Cargo airlift system and method

Abstract

An air supply system is configured to have: a robot (1) capable of self-walking; an aircraft (2) capable of carrying a supply (21) and the robot (1); and a lowering / carrying device (3) capable of at least lowering the robot (1) from the aircraft (2) to the ground and carrying the robot (1) from the ground to the aircraft (2) in a state where the aircraft (2) is landed or hovering, and the robot (1) lowered from the aircraft (2) to the ground can be carried again to the aircraft (2).

Description

Technical Field

[0001] This invention relates to a cargo air transport system and a cargo air transport method.

[0002] Cross-reference of related applications

[0003] This application claims priority to Japan Patent Application No. 2020-149452, filed on September 4, 2020, and is incorporated herein by reference in its entirety. Background Technology

[0004] In existing air freight systems, such as those for air cargo, goods are loaded onto a transport aircraft at the point of origin and transported by the aircraft to the destination, where they are unloaded. The unloaded goods are then transported to a distribution point by transport vehicles, etc. (e.g., see Patent Document 1). Figure 1 ).

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 2002-087535 (especially) Figure 1 ) Summary of the Invention

[0008] However, at airports with fewer takeoffs and landings, the efficiency of organizing this operation is poor because there is more downtime for unloading and transporting the aforementioned goods to distribution points.

[0009] In addition, when disaster relief supplies are airlifted to the disaster area, the party providing the supplies sometimes needs to unload them at the arrival point of the transport aircraft and then transport them to the disaster site by ground transportation or other means.

[0010] In addition to handling cargo and disaster relief supplies, various other operations are sometimes required at the destination of the transport aircraft.

[0011] This invention was made to solve the above-mentioned problems, and its purpose is to provide a material air transport system and method that can complete the required operations at the destination of the aircraft.

[0012] To achieve the above objectives, one aspect of the present invention relates to a cargo air transport system comprising: a robot capable of autonomous propulsion; an aircraft capable of carrying cargo and the robot; and a landing / loading device that, in either a landing or hovering state of the aircraft, enables the robot to descend from the aircraft to the ground and then onto the aircraft from the ground, and the robot descending from the aircraft to the ground can be reloaded onto the aircraft.

[0013] Furthermore, another aspect of the present invention relates to a method for airlifting goods, comprising: using a self-propelled robot, an aircraft capable of carrying goods and the robot, and, in a landing or hovering state of the aircraft, at least enabling the robot to descend from the aircraft to the ground and board the aircraft from the ground; and enabling the robot, after descending from the aircraft to the ground, to be re-boarded onto the aircraft.

[0014] Invention Effects

[0015] The present invention provides a material air transport system and method capable of completing the necessary operations for aircraft to reach their destination. Attached Figure Description

[0016] Figure 1 This is a schematic diagram illustrating a hardware structure example of the air transport system for goods according to Embodiment 1 of the present invention.

[0017] Figure 2 For use in representing Figure 1 A three-dimensional diagram of the structure of a robot.

[0018] Figure 3 This is a functional block diagram illustrating a structural example of the control system of the material air transport system according to Embodiment 1 of the present invention.

[0019] Figure 4 For use in representing Figure 1 A 3D diagram of the operation of the air transport system for supplies.

[0020] Figure 5A For use in representing Figure 1 A three-dimensional diagram of another structural example of a robot.

[0021] Figure 5B For use in representing Figure 1 A three-dimensional diagram of another structural example of a robot.

[0022] Figure 6 This is a schematic diagram illustrating a structural example of the air transport system for goods according to Embodiment 2 of the present invention.

[0023] Figure 7 For use in representing Figure 6 A 3D view of the container and the robot's movements. Detailed Implementation

[0024] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. Furthermore, the same reference numerals will be used to denote the same or equivalent components in all the drawings, and repeated descriptions will be omitted. Also, the following drawings are for illustrating the present invention; therefore, there may be instances where components unrelated to the present invention are omitted, dimensions are incorrect due to exaggeration, or the shapes of corresponding components may differ in multiple drawings due to simplification. Furthermore, the present invention is not limited to the following embodiments.

[0025] (Implementation Method 1)

[0026] Figure 1 This is a schematic diagram illustrating a hardware structure example of the air transport system for goods according to Embodiment 1 of the present invention.

