial vehicle performs the operation of step S64. In step S64, when the unmanned aerial vehicle returns to the reference landing gate, it sends information indicating the status of returning to the landing gate to the elevator system. Then, the unmanned aerial vehicle performs the operation of step S65. The unmanned aerial vehicle receives the information of the next instruction from the elevator system.

[0180] After step S65, the unmanned aerial vehicle ends its operation.

[0181] Next, use Fig.33 The following describes an overview of the door opening and closing operation performed by the safety system.

[0182] Fig.31 This is a flowchart for explaining an overview of the opening and closing operation of the door portion performed by the safety system of the logistics system in the first embodiment.

[0183] In step S71, the security system receives information of the unlock instruction. Thereafter, the security system performs the action of step S72. In step S72, the security system sends information of its own status to the elevator system. Thereafter, the security system performs the action of step S73. In step S73, the security system unlocks and opens the opening and closing body 1 at an appropriate timing. Thereafter, the security system performs the action of step S74. In step S74, the security system closes and locks the opening and closing body 1 at an appropriate timing. Thereafter, the security system performs the action of step S75. In step S75, the security system sends information of its own status to the elevator system. Thereafter, the security system ends the action.

[0184] Next, use Fig.34 and Fig.35 The outline of the second dedicated operation performed by the elevator system will be described.

[0185] Fig.34 and Fig.35 This is a flowchart for explaining an outline of the combined operation action performed by the elevator system of the logistics system in the first embodiment.

[0186] In step S101, the elevator system transmits information instructing the unmanned aerial vehicle to go to the car unit 6. The elevator system instructs the car unit 6 to operate the unmanned aerial vehicle in conjunction with a human.

[0187] After step S101, the elevator system performs the operations of step S102 to step S104. At this time, the unmanned aerial vehicle performs the operations of step S105 to step S109.

[0188] In step S102, the elevator system cancels all landing calls of the car unit 6 and only accepts car calls in the direction of travel of the car unit 6. In step S103, the elevator system responds to the car call while moving the car unit 6 toward the floor where the unmanned aerial vehicle is located (expectedly after the car call disappears). In step S104, the elevator system moves the car unit 6 to the floor where the unmanned aerial vehicle is located.

[0189] In step S105, the unmanned aerial vehicle performs mapping based on the elevator system. In step S106, the unmanned aerial vehicle determines a flight path based on the elevator system. In step S107, the unmanned aerial vehicle moves while outputting a display, lighting, broadcasting, or sound indicating that the unmanned aerial vehicle is moving. In step S108, the unmanned aerial vehicle transmits information one by one. The unmanned aerial vehicle changes the flight path as needed according to the instructions based on the mapping from the elevator system. In step S109, the unmanned aerial vehicle waits for the arrival of the car unit 6. The unmanned aerial vehicle waits until the door of the landing station on the first floor and the door of the car or the unmanned aerial vehicle dedicated entrance on the first floor are opened.

[0190] After step S104 and step S109, the elevator system performs the operations of step S110 to step S115. At this time, the unmanned aerial vehicle performs the operations of step S116 to step S119.

[0191] In step S110, the elevator system opens the dedicated entrance for unmanned aerial vehicles corresponding to the car unit 6. After the unmanned aerial vehicle enters from the dedicated entrance for unmanned aerial vehicles, the elevator system closes the dedicated entrance for unmanned aerial vehicles and continues to operate. In step S111, the elevator system moves the car unit 6 based on the remaining car calls. In step S112, the elevator system switches to automatic operation with restrictions according to the space of the elevator passage that is vacant due to the movement of the unmanned aerial vehicle.

[0192] In step S113, the elevator system opens the dedicated entrance for unmanned aerial vehicles on the second floor. After the unmanned aerial vehicle exits the dedicated entrance for unmanned aerial vehicles, the elevator system closes the dedicated entrance for unmanned aerial vehicles. In step S114, the elevator system receives status information from the car unit 6. In step S115, the elevator system sends instruction information on the movement of the car unit 6.

