Pickup system and pickup method

Abstract

A picking system in which tilting of an unmanned flight body or tilting of a cargo does not easily occur even when the unmanned flight body is used to carry the cargo is realized. The picking system (1) is provided with: a holding tool (11) for holding a cargo (L); a measurer (14) for measuring a center-of-gravity position of the holding tool (11) in which the cargo (L) is held; and a controller (15) for moving a coupler (12) to directly above the center-of-gravity position of the holding tool (11) in which the cargo (L) is held, the coupler (12) being a coupler for coupling the holding tool (11) to a drone (D) and being movably installed to the holding tool (11).

Description

Technical Field

[0001] This invention relates to a pickup system and method for enabling unmanned aerial vehicles to pick up cargo. Background Technology

[0002] In recent years, the technology of using unmanned aerial vehicles (UAVs) to transport goods has been put into practical use. By using UAVs, it is possible to reduce transportation costs and expand the transportable area.

[0003] When enabling an unmanned aerial vehicle (UAV) to pick up cargo, the location of the cargo attachment to the UAV becomes crucial. This is because if the attachment is inappropriate, the UAV may tilt due to the weight of the cargo, fuel consumption may deteriorate, or flight path control may become difficult (in cases where the attachment between the UAV and cargo is fixed). Alternatively, the possibility of cargo damage during handling may increase due to tilting (in cases where the attachment between the UAV and cargo is not fixed, such as with a ball joint).

[0004] Patent Document 1 is an example of a document that discloses a technology for enabling unmanned aerial vehicles to pick up cargo. In the technology described in Patent Document 1, multiple drones are used to transport a single cargo. Multiple eye bolts are installed on the cargo, and each drone is equipped with a hook for attaching to the eye bolts. When the drones pick up the cargo, a control device determines how many drones to use and which eye bolt to use to lift the cargo based on its weight and center of gravity.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 2020-157922 Summary of the Invention

[0008] The problem the invention aims to solve

[0009] However, the technology described in Patent Document 1 relies on the use of multiple drones to pick up goods. Therefore, there are issues with high implementation and operational costs. Furthermore, while it is possible to use a single drone to pick up goods if a high-lift drone is used, tilting of the goods during transport is unavoidable because the lifting eye bolts are installed near the outer edge of the top plate of the goods.

[0010] One aspect of the present invention is made in view of the above-mentioned problems, and its object is to realize a picking system and picking method that is not prone to tilting of the unmanned aerial vehicle or the cargo, even when using an unmanned aerial vehicle to transport cargo.

[0011] Solution for solving the problem

[0012] One embodiment of the present invention relates to a pickup system comprising a holding device, a measuring device, and a controller. Here, the holding device is a structure for holding cargo. The measuring device is a structure for measuring the center of gravity position of the cargo or the center of gravity position of the holding device holding the cargo. The controller is a structure for moving a connector, which is movably mounted to the holding device and used to connect the holding device to an unmanned aerial vehicle, directly above the center of gravity position.

[0013] Furthermore, one embodiment of the present invention relates to a pickup method that includes a holding step, a measuring step, and a moving step. Here, the holding step is a step of holding the cargo using a holding device. The measuring step is a step of using a measuring device to measure the center of gravity position of the cargo or the center of gravity position of the holding device holding the cargo. The moving step is a step of using a controller to move a movable connector, which is a movable connector provided on the holding device for connecting the holding device to an unmanned aerial vehicle, to a position directly above the center of gravity position.

[0014] The effects of the invention

[0015] According to one aspect of the present invention, a picking system and picking method are made that are less prone to tilting of the unmanned aerial vehicle or the cargo, even when using a single unmanned aerial vehicle to transport goods. Attached Figure Description

[0016] Figure 1 This is a perspective view showing the structure of the pickup system according to the first embodiment of the present invention.

[0017] Figure 2 This is a flowchart illustrating the process of the picking method according to the first embodiment of the present invention.

[0018] Figure 3 It means Figure 1 A block diagram of the structure of the computer that functions as a controller in the pickup system.

[0019] Figure 4 This is a perspective view showing the structure of the pickup system according to the second embodiment of the present invention.

[0020] Figure 5 This is a top view of the holding device included in the pickup system according to the second embodiment of the present invention, viewed from above. Figure 5 (a) to (c) respectively illustrate the operation of the holding device in the moving step of the picking method according to the second embodiment of the present invention.

[0021] Figure 6 This is a flowchart illustrating the picking method according to the second embodiment of the present invention. Detailed Implementation

[0022] [First Implementation]

[0023] (Structure of the picking system)

[0024] Reference Figure 1 The pickup system 1 according to the first embodiment of the present invention will be described below. Figure 1 This is a three-dimensional diagram representing the structure of the picking system 1.

[0025] Pickup system 1 is a system for enabling a drone D (an example of an "unmanned aerial vehicle" in the claims) to pick up cargo L. For example... Figure 1 As shown, the pickup system 1 includes a holding device 11, a connector 12, a moving mechanism 13, a measuring device 14, and a controller 15.

[0026] The retaining device 11 is a structure used to retain the cargo L. In this embodiment, the retaining device 11 is a retaining device composed of a top plate 11a, two side plates 11b and 11c, and two bottom plates 11d and 11e.