[0027] [Hardware Structure]

[0028] Reference Figure 1 The material air transport system 100 of Implementation Method 1 can be implemented across the operating area 51, the aircraft arrival area (first location) 52 and the target area (second location) 53.

[0029] The cargo air transport system 100 includes a robot 1, an aircraft 2, and a robot landing / carrying device 3. Figure 1 This indicates that the aircraft 2, carrying robot 1 and supplies 21, has landed in the aircraft arrival area 52, and the robot landing / loading device 3 installed on the aircraft 2 has been set (deployed) to the operational state.

[0030] In addition, the cargo air transport system 100 includes a robot operator 11, a drone operator 12, and a display 13 configured as remote operators in the operating area 51. The operating area 51 can be set in any location. For example, it can be set in the interior of the aircraft 2, the aircraft arrival area 52, the target area 53, or any location other than the departure point of the aircraft 2 from these locations to a remote location.

[0031] A delivery destination 22 for supplies 21 transported by aircraft 2 is set up in target area 53. Examples of delivery destinations 22 include distribution points and recipients of disaster relief supplies in disaster-stricken areas.

[0032] Furthermore, the cargo air transport system 100 includes a drone 14 equipped with a camera 15 (see reference). Figure 4 The drone 14, along with the robot 1, was transported by the aircraft 2. Figure 1 (Not shown in the image).

[0033] The following details these components.

[0034] <Supplies 21>

[0035] Examples of materials 21 include goods, hand luggage, disaster relief supplies, etc.

[0036] <Aircraft 2>

[0037] Aircraft 2 can be exemplified as an aircraft or a helicopter. Classified by purpose, aircraft 2 includes civilian cargo planes, military transport planes, passenger planes, etc. In Embodiment 1, aircraft 2 is, for example, a cargo plane. Embodiment 2, described later, illustrates an example where aircraft 2 is a helicopter.

[0038] <Robot Descending / Loading Device 3>

[0039] The robot descent / pilot device 3 is any device capable of allowing the robot 1 to descend from the aircraft 2 to the ground and then board the aircraft 2 from the ground while the aircraft 2 is in a landing or hovering state. The robot descent / pilot device 3 can be mounted on the aircraft 2 or the robot 1, or it can be mounted separately from them. Here, the robot descent / pilot device 3 is mounted on the aircraft 2. Specifically, the robot descent / pilot device 3 is configured as follows.

[0040] Reference Figure 4 An opening is provided on the lower surface of the rear of the aircraft 2 fuselage, and a pair of side doors and a lower surface door are provided that open and close by swinging. The pair of side doors are configured to extend to the left and right of the fuselage, respectively, and swing up and down around their left and right base ends. The lower surface door is configured to extend to the rear of the fuselage and swing up and down around its front base end. The inner surface of the lower surface door is flat, allowing vehicles, including robot 1, to pass through. When the lower surface door is open and its front end is in contact with the ground, vehicles, including robot 1, can pass through the inner surface of the lower surface door. During flight, the opening is closed by the pair of side doors and the lower surface door. Therefore, the pair of side doors and the lower surface door constitute the robot landing / loading device 3.

[0041] <Robot 1>

[0042] Figure 2 For use in representing Figure 1 A three-dimensional diagram of the structure of robot 1. (Refer to...) Figure 2 Robot 1 can be configured to be self-propelled and have a loading section 33 for loading materials 21, and be able to load materials 21 onto the loading section 33 and remove materials 21 loaded onto the loading section 33.

[0043] Specifically, robot 1 includes, for example, a trolley 31. Wheels 34 are provided at the base of the trolley 31. A robot arm 32 is provided at one end of the upper surface of the trolley 31. The robot arm 32 is, for example, a vertical multi-joint arm with 6 degrees of freedom (6 axes), and an adsorption unit 36 ​​is installed at its front end as an end effector. The end effector can be appropriately selected according to the application of the robot arm 32.

[0044] The remaining portion of the upper surface of the trolley 31 is configured as a loading section 33. On the loading section 33, a fence (not shown) or similar structure is provided to prevent the loaded goods 21 from collapsing.

[0045] Robot 1 also includes a robot controller 71 and a power source 35. The robot controller 71 controls the movements of robot 1. The power source 35 is composed of, for example, a secondary battery, a fuel cell, or an internal combustion engine. In the case where the power source 35 is composed of an internal combustion engine, a generator is provided as the power source. In this case, the power source 35 is a secondary battery.