[0193] In step S116, the unmanned aerial vehicle moves inside the elevator shaft toward the second floor. The unmanned aerial vehicle sends information about its own status to the elevator system inside the elevator shaft. In step S117, the unmanned aerial vehicle reaches the second floor.

[0194] In step S118, the unmanned aerial vehicle transmits information about its own status to the elevator system when it comes out of the second floor. In step S119, the unmanned aerial vehicle moves to the next action based on the instruction from the elevator system.

[0195] After step S115 and step S119, the elevator system ends the second dedicated operation.

[0196] Next, use Figure 36 to Figure 38 An overview of the first dedicated operation operation by the elevator system will be described.

[0197] Figure 36 to Figure 38 This is a flowchart for explaining an outline of the first dedicated operation action performed by the elevator system of the logistics system in the first embodiment.

[0198] In step S81, the elevator system transmits information instructing the unmanned aerial vehicle to go to the car unit 6. The elevator system instructs the car unit 6 to operate the unmanned aerial vehicle and humans together.

[0199] After step S81, the elevator system performs the operations of steps S82 to S84. At this time, the unmanned aerial vehicle performs the operations of steps S85 to S89.

[0200] In step S82, the elevator system cancels all landing calls of the car unit 6 and only accepts car calls in the direction of travel of the car unit 6. In step S83, the elevator system responds to the car call while moving the car unit 6 toward the floor where the unmanned aerial vehicle is located (expectedly after the car call disappears). In step S84, the elevator system moves the car unit 6 to the floor where the unmanned aerial vehicle is located.

[0201] In step S85, the unmanned aerial vehicle performs a mapping based on the elevator system. In step S86, the unmanned aerial vehicle determines a flight path based on the elevator system. In step S87, the unmanned aerial vehicle outputs a display or lighting or broadcast or sound indicating that it is moving and moves. In step S88, the unmanned aerial vehicle sends information one by one. The unmanned aerial vehicle changes the flight path as needed according to the instructions based on the mapping from the elevator system. In step S89, the unmanned aerial vehicle waits for the arrival of the car unit 6. The unmanned aerial vehicle waits until the door of the landing station on the first floor and the door of the car or the unmanned aerial vehicle dedicated entrance on the first floor are opened.

[0202] After step S84 and step S89, the elevator system performs the actions of step S90 to step S94. At this time, the unmanned aerial vehicle performs the actions of step S95 and step S96. Generally, there are modes of using a car and a mode of using a car exclusively for an unmanned aerial vehicle, but the steps S90 to step S96 for the actions are the same. It does not matter which car is used.

[0203] In step S90, the elevator system opens the door of the landing and the door of the car or the entrance and exit dedicated to the unmanned aerial vehicle corresponding to the car unit 6. After the unmanned aerial vehicle enters the car, the elevator system closes the door of the landing and the door of the car or the entrance and exit dedicated to the unmanned aerial vehicle. In step S91, the elevator system moves the car unit 6 to the second floor. In step S92, the elevator system opens the door of the landing and the door of the car or the entrance and exit dedicated to the unmanned aerial vehicle on the second floor. After the unmanned aerial vehicle comes out of the door of the landing and the door of the car or the entrance and exit dedicated to the unmanned aerial vehicle, the elevator system closes the door of the landing and the door of the car or the entrance and exit dedicated to the unmanned aerial vehicle. In step S93, the elevator system receives information on the status from the car unit 6. In step S94, the elevator system sends information indicating the action of the car unit 6.

[0204] In step S95, the unmanned aerial vehicle transmits information about its own status to the elevator system when it comes out of the second floor. In step S96, the unmanned aerial vehicle moves to the next action based on the instruction from the elevator system.

[0205] After step S93 and step S95, the elevator system ends the first dedicated operation.