[0027] The top plate 11a, the two side plates 11b and 11c, and the two bottom plates 11d and 11e, when viewed from above, are all rectangular. Figure 1 In the coordinate system shown, the end edge of a side plate 11b parallel to the y-axis on the positive z-axis side is connected to the end edge of the top plate 11a parallel to the y-axis on the positive x-axis side. Similarly, the end edge of another side plate 11c parallel to the y-axis on the positive z-axis side is connected to the end edge of the top plate 11a parallel to the y-axis on the negative x-axis side. Furthermore, the end edge of a bottom plate 11d parallel to the y-axis on the positive x-axis side is connected to the end edge of the side plate 11b parallel to the y-axis on the negative z-axis side. And the end edge of another bottom plate 11e parallel to the y-axis on the negative x-axis side is connected to the end edge of the side plate 11c parallel to the y-axis on the negative z-axis side. The sum of the dimensions of the two bottom plates 11d and 11e in the x-axis direction is smaller than the dimension of the top plate 11a in the x-axis direction. Simply put, the retainer 11 is a box-shaped device with a pair of open sides facing each other and a cross-section at the center of the bottom.

[0028] The cargo L is contained in the holding device 11 via the open sides and / or the center of the bottom surface. The movement of the cargo L in the positive and negative x-axis directions is restricted by two side plates 11b and 11c. Additionally, the movement of the cargo L in the negative z-axis direction is restricted by two bottom plates 11d and 11e. Furthermore, clamps (not shown) may be installed on the holding device 11 to restrict the movement of the cargo L in the positive y-axis, negative y-axis, and positive z-axis directions.

[0029] The connector 12 is a structure for connecting the holding device 11 to the drone D. The moving mechanism 13 is a structure for moving the connector 12. In this embodiment, the moving mechanism 13 is a moving mechanism composed of a first slider 13a and a second slider 13b.

[0030] The first slider 13a is a slider that slides along a first direction on the holding device 11. In this embodiment, a pair of guide rails extending parallel to the x-axis are provided on the top plate 11a of the holding device 11. The first slider 13a is slidably mounted on these guide rails. Therefore, the first slider 13a slides along the x-axis direction on the holding device 11.

[0031] The second slider 13b is a slider that slides on the first slider 13a along a second direction intersecting the first direction. In this embodiment, a pair of guide rails extending parallel to the y-axis are provided on the first slider 13a. The second slider 13b is slidably mounted on these guide rails. Therefore, the second slider 13b slides on the first slider 13a along the y-axis direction.

[0032] In this embodiment, the connector 12 is fixed to the second slider 13b. As described above, the second slider 13b can slide along the second direction (the y-axis direction in this embodiment) on the first slider 13a, and the first slider 13a can slide along the first direction (the x-axis direction in this embodiment) on the holding device 11. Therefore, the connector 12 can move freely within the planes extending in the first and second directions (the xy planes in this embodiment) on the holding device 11.

[0033] The measuring device 14 is a structure used to determine the center of gravity position of the holding tool 11 holding the cargo L. The measuring device 14 can be a structure using multiple load sensors for calculation, but in this embodiment, a six-axis force sensor is used. In this embodiment, the measuring device 14 includes: a plate 14a for mounting the holding tool 11 holding the cargo L; and four six-axis force sensors 14b1 to 14b4 arranged in a manner supporting the plate 14a. Here, the six-axis force sensor is a sensor capable of detecting the force Fx in the x-axis direction, the force Fy in the y-axis direction, the force Fz in the z-axis direction, the torque Mx about the x-axis, the torque My about the y-axis, and the torque Mz about the z-axis. The measuring device 14 provides the sensor signals output from each of the four six-axis force sensors 14b1 to 14b4 to the controller 15. Furthermore, in Figure 1 In the middle, four six-axis force sensors 14b1 to 14b4 are arranged at the four corners of plate 14a. The six-axis force sensors 14b4 are hidden on the back of plate 14a and are not shown.

[0034] The controller 15 is configured to perform the following processing: calculate the center of gravity position of the holding device 11 holding the cargo L based on the sensor signals acquired from the measuring device 14, and control the moving mechanism 13 to position the connector 12 directly above the calculated center of gravity position. In this embodiment, a computer equipped with at least one processor and at least one memory is used as the controller 15. The method of calculating the center of gravity position of the object (the holding device 11 holding the cargo L) placed on the plate 14a based on the sensor signals output from each of the four six-axis force sensors 14b1 to 14b4 is well known, and therefore its description is omitted here.

[0035] Furthermore, the connection operation between the connector D1 on the drone D side and the connector 12 on the holding device 11 side can be performed manually by the operator or automatically by the drone D. In the latter case, after the controller 15 moves the connector 12 to directly above the calculated center of gravity position, it notifies the drone D or the control device (not shown, the same below) controlling the drone D of the position of the connector 12 after the movement. Thus, the drone D can automatically perform the connection operation between the connector D1 on the drone D side and the connector 12 on the holding device 11 side.

[0036] (The process of picking up the item)

[0037] Reference Figure 2 The picking method S1 according to the first embodiment of the present invention will be described below. Figure 2 This is a flowchart representing the process of picking method S1.

[0038] Picking method S1 is a method for using picking system 1 to enable drone D to pick up cargo L. For example... Figure 2As shown, the picking method S1 includes a holding step S11, a measuring step S12, and a moving step S13.