[0046] Robot 1 is configured to lock the robot arm 32 in a predetermined posture when stopped, and to unlock it when started.

[0047] <Camera 15>

[0048] Figure 4 For use in representing Figure 1 A 3D diagram illustrating the operation of the 100-unit air transport system. (Refer to...) Figure 4 The camera 15 is a device used to capture images of the area around the robot 1. Examples of cameras include a 2D camera, a 3D camera, and an infrared camera.

[0049] Here, although the camera 15 is mounted on the drone 14, it can also be mounted at an appropriate location on the robot 1 or the aircraft 2. Furthermore, the camera 15 can also be mounted on a support structure installed on the ground. The number of cameras 15 is not limited. These different mounting methods can also be combined.

[0050] <Drone 14>

[0051] Reference Figure 4 There are no particular limitations on the drone 14. The drone 14 is preferably capable of autonomous flight. Here, although the drone 14 is set in a 1:1 correspondence with the robot 1, it may also be set in a 1:multiple correspondence with the robot 1.

[0052] <Robot Manipulator 11>

[0053] Reference Figure 1The upper end of the robot manipulator 11 is configured as a gripper for the operator. When the operator moves the gripper, the suction part 36 of the robot arm 32 of the robot 1 moves accordingly. In addition, an operating part for the trolley 31 is provided on the gripper, and the operator can control the movement of the trolley 31 by operating the operating part.

[0054] <Drone Operator 12>

[0055] The drone controller 12 includes, for example, a joystick that can be pushed, pulled, and tilted. When the operator pushes, pulls, or tilts the joystick, the drone moves accordingly. Furthermore, the drone controller 12 includes a control unit for the camera 15, allowing the operator to control the camera 15's actions (on / off, zoom, etc.).

[0056] <Monitor 13>

[0057] Display 13 is, for example, a liquid crystal display. Display 13 displays images captured by camera 15.

[0058] [Control System Structure]

[0059] Figure 3 This is a functional block diagram illustrating a structural example of the control system of the material air transport system according to Embodiment 1 of the present invention.

[0060] Reference Figure 3 The material air transport system 100 is equipped with an operator-side controller 61, a robot controller 71, and a drone controller 81.

[0061] The operator-side controller 61 includes a robot operation signal generation unit 62, a drone operation signal generation unit 63, a display control unit 64, and an operator-side communication unit 65. The operator-side communication unit 65 is composed of a communicator capable of data communication. The robot operation signal generation unit 62, the drone operation signal generation unit 63, and the display control unit 64 are composed of an arithmetic logic unit (ALU) with a processor and memory. These are functional blocks implemented in the ALU by the processor executing control programs stored in the memory. Specifically, the ALU may be composed of, for example, a microcontroller, an MPU, a FPGA (Field Programmable Gate Array), or a PLC (Programmable Logic Controller). They can be composed of a single ALU for centralized control or multiple ALUs for distributed control.

[0062] The robot operation signal generation unit 62 generates robot operation signals based on the operation of the robot manipulator 11. The drone operation signal generation unit 63 generates drone operation signals based on the operation of the drone manipulator 12. The display control unit 64 causes the display 13 to display an image corresponding to the image signal sent from the operation-side communication unit 65. The operation-side communication unit 65 converts the robot operation signal sent from the robot operation signal generation unit 62 and the drone operation signal sent from the drone operation signal generation unit 63 into wireless communication signals and transmits them wirelessly. It also receives the wireless communication signal sent from the drone-side communication unit 82, converts it into an image signal, and sends it to the display control unit 64.

[0063] The robot controller 71 includes a robot-side communication unit 72 and a robot control unit 73. The robot-side communication unit 72 is composed of a communicator capable of data communication. The robot control unit 73 is composed of an arithmetic logic unit (ALU) with a processor and memory. The robot control unit 73 is a functional block implemented in the ALU by the processor executing a control program stored in the memory. Specifically, the ALU may be composed of, for example, a microcontroller, MPU, FPGA (Field Programmable Gate Array), or PLC (Programmable Logic Controller). These can be composed of a single ALU for centralized control or multiple ALUs for distributed control.