[0206] Fig.39 This is a flowchart for explaining an overview of the destination movement operation performed by the unmanned aerial vehicle of the logistics system in the first embodiment. Fig.40 and Fig.41 This is a flowchart for explaining an overview of an authentication operation and a first article release operation performed by an unmanned aerial vehicle in the logistics system in the first embodiment. Fig.44 and Fig.45 This is a flowchart for explaining an overview of the second article releasing operation performed by the unmanned aerial vehicle of the logistics system in the first embodiment. Fig.46 This is a flowchart for explaining an outline of the safety release operation performed by the elevator system of the logistics system in the first embodiment.

[0207] These Fig.39 , Fig.40 , Fig.41 , Fig.44 , Fig.45 , Fig.46 The destination moving action and the authentication action, the first item releasing action, and the second item releasing action performed by the unmanned aerial vehicle are actions that perform one or more security release actions in parallel.

[0208] Next, use Fig.39 The destination movement operation performed by the unmanned aerial vehicle and its overview are described.

[0209] In step S121, the unmanned aerial vehicle continues to output the display, lighting, broadcasting or sound for notifying the information in motion. Thereafter, the unmanned aerial vehicle performs the operation of step S122. In step S122, the unmanned aerial vehicle determines whether the drawing of the second floor is completed.

[0210] If the drawing of the second floor is not completed in step S122, the unmanned aerial vehicle performs the operation of step S123. In step S123, the unmanned aerial vehicle sends the read information to the elevator system. Thereafter, the unmanned aerial vehicle performs the operation of step S124. In step S124, the unmanned aerial vehicle starts flying according to the instruction based on the drawing from the elevator system. At this time, the unmanned aerial vehicle flies at a height that can fly near the ceiling with the position of the nearest landing as a reference.

[0211] Then, the unmanned aerial vehicle performs the operation of step S125. In step S125, the unmanned aerial vehicle changes the flight path as needed according to the instruction based on the drawing from the elevator system. Then, the unmanned aerial vehicle performs the operation of step S126. In step S126, the unmanned aerial vehicle transmits information about its own status to the elevator system while flying. Then, in step S127, the unmanned aerial vehicle receives information about the next instruction from the elevator.

[0212] When the drawing of the second floor is completed in step S122, the unmanned aerial vehicle performs the operation of step S128. In step S128, the unmanned aerial vehicle performs the second object hanging and releasing operation.

[0213] Next, use Fig.40 and Fig.41 An overview of the authentication operation and the first object releasing operation performed by the unmanned aerial vehicle will be described.

[0214] In step S131, the unmanned aerial vehicle repeatedly outputs a display, lighting, broadcast, or sound for notifying that the vehicle is moving since before the vehicle starts moving and approaches the destination. Then, the unmanned aerial vehicle performs the operation of step S132. In step S132, the unmanned aerial vehicle reads the authentication object. Then, the unmanned aerial vehicle performs the operation of step S133. In step S133, the unmanned aerial vehicle determines whether the destination information of the object 25 is consistent with the authentication object information.

[0215] If the destination information of the article 25 does not match the authentication object information in step S133, the unmanned aerial vehicle performs the operation of step S131. If the destination information of the article 25 matches the authentication object information in step S133, the unmanned aerial vehicle performs the operation of step S134.

[0216] In step S134, the unmanned aerial vehicle changes the flight path as needed according to the instruction based on the map from the elevator system. Then, the unmanned aerial vehicle performs the operation of step S135. In step S135, the unmanned aerial vehicle moves to the top of the vacant space near the authentication object on the map from the elevator system. Then, the unmanned aerial vehicle performs the operation of step S136. In step S136, the unmanned aerial vehicle descends toward the destination while repeatedly outputting a display, lighting, broadcast, or sound for notifying that the unmanned aerial vehicle is moving.

[0217] Thereafter, the unmanned aerial vehicle performs the operation of step S137. In step S137, the unmanned aerial vehicle determines whether the object 25 has been released.

[0218] If the object 25 is not released in step S137, the unmanned aerial vehicle performs the operation of step S138. In step S138, the unmanned aerial vehicle outputs a display, lighting, broadcast, or sound for notifying that the object 25 cannot be released. Thereafter, the unmanned aerial vehicle performs the operation of step S139. In step S139, the unmanned aerial vehicle transmits information on the situation that the object 25 cannot be released to the elevator system. Thereafter, the unmanned aerial vehicle performs the operation of step S140. In step S140, the unmanned aerial vehicle waits for the next instruction from the elevator system.