[0039] The holding process S11 is a process of holding the cargo L using the aforementioned holding device 11. The measuring process S12 is a process of measuring the center of gravity position of the holding device 11 holding the cargo L using the aforementioned measuring device 14. The moving process S13 is a process of moving the position of the connector 12, which is a connector provided on the holding device 11 for connecting the holding device 11 to the drone D, using the aforementioned controller 15.

[0040] Furthermore, the connection operation between the connector D1 on the UAV D side and the connector 12 on the holding device 11 side can be performed manually by the operator or automatically by the UAV D. In the latter case, a notification process can be performed after the movement process S13. The notification process is a process in which the controller 15 notifies the UAV D or the control device that controls the UAV D of the position of the moved connector 12. Thus, the UAV D can automatically perform the connection operation between the connector D1 on the UAV D side and the connector 12 on the holding device 11 side.

[0041] (The effect of the picking system and picking method)

[0042] As described above, the pickup system 1 according to this embodiment includes: a holding device 11 for holding cargo L; a measuring device 14 for measuring the center of gravity position of the holding device 11 holding cargo L; and a controller 15 for moving a connector 12 to directly above the center of gravity position of the holding device 11 holding cargo L, the connector 12 being a connector movably mounted on the holding device 11 for connecting the holding device 11 to the drone D.

[0043] In addition, the picking method S1 involved in this embodiment includes the following steps: holding step S11, using a holding device 11 to hold the cargo L; measuring step S12, using a measuring device 14 to measure the center of gravity position of the holding device 11 holding the cargo L; and moving step S13, using a controller 15 to move the position of the connector 12 to directly above the center of gravity position of the holding device 11 holding the cargo L, wherein the connector 12 is a connector provided on the holding device 11 for connecting the holding device 11 to the drone D.

[0044] Therefore, when the connector 12 on the holding device 11 side is connected to the connector D1 on the drone D side using the pickup system 1 or according to the pickup method S1, the center of gravity of the holding device 11 holding the cargo L is located directly below the connector D1 on the drone D side. Thus, tilting of the drone D or the cargo L can be effectively prevented. Furthermore, the drone D has multiple (four in this embodiment) propellers. According to the pickup system 1 and the pickup method S1, the drive output of the multiple propellers can be equalized, thereby suppressing the power consumption of the drone D. That is, the drive efficiency of the drone D can be improved.

[0045] In addition, in this embodiment, the measuring device 14 includes: a plate 14a for mounting a holding device 11 holding the cargo L; and at least one six-axis force sensor 14b1 to 14b4 arranged in a manner that supports the plate 14a.

[0046] Therefore, the center of gravity position of the holding device 11 holding the cargo L can be accurately determined.

[0047] Specifically, in this embodiment, the measuring device 14 includes: a plate 14a for mounting a holding device 11 holding the cargo L; and four hexaaxial force sensors 14b1 to 14b4 arranged in a manner that supports the plate 14a.

[0048] Therefore, the center of gravity position of the holding device 11 holding the cargo L can be determined more accurately.

[0049] In addition, in this embodiment, the pickup system 1 also includes a moving mechanism 13 for moving the connector 12. The moving mechanism 13 is composed of a first slider 13a and a second slider 13b. The first slider 13a slides on the holding device 11 along a first direction, and the second slider 13b slides on the first slider 13a along a second direction that intersects the first direction. The connector 12 is fixed to the second slider 13b.

[0050] Therefore, the position of the connector 12 can be easily moved to be directly above the center of gravity of the holding device 11 holding the cargo L.

[0051] In addition, in this embodiment, after the controller 15 moves the connector 12 to directly above the center of gravity of the holding device 11 holding the cargo L, it notifies the drone D or the control device that controls the drone D of the position of the connector 12.

[0052] Therefore, the drone D can automatically perform the connection operation between the connector D1 on the drone D side and the connector 12 on the holding device 11 side.

[0053] Furthermore, in this embodiment, a structure is employed that uses a measuring device 14 to determine the center of gravity position of the holding device 11 holding the cargo L, but the present invention is not limited to this. That is, a structure that uses a measuring device 14 to determine the center of gravity position of the cargo L can also be employed. In this case, the controller 15 moves the connector 12 to directly above the center of gravity position of the cargo L.

[0054] When the weight of the holding device 11 is sufficiently small compared to the weight of the cargo L, the center of gravity of the cargo L is approximately the same as the center of gravity of the holding device 11 holding the cargo L. Therefore, even when a structure is used to measure the center of gravity of the cargo L, approximately the same effect can be obtained as when a structure is used to measure the center of gravity of the holding device 11 holding the cargo L.

[0055] (Example of controller-based software implementation)

[0056] Some or all of the functions of controller 15 can be implemented either by hardware such as integrated circuits (IC chips) or by software. In the latter case, the functions of controller 15 are implemented, for example, by a computer that executes commands of a program P, which is software.

[0057] exist Figure 3 An example of such a computer is shown (hereinafter referred to as Computer C). For example... Figure 3 As shown, computer C has at least one processor C1 and at least one memory C2. The memory C2 stores a program P for causing computer C to act as a controller 15. In computer C, processor C1 implements the functions of controller 15 by reading program P from memory C2 and executing program P.