[0064] The robot-side communication unit 72 receives wireless communication signals sent from the operator-side communication unit 65, converts them into robot operation signals, and sends them to the robot control unit 73. The robot control unit 73 controls the actions of the robot 1 according to the robot operation signals.

[0065] The UAV controller 81 includes a UAV-side communication unit 82, a UAV control unit 83, and a camera control unit 84. The UAV-side communication unit 82 is composed of a communicator capable of data communication. The UAV control unit 83 and the camera control unit 84 are composed of arithmetic logic units (ALUs) with processors and memory. The UAV control unit 83 and the camera control unit 84 are functional blocks implemented in the ALU by the processor executing control programs stored in the memory. Specifically, the ALU can be composed of, for example, a microcontroller, MPU, FPGA (Field Programmable Gate Array), or PLC (Programmable Logic Controller). They can be composed of a single ALU for centralized control or multiple ALUs for distributed control.

[0066] The UAV-side communication unit 82 receives wireless communication signals transmitted from the operation-side communication unit 65 and converts them into UAV operation signals, which are then transmitted to the UAV control unit 83 and the camera control unit 84. Furthermore, the UAV-side communication unit 82 converts image signals transmitted from the camera control unit 84 into wireless communication signals and transmits them wirelessly. The UAV control unit 83 controls the operation of the UAV 14 based on the UAV operation signals transmitted from the UAV-side communication unit 82. The camera control unit 84 controls the operation of the camera 15 based on the UAV operation signals (including the camera operation signals) transmitted from the UAV-side communication unit 82. The camera control unit 84 also transmits image signals transmitted from the camera 15 to the UAV-side communication unit 82.

[0067] Here, circuitry or processing circuitry may be used to perform the functions of the components disclosed herein, including general-purpose processors, special-purpose processors, integrated circuits, ASICs (Application Specific Integrated Circuits), conventional circuits, and / or combinations thereof configured or programmed to perform the disclosed functions. A processor is considered a processing circuit or circuit because it includes transistors or other circuitry. In this invention, "device" or "component" refers to hardware for performing the listed functions, or hardware programmed to perform the listed functions. The hardware may be the hardware disclosed herein, or it may be other known hardware that is programmed or configured to perform the listed functions. If the hardware is a processor considered a type of circuit, then "device" or "component" is a combination of hardware and software used for configuring the hardware and / or processor.

[0068] [Actions of the Air Transport System 100 (Air Transport Methods)]

[0069] Next, use Figures 1 to 4 Explain the operation (material air transport method) of the material air transport system 100 constructed as described above.

[0070] Reference Figures 1 to 4 Aircraft 2 carries supplies 21, robot 1, and drone 14. Robot 1 is locked to its robot arm 32. Supplies 21 can be loaded onto robot 1, or they can be loaded separately from robot 1 onto aircraft 2. Here, supplies 21 and robot 1 are loaded separately. Multiple robots 1 are mounted here. Figure 3 As shown, robot 1 and drone 14 are in a 1:1 correspondence. That is, an operator observes the image on display 13 while operating robot 1 and drone (and camera 15) respectively via robot operator 11 and drone operator 12. The following describes the operation of the material air transport system 100 (material air transport method) using one robot 1 as an example.

[0071] When aircraft 2 lands in aircraft arrival area 52, a pair of side doors and a lower surface door that constitute the robot landing / loading device 3 open, allowing robot 1 to pass through.

[0072] The operator first activates robot 1, thereby unlocking the robotic arm 32. Next, the drone 14 is positioned appropriately within aircraft 2, and the robotic arm 32 loads the supplies 21 onto robot 1. Then, while moving drone 14 outwards, the operator extends robot 1 outwards via the robot lowering / loading device 3. Robot 1 and drone 14 are then moved together to the delivery destination 22 in target area 53. At delivery destination 22, the operator uses the robotic arm 32 to unload supplies 21 from robot 1 and place them at the designated location. Afterwards, robot 1 is used to perform any necessary operations.

[0073] After the operation is completed, the operator moves robot 1 and drone 14 to the aircraft arrival area 52. Then, the operator loads robot 1 and drone 14 together onto aircraft 2 via robot landing / loading device 3 (see specific reference). Figure 4 Then, when the operator stops the operation of robot 1, robot 1 locks robot arm 32.