[0219] When the object 25 is released in step S137, the unmanned aerial vehicle performs the action of step S141. In step S141, the unmanned aerial vehicle moves while outputting a display or lighting or broadcast or sound indicating that the unmanned aerial vehicle is moving. Thereafter, the unmanned aerial vehicle performs the action of step S142. In step S142, the unmanned aerial vehicle returns to the docking port at a height that allows it to fly near the ceiling. Thereafter, the unmanned aerial vehicle performs the action of step S143. In step S143, the unmanned aerial vehicle changes the flight path as needed based on instructions based on a drawing from the elevator system. Thereafter, the unmanned aerial vehicle performs the action of step S144. In step S144, the unmanned aerial vehicle sends information to the elevator system indicating that it has returned to the docking port.

[0220] After step S140 or step S144, the unmanned aerial vehicle performs the operation of step S145. In step S145, the unmanned aerial vehicle receives the information of the next instruction from the elevator.

[0221] Next, use Fig.44 and Fig.45 The outline of the second object releasing operation by the unmanned aerial vehicle is described below.

[0222] In step S171, the unmanned aerial vehicle determines whether there is an instruction for a second object releasing operation from the elevator system.

[0223] In step S171, when there is an instruction for the second object release action from the elevator system, the unmanned aerial vehicle performs the action of step S172. In step S172, the unmanned aerial vehicle determines that the elevator system has not detected the authentication object. Thereafter, the unmanned aerial vehicle performs the action of step S173. In step S173, the unmanned aerial vehicle flies toward the double or more safety space based on the instruction from the elevator system. In step S173A, the unmanned aerial vehicle moves while outputting a display, lighting, broadcasting, or sound indicating that the unmanned aerial vehicle is moving. Thereafter, the unmanned aerial vehicle performs the action of step S174. In step S174, the unmanned aerial vehicle changes the flight path as needed based on the instruction based on the drawing from the elevator system. Thereafter, the unmanned aerial vehicle performs the action of step S175. In step S175, the unmanned aerial vehicle arrives in front of the double or more safety space on the drawing from the elevator system. In step S175A, the elevator system issues an instruction to release the necessary safety, such as the double or more safety space, from the elevator system or via the unmanned aerial vehicle to the safety system based on the information received from the unmanned aerial vehicle. Then, in step S175B, the unmanned aerial vehicle performs Fig.31 or Fig.43After that, in step 175C, the unmanned aerial vehicle enters a double or more safety space. After that, the unmanned aerial vehicle performs the action of step S136. After that, the unmanned aerial vehicle performs the action of step S176. In step S176, the unmanned aerial vehicle descends while outputting a display, lighting, broadcasting, or sound for notifying the release of the hanging of the object 25. After that, the unmanned aerial vehicle performs the action of step S177.

[0224] The actions from step S177 to step S185 are the same as Fig.41 The operations of steps S137 to S145 are the same. In addition, even if there is no instruction for the second article release operation from the elevator system in step S171, the unmanned aerial vehicle also performs the operation of step S185.

[0225] Next, use Fig.46 An overview of the safety release operation performed by the elevator system is described.

[0226] In step S191, the elevator system receives the release information from the security system. Then, the elevator system performs the operation of step S192. In step S192, the release information for the single or double security space is compared with the destination information of the object 25. Then, the elevator system performs the operation of step S193. It is determined whether the release information and the destination information are consistent.

[0227] When the release information and the destination information do not match in step S193, the elevator system ends without releasing the safety system that has transmitted the release information.

[0228] If the release information matches the destination information in step S193, the elevator system performs the operation of step S194. In step S194, the security system that sent the release information is released, and the information is sent to the elevator system. In step S195, after the release, the security lock is automatically applied within a fixed time, and the information is sent to the elevator system.