[0058] As the processor C1, it can be, for example, a CPU (Central Processing Unit), GPU (Graphics Processing Unit), DSP (Digital Signal Processor), MPU (Micro Processing Unit), FPU (Floating Point Number Processing Unit), PU (Physics Processing Unit), microcontroller, or a combination thereof. As the memory C2, it can be, for example, flash memory, HDD (Hard Disk Drive), SSD (Solid State Drive), or a combination thereof.

[0059] In addition, computer C may also have RAM (Random Access Memory), which is used to expand program P during execution or to temporarily store various data. Furthermore, computer C may also have a communication interface for sending and receiving data with other devices. Additionally, computer C may have input / output interfaces for connecting input devices such as keyboards and mice and / or output devices such as monitors and printers.

[0060] Furthermore, program P can be recorded on a tangible, non-transitory recording medium M that can be read by computer C. Such a recording medium M can be, for example, magnetic tape, disk, card, semiconductor memory, or programmable logic circuit. Computer C can obtain program P via such a recording medium M. Alternatively, program P can be transmitted via a transmission medium. Such a transmission medium can be, for example, a communication network or broadcast waves. Computer C can also obtain program P via such a transmission medium.

[0061] [Second Implementation]

[0062] (Structure of the picking system)

[0063] Reference Figure 4 and Figure 5 The pickup system 2 according to the second embodiment of the present invention will be described below. Figure 4 This is a three-dimensional diagram showing the structure of the picking system 2. Figure 5 This is a top view of the holding device 21 of the pickup system 2 as viewed from above (positive z-axis direction). Figure 5 (a) to (c) respectively illustrate the operation of the moving step S24 included in the picking method according to the second embodiment of the present invention.

[0064] Similar to pickup system 1, pickup system 2 is a system for enabling a drone D (an example of an "unmanned aerial vehicle" in the claims) to pick up cargo L. Figure 4 As shown, the pickup system 2 includes a holding device 21, a connector 22, a moving mechanism 23, a connector 24, a measuring device 25, a housing 26, and an actuator assembly 27. Furthermore, the pickup system 2 includes... Figure 4 The controller shown in the diagram is omitted.

[0065] like Figure 1 As shown, the pickup system 1 according to the first embodiment adopts a structure in which a holding device 11 is mounted on the measuring device 14. On the other hand, as Figure 4As shown, the pickup system 2 secures the holding device 21 to the top plate 26a of the housing 26 via connectors 22 and 24 and a measuring device 25 in a suspended manner. Therefore, in this embodiment, the housing 26 and the actuator assembly 27 will be described first, followed by the description of the holding device 21, connectors 22, moving mechanism 23, connectors 24, and measuring device 25.

[0066] As an example of a support structure, the box 26 includes a top plate 26a, four columns 26b1, 26b2, 26b3, and 26b4, and a frame 26c. The frame 26c is composed of four beams 26c1, 26c2, 26c3, and 26c4.

[0067] Top plate 26a is a rectangular plate-like member when viewed from above. One of the two main faces of top plate 26a (in...) Figure 4 A mounting area is provided in the center of the main surface (the lower side), and the connector 24 is mounted in this mounting area via the measuring device 25. The connector 24 and the measuring device 25 will be described later. The top plate 26a preferably has high rigidity so that it is not prone to deformation such as bending even when the weight of the cargo L is heavy. In this embodiment, a metal plate is used as the top plate 26a.

[0068] Columns 26b1, 26b2, 26b3, and 26b4 are fixed to the four corners of the rectangular top plate 26a, respectively, with their extending directions orthogonal to the lower main surface. That is, columns 26b1, 26b2, 26b3, and 26b4 function as legs supporting the top plate 26a. Columns 26b1, 26b2, 26b3, and 26b4 are of equal length. Furthermore, a screw-type adjustment mechanism for adjusting the length of each leg can be provided at the lower end of each column 26b1, 26b2, 26b3, and 26b4. By using such an adjustment mechanism, the top plate 26a can be fixed in a manner where the aforementioned area is approximately horizontal (more preferably horizontal).

[0069] A frame 26c, consisting of beams 26c1, 26c2, 26c3, and 26c4 connecting adjacent columns, is provided at the midpoint of each column 26b1, 26b2, 26b3, and 26b4. Beam 26c1 connects column 26b1 to column 26b2. Beam 26c2 connects column 26b2 to column 26b3. Beam 26c3 connects column 26b3 to column 26b4. Beam 26c4 connects column 26b4 to column 26b1. When the holding device 21 is connected to the connector 24 via the connector 22 and the moving mechanism 23, the frame 26c, constructed in this way, surrounds the base plate 21d of the holding device 21.

[0070] Actuator group 27, consisting of actuators 271, 272, 273, and 274, is provided in frame 26c. Actuator group 27 is an example of an adjustment mechanism. Each actuator 271, 272, 273, and 274 is a linearly extending shaft-like member configured to allow arbitrary adjustment of its length along its central axis, i.e., shaft length. In this embodiment, air actuators that utilize air pressure to adjust the shaft length are used as each actuator 271, 272, 273, and 274. However, the source of the force used to adjust the shaft length is not limited to air pressure; it can also be hydraulic or electrical.