[0074] Afterwards, aircraft 2 closes the pair of side doors and the lower surface door that constitute the robot landing / loading device 3 and takes off.

[0075] {Variation Example 1}

[0076] Figure 5A and 5B For use in representing Figure 1 A perspective view of another structural example of robot 1. (Refer to...) Figure 5A and 5B In variation example 1, the following can be used: Figure 5A and 5B The robot shown is 1 instead of Figure 2 Robot 1 is shown.

[0077] The robot 1 and Figure 1 Compared to robot 1, a lift 38 is also provided on the trolley 31. A pallet P is placed on the lift 38, and materials 21 are placed on the pallet P by the robot arm 32. Therefore, the lift 38 constitutes the loading part of materials 21. The robot arm 32 holds the materials 21 by the suction part 37.

[0078] {Variation Example 2}

[0079] In variation 2, robot 1 does not transport goods 21 to delivery destination 22, but performs only prescribed tasks at delivery destination 22. For example, robot 1 transports luggage located at delivery destination 22 to the required location.

[0080] (Implementation Method 2)

[0081] Figure 6 This is a schematic diagram illustrating a structural example of the material air transport system 200 according to Embodiment 2 of the present invention. Figure 7 For use in representing Figure 6 A 3D view showing the movements of container 91 and robot 1. Figure 7 For simplicity, the wall thickness of container 91 has been omitted, and the illustration of the drive mechanism of door 91c has also been omitted. Furthermore, in Figure 7 The diagram of the metal wire 92 of the winch on which the container 91 is installed is omitted.

[0082] Reference Figure 6 The material air transport system 200 in Embodiment 2 differs from the material air transport system 100 in Embodiment 1 in the following aspects, while being the same as the material air transport system 100 in Embodiment 1 in other aspects. The differences will be explained below.

[0083] In the material air transport system 200 of embodiment 2, the aircraft 2 is a transport helicopter, and the robot 1, materials 21, and drone 14 (in) Figure 6 and Figure 7 (Not shown) It is transported in container 91 suspended on aircraft 2.

[0084] Aircraft 2 is equipped with a winch (not shown) for winding up and rewinding (delivering) a metal wire 92, on which a container 91 is mounted. Aircraft 2 raises and lowers the container 91 by using the winch to wind up and rewind the metal wire 92. Therefore, the winch (metal wire 92) and the container 91 constitute a robotic lowering / loading device 3.

[0085] Reference Figure 7 The container 91, for example, comprises a main body 91a made of a cuboid box and a door 91c. The main body 91a has an opening 91b on the entire surface of one side, and the door 91c is arranged at the side edge of the opening 91b such that it opens and closes by swinging left and right. The door 91c can be opened and closed by the pilot of the aircraft 2 operating a designated control unit.

[0086] Reference Figure 6In embodiment 2, with the supplies 21 loaded, robot 1 and drone 14 are stored together. Moreover, the container 91 is installed at the front end of the metal wire 92 of the winch of aircraft 2 and is suspended on aircraft 2 when aircraft 2 takes off.

[0087] Reference Figure 1 , Figure 6 and Figure 7 When aircraft 2 reaches above aircraft arrival area 52, aircraft 2 hovers and uses a winch to rewind metal wire 92, lowering container 91 to the ground. Furthermore, when the pilot of aircraft 2 operates the designated control unit, the door 91c of container 91 opens.

[0088] Reference Figure 7 When the door 91c of container 91 is opened, the operator starts robot 1 and drone 14. The subsequent actions of robot 1 and drone 14 are the same as those of the cargo airlift system 100 in Embodiment 1. Therefore, their description is omitted.

[0089] (Implementation Method 3)

[0090] In Embodiment 3, robot 1 is program-controlled in either Embodiment 1 (including variations 1 and 2) or Embodiment 2. In this case, the drone operator 12, display 13, and drone 14 are omitted.

[0091] Implementation method 3 is particularly effective when the task performed by robot 1 is relatively simple.

[0092] (Other implementation methods)

[0093] In either embodiment 1 (including variations 1 and 2) and embodiment 2, in the aircraft arrival area 52, the aircraft 2 on which the robot 1 lands on the ground and the aircraft 2 carrying the robot 1 that has landed on the ground may be different from each other.