[0229] Next, use Fig.42 and Fig.43 The outline of the return operation performed by the unmanned aerial vehicle is described below.

[0230] Fig.42 and Fig.43 This is a flowchart for explaining an overview of the return action performed by the unmanned aerial vehicle of the logistics system in the first embodiment.

[0231] In principle, the return action of the unmanned aerial vehicle is performed after the object hanging action, moving action, identification action, first object release action, second object release action, third object release action, and safety release action of the unmanned aerial vehicle, except for instructions from the elevator system to the unmanned aerial vehicle that require special return, such as power supply, etc. In step S151, the unmanned aerial vehicle starts moving toward the docking port to be returned while outputting a display or lighting or broadcast or sound indicating that the information is moving. After that, the action of step S152, step S153, or step S153A is performed.

[0232] In step S152, the elevator system performs the first dedicated operation. In step S153, the elevator system performs the second dedicated operation. In step 153A, the elevator system performs the third dedicated operation.

[0233] Thereafter, the unmanned aerial vehicle performs the action of step S154. In step S154, the unmanned aerial vehicle transmits the read information to the elevator system. Thereafter, the unmanned aerial vehicle performs the action of step S155. In step S155, the unmanned aerial vehicle moves toward the docking port to be returned to at a height at which it can fly near the ceiling. In step S155A, the unmanned aerial vehicle moves toward the docking port to be returned to while outputting a display or lighting or broadcast or sound indicating the information in motion of S155. Thereafter, the unmanned aerial vehicle performs the action of step S156. In step S156, the unmanned aerial vehicle changes the flight path as needed according to the instructions based on the drawing from the elevator system. Thereafter, the unmanned aerial vehicle performs the action of step S157. In step S157, the unmanned aerial vehicle arrives directly below the docking port to be returned to.

[0234] Thereafter, the unmanned aerial body performs the action of step S158. In step S158, the unmanned aerial body sends information to the elevator system that it has reached the position directly below the landing port to be returned. Thereafter, the unmanned aerial body performs the action of step S159. In step S159, the unmanned aerial body receives information from the elevator system indicating a return action to the landing port. Thereafter, the unmanned aerial body performs the action of step S160. In step S160, the unmanned aerial body approaches the landing port to be returned and is locked by the anti-fall device. Thereafter, the unmanned aerial body performs the action of step S161. In step S161, the unmanned aerial body sends information to the elevator system that the locking is completed. Thereafter, the unmanned aerial body performs the action of step S162. In step S162, the unmanned aerial body waits for the next instruction from the elevator system. Thereafter, the unmanned aerial body ends the action.

[0235] According to the first embodiment described above, the elevator system performs main control, and thus the unmanned aerial vehicle flies from the first floor of the building to the second floor of the building through the interior of the elevator system's hoistway with the object 25 suspended thereon. Therefore, the object 25 can be easily and safely transported within the building and the building site.

[0236] In this case, it is not necessary for a person to carry the article 25. In addition, it is not necessary to strengthen the structure of the elevator. There is no obstruction to the people inside the car section 6. In addition, there is no legal problem.

[0237] Furthermore, the unmanned aerial vehicle sends a command to the elevator system and flies in conjunction with the operation of the elevator system based on the command. Therefore, the article 25 can be efficiently transported within the building and the building site.

[0238] In addition, the unmanned aerial vehicle flies through the unmanned aerial vehicle dedicated entrance on the first floor, the interior of the elevator passage, and the unmanned aerial vehicle dedicated entrance on the second floor. Therefore, the unmanned aerial vehicle can easily carry the article 25 in the building and the building site without riding on the car unit 6.

[0239] Furthermore, the unmanned aerial vehicle flies so as to get on the car unit 6 from the first floor and reach the second floor. Therefore, the car unit 6 can be shared by the unmanned aerial vehicle and humans at the same time.

[0240] Furthermore, the unmanned aerial vehicle sends a command to unlock the door of a doorway provided in a path leading to a landing of the elevator system and flies through the doorway, thereby being able to carry the article 25 to a space set safe.