[0071] Actuator 271 is fixed at the midpoint of beam 26c1 with its central axis orthogonal to the extension direction of beam 26c1. Similarly, actuator 272 is fixed at the midpoint of beam 26c2 with its central axis orthogonal to the extension direction of beam 26c2. Similarly, actuator 273 is fixed at the midpoint of beam 26c3 with its central axis orthogonal to the extension direction of beam 26c3. Similarly, actuator 274 is fixed at the midpoint of beam 26c4 with its central axis orthogonal to the extension direction of beam 26c4. Each actuator 271, 272, 273, and 274 is arranged such that its movable front end protrudes inward toward the frame 26c.

[0072] By controlling the axial lengths of the actuators 27 arranged in this manner, the movement of the holding device 21 in the y-axis direction can be restricted, and its position can be moved, by controlling the axial lengths of the actuators 271 and 273 that are facing each other. Similarly, by controlling the axial lengths of the actuators 272 and 274 that are facing each other, the movement of the holding device 21 in the x-axis direction can be restricted, and its position can be moved, by controlling the axial lengths of the actuators 272 and 274 that are facing each other. In this embodiment, the actuator assembly 27 is used to move the holding device 21 in the horizontal plane so that the center C25 of the six-axis force sensor 25 corresponding to the position of the connector 22 (see reference) is moved. Figure 6 Move to the center of gravity CL of the holding device 21 holding the cargo L (refer to...) Figure 5 Directly above. Furthermore, the operation of actuator assembly 27 is controlled by a controller described later.

[0073] Next, the retaining device 21, the connector 22, the moving mechanism 23, the connector 24, and the measuring device 25 will be described.

[0074] Similar to the retaining device 11, the retaining device 21 is a structure for retaining the cargo L. In this embodiment, the retaining device 21 is a retaining device consisting of a top plate 21a, four columns 21b1, 21b2, 21b3, 21b4 and a bottom plate 21d.

[0075] The top plate 21a and the bottom plate 21d are rectangular in shape when viewed from above. The top plate 21a and the bottom plate 21d have the same shape when viewed from above. Furthermore, four posts 21b1 to 21b4 of equal length are provided between the top plate 21a and the bottom plate 21d. Therefore, the interval between the top plate 21a and the bottom plate 21d is equal to the length of each post 21b1 to 21b4. Each post 21b1 to 21b4 is located at one of the four corners constituting the top plate 21a and the bottom plate 21d. The retaining device 21, constructed in this way, has a box-shaped form with two pairs of open sides facing each other. Figure 4 In the coordinate system, the fixture 21 is configured as follows: the long sides of the rectangular top plate 21a and bottom plate 21d are parallel to the x-axis, and the short sides are parallel to the y-axis; the extension directions of each column 21b1 to 21b4 are parallel to the z-axis. Furthermore, Figure 4 The coordinate system is defined such that the xy plane is horizontal and the z-axis is parallel to the vertical direction.

[0076] In this embodiment, a strap-shaped sling is used to secure the cargo L to the base plate 21d of the holding device 21. Alternatively, hook and loop fasteners (registered trademark) can also be used to secure the cargo L to the base plate 21d of the holding device 21. Furthermore, both the sling and the hook and loop fasteners can be used together to secure the cargo L to the base plate 21d. In this way, the holding device 21 holds the cargo L.

[0077] Similar to connector 12, connector 22, as an example of the first connector, is a structure for connecting the holding device 21 to the UAV D. Connector 22 is constructed in the same way as connector 12, so its description is omitted here.

[0078] Similar to the moving mechanism 13, the moving mechanism 23 is a structure for moving the connector 22 along a horizontal plane (xy plane), which is a plane extending in a first direction (x-axis direction) and a second direction (y-axis direction). In this embodiment, the moving mechanism 23 uses a moving mechanism comprising a first slider 23a, a second slider 23b, a first guide 23c, a second guide 23d, a first synchronous belt 23e, a second synchronous belt 23f, a first synchronous pulley 23g, and a second synchronous pulley 23h.

[0079] Furthermore, the first slider 23a and the second slider 23b are constructed in the same manner as the first slider 13a and the second slider 13b, respectively. Therefore, in this embodiment, the description of the first slider 23a and the second slider 23b is omitted.

[0080] The first guide 23c is a guide that, situated between the first slider 23a and a pair of guide rails disposed on the top plate 21a of the retaining device 21, restricts the movement of the first slider 23a relative to the pair of guide rails in the x-axis direction, which is a first direction. To restrict the movement of the first slider 23a in the x-axis direction, the pair of guide rails extend parallel to the x-axis direction.

[0081] The second guide 23d is a guide that is located between the first slider 23a and the second slider 23b, and restricts the movement of the second slider 23b relative to the first slider 23a in the y-axis direction, which is the second direction.

[0082] The first synchronous belt 23e and the two first synchronous pulleys 23g are a structure for switching the state of the first sliding member 23a between a sliding state and a non-sliding state. That is, the first synchronous belt 23e and the two first synchronous pulleys 23g are an example of a first switch. The two first synchronous pulleys 23g are pulleys arranged on a straight line parallel to a pair of guide rails and with equal spacing between the rails. The first synchronous belt 23e is attached to the two first synchronous pulleys 23g arranged in this manner, so that the extension direction of the first synchronous belt 23e is parallel to the x-axis direction. At least one of the two first synchronous pulleys 23g is provided with an electromagnetic clutch for switching the state of the pulley between a rotatable state and a non-rotatable state. This electromagnetic clutch is controlled by a controller. Furthermore, an annular first synchronous belt 23e is mounted on the two first synchronous pulleys 23g. A portion of the first sliding member 23a engages with a portion of the first synchronous belt 23e. Therefore, when the first synchronous pulley 23g is rotatable, the first sliding member 23a is slidable; when the first synchronous pulley 23g is non-rotatable, the first sliding member 23a is non-slidable. According to this structure, by engaging the electromagnetic clutch provided on the first synchronous pulley 23g, the first sliding member 23a becomes slidable; by disengaging the electromagnetic clutch, the first sliding member 23a becomes non-slidable.

[0083] The second synchronous belt 23f and the two second synchronous pulleys 23h are a structure used to switch the state of the second sliding member 23b between a sliding state and a non-sliding state. That is, the second synchronous belt 23f and the two second synchronous pulleys 23h are an example of a second switch. The two second synchronous pulleys 23h are pulleys mounted on a pair of guide rails. The second synchronous belt 23f is attached to the two second synchronous pulleys 23h arranged in this manner, so the extension direction of the second synchronous belt 23f is parallel to the y-axis direction. The second synchronous belt 23f and the two second synchronous pulleys 23h are configured similarly to the first synchronous belt 23e and the two first synchronous pulleys 23g, except that the mounting direction of the second synchronous belt 23f is y-axis rather than x-axis. According to this structure, by engaging the electromagnetic clutch provided on the second synchronous pulley 23h, the second sliding member 23b becomes sliding; by disengaging the electromagnetic clutch, the second sliding member 23b becomes non-sliding.

[0084] As described above, in this embodiment, in order to switch the state of the first sliding member 23a and the second sliding member 23b between a sliding state and a non-sliding state, that is, to switch the state of the first synchronous belt 23e and the second synchronous belt 23f between a drivable state and a non-drivable state, the first synchronous pulley 23g and the second synchronous pulley 23h are equipped with electromagnetic clutches. However, the first synchronous pulley 23g and the second synchronous pulley 23h can be equipped with either mechanical clutches instead of electromagnetic clutches, or mechanical brakes instead of electromagnetic clutches.

[0085] As an example of a second connector, connector 24 is connected to connector 22. Connector 24 is a connector corresponding to connector 22, and together with connector 22, they form a pair of connectors. In this embodiment, a quick coupling is used as connector 22 and connector 24. Therefore, connector 22 can be installed and removed from connector 24 in a single operation. Connector 24 is configured in the same way as the connector provided on the UAV D.

[0086] A measuring device 25 is provided on the portion of connector 24 opposite to connector 22. In this embodiment, a six-axis force sensor is used as the measuring device 25. This six-axis force sensor is capable of detecting the force and torque of each of the three axes of an orthogonal coordinate system. In the pickup system 2, the six-axis force sensor is configured such that the first axis is parallel to the x-axis, the second axis is parallel to the y-axis, and the third axis is parallel to the z-axis. That is, this six-axis force sensor is a sensor capable of detecting the force Fx in the x-axis direction, the force Fy in the y-axis direction, the force Fz in the z-axis direction, the torque Mx about the x-axis, the torque My about the y-axis, and the torque Mz about the z-axis. In this embodiment, a six-axis force sensor is used as the measuring device 25, therefore the measuring device 25 is also referred to as the six-axis force sensor 25.

[0087] Controller (in) Figure 4 (Not shown in the figure) is a structure used to perform the following processing: based on the sensor signal obtained from the six-axis force sensor 25, at the center C25 of the six-axis force sensor 25 corresponding to the position of the connector 22 (refer to...) Figure 6 The center of gravity CL of the holding device 21 holding the cargo L is determined based on the reference. Figure 6 The position of the center C25 is determined by the control of the moving mechanism 23 so that the center C25 is directly above the position of the center of gravity CL.

[0088] The controller moves the connector 22 relative to the retaining device 21 so that three of the three forces Fx, Fy, Fz and three torques Mx, My, Mz detected by the six-axis force sensor are below a predetermined value (preferably, the three torques Mx, My, Mz are 0), thereby moving the center C25 directly above the center of gravity position CL. Furthermore, the controller controls the actuator assembly 27 to move the connector 22 relative to the retaining device 21. The actuator assembly 27 will be described later.

[0089] like Figure 4 As shown, the retaining device 21 is fixed to the top plate 26a of the housing 26 via connectors 22 and 24 and a six-axis force sensor 25, suspended from the top plate 26a. Therefore, regardless of whether the center C25 is directly above the center of gravity CL, the torque Mz of the three torques Mx, My, and Mz is 0. On the other hand, when the center C25 is directly above the center of gravity CL, both the torques Mx and My about the x-axis and y-axis included in the horizontal plane are zero. When the center C25 is not directly above the center of gravity CL, at least one of the torques Mx and My is not zero. Therefore, the controller moves the retaining device 21 so that both torque Mx and torque My are below a predetermined value, thereby aligning the position of the center of gravity CL with the position of the center C25.