[0241] In principle, the unmanned aerial vehicle flies along a route that is mapped and preset by the elevator system, so that the article 25 can be easily transported inside the building.

[0242] Furthermore, the unmanned aerial vehicle flies in a manner that detects the authentication object and suspends and releases the article 25. Therefore, the article 25 can be easily transported.

[0243] Furthermore, even when the unmanned aerial vehicle cannot detect the authentication object, it flies to a double or more safe space within the building and the building site to release the object 25. Therefore, even when there is no authentication object, the truck 24 that transports the object 25 can efficiently transport it.

[0244] In addition, the map information in the building is managed by the elevator system. In this case, it is difficult for people to physically access the elevator system (control device), so the safety risk can be reduced.

[0245] Next, use Fig.47An example of a control unit of an elevator system will be described.

[0246] Fig.47 This is a hardware configuration diagram of a control unit of an elevator system applied to the logistics system in the first embodiment.

[0247] Each function of the control unit can be realized by a processing circuit. For example, the processing circuit includes at least one processor 100a and at least one memory 100b. For example, the processing circuit includes at least one dedicated hardware 200.

[0248] In the case where the processing circuit has at least one processor 100a and at least one memory 100b, the functions of the control unit are implemented by software, firmware, or a combination of software and firmware. At least one of the software and firmware is described in the form of a program. At least one of the software and firmware is stored in at least one memory 100b. At least one processor 100a implements the functions of the control unit by reading and executing the program stored in at least one memory 100b. At least one processor 100a is also called a central processing unit, a processing unit, a computing unit, a microprocessor, a microcomputer, and a DSP. For example, at least one memory 100b is a non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, a magnetic disk, a floppy disk, an optical disk, a high-density disk, a mini disk, a DVD, etc.

[0249] In the case where the processing circuit has at least one dedicated hardware 200, the processing circuit is implemented by, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof. For example, each function of the control unit is implemented by the processing circuit separately. For example, each function of the control unit is implemented uniformly by the processing circuit.

[0250] The functions of the control unit may be partially implemented by dedicated hardware 200, and the other parts may be implemented by software or firmware. For example, the function of controlling the driving unit 7 may be implemented by a processing circuit as dedicated hardware 200, and functions other than the function of controlling the driving unit 7 may be implemented by at least one processor 100a reading and executing a program stored in at least one memory 100b.

[0251] In this way, the processing circuit implements each function of the control unit through hardware 200, software, firmware, or a combination thereof.

[0252] Although not shown in the figure, each function of the control unit 5 of the safety system may be realized by a processing circuit equivalent to a processing circuit that realizes each function of the control unit of the elevator system.

[0253] Industrial Applicability

[0254] As described above, the logistics system and the unmanned aerial vehicle of the present invention can be used as a system for transporting articles within a building or a building site.

[0255] Description of symbols

[0256] 1 opening and closing body, 2 door part, 3 sound part, 4 wireless communication part, 5 control part, 6 car part, 7 drive part, 8 information display part, 9 sound part, 10 floor station wireless communication part, 11 car part wireless communication part, 12 lifting channel wireless communication part, 13 control part, 14 power supply part, 15 wireless communication part, 16 control part, 17 drive part, 18 sensing part, 19 information reading part, 19A information display part, 20 wireless communication part, 21 control part, 22 remote control part, 23 wireless communication part, 24 truck, etc., 25 article, 26 dedicated entrance and exit for unmanned aerial vehicle, 100a processor, 100b memory, 200 hardware.

Claims

1. A logistics system, wherein: The logistics system has: An elevator system installed in an area where the owner of the land and building has rights, i.e., a building on the ground and underground of the land and a building within the area of ​​the building site; and an unmanned aerial vehicle that flies from a first floor of a building to a second floor of the building through the interior of a hoistway of the elevator system while hanging an object thereon, The unmanned aerial vehicle sends its status to the elevator system and flies in conjunction with the actions of the elevator system based on instructions from the elevator system, wherein the unmanned aerial vehicle flies through the unmanned aerial vehicle-only entrance and exit on the first floor, the interior of the elevator passage, and the unmanned aerial vehicle-only entrance and exit on the second floor based on the instructions from the elevator system.