[0090] In this embodiment, Figure 4 The controller shown in the diagram is identical in configuration to controller 15. That is, like controller 15, the controller can be implemented either in hardware such as an integrated circuit (IC chip) or in software. In the latter case, the various functions of the controller are implemented, for example, by a computer executing commands as a program P, which is software.

[0091] (The process of picking up the item)

[0092] Reference Figure 5 and Figure 6The picking method S2 according to the second embodiment of the present invention will be explained below. As described above, Figure 5 This is a top view of the holding device 21 of the pickup system 2 as viewed from above (positive z-axis direction). Figure 5 (a) to (c) respectively illustrate the operation of the moving step S24 included in the picking method according to the second embodiment of the present invention. Figure 6 This is a flowchart illustrating the process of the picking method involved in this embodiment.

[0093] Similar to pickup method S1, pickup method S2 is a method for using pickup system 2 to enable drone D to pick up cargo L. For example... Figure 6 As shown, the picking method S2 includes a holding step S21, a fixing step S22, a measuring step S23, and a moving step S24. The holding step S21 is the step corresponding to the holding step S11, the measuring step S23 is the step corresponding to the measuring step S12, and the moving step S24 is the step corresponding to the moving step S13.

[0094] The holding process S21 is the process of holding the goods L using the holding device 21 described above. In the holding process S21, the goods L is secured to the base plate 21d of the holding device 21 using, for example, a strap-shaped sling. At this time, it is not limited to securing the goods L in a manner in which the center of gravity of the goods L is aligned with the center of gravity of the holding device 21.

[0095] The fixing process S22 is performed after the holding process S21. The fixing process S22 involves securing the holding device 21, on which the cargo L is mounted, to the top plate 26a of the housing 26 via the connector 22, connector 24, and six-axis force sensor 25. Figure 5 (a) shows the state in which the retaining device 21 is fixed to the top plate 26a. However, in Figure 5 The illustration of top plate 26a is omitted. Figure 5 In (a), the center C25 of the six-axis force sensor 25, corresponding to the center of connector 22 and the center of connector 24, is set at the center of the top plate 26a, which serves as a reference position. The top plate 26a is fixed such that the installation area is approximately horizontal (more preferably horizontal). Furthermore, the six-axis force sensor 25 is set such that the planes extending from the first axis (the axis parallel to the x-axis) and the second axis (the axis parallel to the y-axis) of the three axes that detect force and torque are parallel to the installation area. Therefore, the six-axis force sensor 25 is set such that the planes extending from the first and second axes are approximately horizontal. Additionally, in Figure 5 In (a), the center of gravity CL of the holding device 21 holding the cargo L is located in the region on the positive x-axis side and the negative y-axis side.

[0096] Measurement step S23 is the step of determining the position of the center of gravity CL using the aforementioned six-axis force sensor 25. Specifically, the controller determines the position of the center of gravity CL by referring to two torque signals, Mx and My, representing two torques in the sensor signals output by the six-axis force sensor 25. Torque Mx is an example of torque about the first axis, and torque My is an example of torque about the second axis.

[0097] The moving step S24 is a step in which the position of the center C25 is moved to directly above the position of the center of gravity CL using the controller described above. The controller moves the holding device 21 using the actuator assembly 27 based on the position of the center of gravity CL measured in the measuring step S23. Figure 5 Arrow F27 shown in (a) indicates the direction of the force acting on the holding device 21 when the holding device 21 is moved towards the positive y-axis using actuators 272 and 274. Additionally, Figure 5 Arrow F27 shown in (b) indicates the direction of the force acting on the retaining device 21 when the retaining device 21 is moved toward the negative x-axis direction by using actuators 271 and 273.

[0098] In this way, by implementing the picking method S2, the position of the center C25 can be moved to directly above the position of the centroid CL.

[0099] Furthermore, the pickup method S2 can also be configured to perform the measurement step S23 again after the movement step S24. Here, the controller measures the position of the center of gravity CL by referring to three torque signals representing three torques Mx, My, and Mz. If the three torques Mx, My, and Mz are below a predetermined value, the controller determines that the position of the center C25 is directly above the position of the center of gravity CL, and ends the pickup method S2. On the other hand, if any of the three torques Mx, My, and Mz exceeds a predetermined value, the controller re-executes the movement step S24. Thus, the pickup method S2 can also be configured to repeatedly execute the measurement step S23 and the movement step S24 until the three torques Mx, My, and Mz become below the predetermined value.

[0100] (The effect of the picking system and picking method)

[0101] As described above, the pickup system 2 according to this embodiment has the same effect as the pickup system 1. Furthermore, the pickup method S2 according to this embodiment has the same effect as the pickup method S1. Hereinafter, in addition to these effects, the effects of the pickup system 2 and the pickup method S2 will also be described.

[0102] The pickup system 2 further includes: a moving mechanism 23, which includes a first slider 23a and a second slider 23b; a second connector (connector 24 in this embodiment); a support body 26, which is arranged in a generally horizontal manner with the area where the second connector (connector 24) is set; a six-axis force sensor 25; and an actuator assembly 27. In the pickup system 2, the first connector (connector 22 in this embodiment) is fixed to the second slider 23b.

[0103] Based on the above structure, a six-axis force sensor 25 can be used to form the pickup system 2, thus enabling a pickup system 2 that is simpler than the pickup system 1.