2. The logistics system according to claim 1, wherein: The elevator system sends information to the unmanned aerial vehicle or the security system to unlock the doors of the entrance and exit set in the path to the landing station on the first floor of the elevator or release the security. The unmanned aerial vehicle or the security system unlocks the necessary doors or releases the security in accordance with the information received from the elevator system to fly through the entrance and exit.

3. The logistics system according to claim 1, wherein: The elevator system sends information to the unmanned aerial vehicle, so that the unmanned aerial vehicle flies along a set path. The unmanned aerial vehicle flies along the path according to a command based on the information issued by its own control unit that has received the information.

4. The logistics system according to claim 2, wherein: The elevator system sends information to the unmanned aerial vehicle, so that the unmanned aerial vehicle flies along a set path. The unmanned aerial vehicle flies along the path according to a command based on the information issued by its own control unit that has received the information.

5. The logistics system according to any one of claims 1 to 4, wherein: The unmanned aerial vehicle flies in such a manner as to approach the object to be suspended.

6. The logistics system according to claim 5, wherein: The unmanned aerial vehicle flies toward the object at a height that allows it to fly near the ceiling, and when it reaches the vicinity of the object, it suspends the object, or it suspends the object and flies to the vicinity of the authentication object and releases the object.

7. An unmanned aerial vehicle, wherein: The unmanned aerial vehicle comprises: the main body of the flight; and a control unit for controlling the flight of the main body so that the main body moves from the first floor of the building to the second floor of the building through the interior of an elevator passage provided in an elevator system of the building in a state where the main body is hanging an article; The control unit sends a status to the elevator system, and the elevator system that receives the status sends information. The control unit that receives the information controls the flight of the main body in accordance with instructions based on the information, in conjunction with the action of the elevator system, to pass through the dedicated entrance and exit for unmanned aerial vehicles on the first floor, the interior of the lifting passage, and the dedicated entrance and exit for unmanned aerial vehicles on the second floor.

8. The unmanned aerial vehicle according to claim 7, wherein: The elevator system receives a condition before a door or a safe space of an entrance or exit provided in a path leading to a landing of a first floor of the elevator, and transmits information according to the received condition, The control unit or safety system of the unmanned aerial vehicle receives information from the elevator system, sends a command to unlock or release the door of the entrance or exit or the safety space, and controls the flight of the main body to pass through the entrance.

9. The unmanned aerial vehicle according to claim 7, wherein: When the elevator system transmits information, the control unit receives the information, determines an instruction based on the information, and controls the flight of the main body so as to fly along a path set by the instruction.

10. The unmanned aerial vehicle according to claim 8, wherein: When the elevator system transmits information, the control unit receives the information, determines an instruction based on the information, and controls the flight of the main body so as to fly along a path set by the instruction.

11. The unmanned aerial vehicle according to any one of claims 7 to 10, wherein: The control unit controls the flight of the main body so that the main body flies toward the object at a height that allows it to fly near the ceiling, and suspends the object when it reaches the vicinity of the object, or suspends the object and flies to the vicinity of the authentication object and releases the object.

12. The unmanned aerial vehicle according to claim 11, wherein: The control unit has a function of being able to detect an object through sensing controlled by the control unit and recognize an article that can be hung.

13. The unmanned aerial vehicle according to claim 11, wherein: The control unit has a function of obtaining destination information by reading information controlled by the control unit.

14. The unmanned aerial vehicle according to claim 11, wherein: The control unit has a function of prompting attention through information display controlled by the control unit.

15. The unmanned aerial vehicle according to claim 11, wherein: The control unit has a function of prompting attention calling through sound controlled by the control unit.

16. The unmanned aerial vehicle according to claim 11, wherein: The control section has a battery management function controlled by the control section.

17. The unmanned aerial vehicle according to claim 11, wherein: The control unit has a power supply function based on returning to the docking port controlled by the control unit.

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