[0104] In addition, the pickup system 2 also has a first switch (in this embodiment, a first synchronous belt 23e and two first synchronous pulleys 23g) and a second switch (in this embodiment, a second synchronous belt 23f and two second synchronous pulleys 23h).

[0105] According to the above structure, during the period when the position of the connector 22 relative to the center of gravity CL of the holding device 21 holding the cargo L is adjusted after the holding device 21 holds the cargo L, the first slider 23a and the second slider 23b can be set to a sliding state in advance, and after the adjustment is completed, the first slider 23a and the second slider 23b can be set to a non-sliding state. Therefore, it is possible to prevent the position of the connector 22 from shifting relative to the center of gravity CL of the holding device 21 holding the cargo L while the drone D is transporting the cargo L.

[0106] Furthermore, the pickup method S2 also includes a fixing step S22 performed after the holding step S21. In the fixing step S22, the six-axis force sensor 25 is set so that the plane extending from the first and second axes of the three axes that detect force and torque is approximately horizontal. Additionally, in the moving step S24, the position of the connector 22 is moved with reference to a first torque signal representing the torque about the first axis and a second torque signal representing the torque about the second axis from the sensor signals output by the six-axis force sensor 25, so that the torque about the first axis and the torque about the second axis are below a predetermined value.

[0107] Based on the above structure, a six-axis force sensor 25 can be used as a measuring device to form the pickup method S2, thus enabling a pickup method S2 that is simpler than pickup method S1.

[0108] (Additional Notes)

[0109] This invention is not limited to the embodiments described above, and various modifications can be made within the scope of the claims. For example, embodiments obtained by appropriately combining the technical means disclosed in the above embodiments are also included within the technical scope of this invention.

[0110] Explanation of reference numerals in the attached figures

[0111] 1, 2: Pick-up system; 11, 21: Holding device; 12, 22: Connector; 13, 23: Moving mechanism; 14: Measuring device; 14a: Plate; 14b: Six-axis force sensor; 15: Controller; 24: Connector; 25: Six-axis force sensor; 26: Support body; 26a: Top plate (with setting area); S1, S2: Pick-up method; S11, S21: Holding process; S22: Fixing process; S12, S23: Measuring process; S13, S24: Moving process; D: Unmanned aerial vehicle (UAV); L: Cargo.

Claims

1. A pickup system, characterized in that, have: Holding equipment, used to hold goods; A measuring device for determining the center of gravity position of the cargo or the center of gravity position of the holding device holding the cargo; A connector, movably mounted on the holding device, for connecting the holding device to the unmanned aerial vehicle; and A controller for moving the connector directly above the center of gravity position. The measuring device has the following features: A plate for holding the goods or the holding device holding the goods; and At least one six-axis force sensor is configured to support the plate. The controller is a controller for performing the following processes: calculating the center of gravity position based on the sensor signal output from the six-axis force sensor, and moving the connector directly above the calculated center of gravity position.

2. The pickup system according to claim 1, characterized in that, The measuring device has four six-axis force sensors arranged in a manner that supports the plate.

3. The pickup system according to claim 1, characterized in that, It also includes a moving mechanism for moving the connector. The moving mechanism includes a first slider and a second slider. The first slider slides on the retaining device along a first direction, and the second slider slides on the first slider along a second direction intersecting the first direction. The connector is fixed to the second sliding member.

4. The pickup system according to any one of claims 1 to 3, characterized in that, After moving the connector to directly above the center of gravity, the controller notifies the unmanned aerial vehicle (UAV) or the control device that controls the UAV of the connector's position.

5. The pickup system according to claim 1, characterized in that, It also has: A moving mechanism for moving the connector, the moving mechanism including a first slider and a second slider, the first slider sliding on the retaining device along a first direction, and the second slider sliding on the first slider along a second direction intersecting the first direction; The second connector is configured as the first connector, and the second connector is used to connect to the first connector. The support body is positioned approximately horizontally in the area where the second connector is located; A six-axis force sensor is located between the second connector and the set area; as well as The adjustment mechanism, with the first connector connected to the second connector, adjusts the position of the holding device within the planes extending in the first and second directions. The first connector is fixed to the second sliding member.

6. The pickup system according to claim 5, characterized in that, It also has: A first switch toggles the state of the first slider between a slidable state and a non-slidable state; and The second switch toggles the state of the second slider between a sliding state and a non-sliding state.

7. A picking method, characterized in that, The process includes the following steps: The holding process involves using holding devices to hold the goods. The measurement process involves using a measuring instrument to determine the center of gravity position of the cargo or the center of gravity position of the holding device holding the cargo; and In the movement process, a controller is used to move the connector to directly above the center of gravity position. This connector is located on the holding device and is used to connect the holding device to the unmanned aerial vehicle. This includes a fixing step performed after the holding step, in which the holding device is fixed to the support body via the connector and a six-axis force sensor serving as the measuring device. In the fixing process, the six-axis force sensor is positioned such that the planes extending from the first and second axes of the three axes that detect force and torque are approximately horizontal. In the moving process, the position of the connector is moved with reference to a first torque signal representing the torque about the first axis and a second torque signal representing the torque about the second axis from the sensor signals output by the six-axis force sensor, so that the torque about the first axis and the torque about the second axis are below a predetermined value.

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