[0094] In either embodiment 1 (including variations 1 and 2) and embodiment 2, when the robot 1 travels on uneven ground, the traveling part of the trolley 31 may be constructed by replacing the wheels 34 with tracks.

[0095] In either embodiment 1 (including variations 1 and 2) or embodiment 2, robot 1 may also be configured such that robot 1 disembarks from aircraft 2 and boards aircraft 2. Specifically, it may also be configured as follows.

[0096] For example, robot 1 is equipped with a winch at a suitable location, and an opening is provided on the lower surface of aircraft 2 for robot 1 to pass through. This opening is positioned such that when robot 1 descends to the ground, its robot arm 32 can fold and pass between the lower surface of aircraft 2 and the ground. Furthermore, a hook for the end of the winch's wire is provided at a suitable location around this opening. This hook is positioned where the suction unit 36 ​​reaches when robot 1 descends to the ground and its robot arm 32 extends. Robot 1 uses the suction unit 6 to hook the hook onto this hook, uses the winch to pass through the opening to descend to the ground, and then uses the suction unit 6 to remove the hook from the hook. Conversely, when robot 1 is boarding aircraft 2, it extends its robot arm 32 from the ground and uses the suction unit 36 ​​to hook the winch's wire onto the hook. Then, it uses the winch to pass through the opening and board aircraft 2, and uses the suction unit 36 ​​to remove the hook from the hook. In this way, robot 1 can dismount from and board aircraft 2 independently. Furthermore, if the winch and its corresponding attachment are positioned at three or more locations around the horizontal axis of the robot 1's center of gravity, the robot 1's posture can be stabilized.

[0097] Based on the above description, many modifications and other implementations will be apparent to those skilled in the art. Therefore, the above description should be interpreted as illustrative only.

[0098] (Effects of the invention)

[0099] The material air transport system 100, 200 according to one aspect of the present invention is configured to include: a self-propelled robot 1, an aircraft 2 capable of carrying materials 21 and the robot 1, and a landing / loading device 3 that enables the robot 1 to descend from the aircraft 2 to the ground and board the aircraft 2 from the ground in a landing or hovering state, and the robot 1 that descends from the aircraft 2 to the ground can be reloaded onto the aircraft 2.

[0100] Here, "Aircraft 2" can be exemplified as aircraft and helicopters. "Aircraft 2" is classified according to its purpose, including civil cargo planes, military transport planes, passenger planes, etc.

[0101] "Supplies 21" includes goods, hand luggage, and disaster relief supplies.

[0102] "Carrying" refers to two situations: the cargo being housed inside the aircraft and the cargo being installed outside the aircraft.

[0103] Examples of methods for mounting the object to the outside of the aircraft 2 include suspending the object on the aircraft 2 and securing the object to the aircraft 2 using fasteners.

[0104] "Robot 1 descends" refers to two scenarios: robot 1 descends by itself using the descending / carrying device 3, and robot 1 descends using the descending / carrying device 3. "Robot 1 boards" refers to two scenarios: robot 1 boards itself using the descending / carrying device 3, and robot 1 is loaded onto the device using the descending / carrying device 3.

[0105] "The robot 1 can be reloaded onto the aircraft 2" means that the aircraft 2 on which the robot 1 lands and the aircraft 2 on which the robot 1 is reloaded can be the same or different.

[0106] According to this structure, robot 1 can descend from aircraft 2 to the ground while loading materials 21 onto itself, or robot 1 can descend to the ground, load materials 21 from aircraft 2 onto itself, and then transport materials 21 to the distribution point via autonomous propulsion. Furthermore, by appropriately selecting the structure of robot 1 and the type of end effector, various required operations can be completed at the destination of aircraft 2. Moreover, robot 1, after descending from aircraft 2 to the ground, can be remounted onto aircraft 2. Therefore, the required operations can be completed at the destination of aircraft 2.

[0107] The robot 1 can also be configured to remove the material 21 from the aircraft 2 in a landing state at the first location 52 or in a hovering state above the first location 52, and then move the removed material 21 to a second location 53 away from the first location 52 by self-propelled movement, and place the moved material 21 at the second location 53.

[0108] According to this structure, by selecting the location where supplies 21 are needed as the second location 53, robot 1 can move supplies 21 from aircraft 2 and deliver them to the location where supplies 21 are needed.

[0109] The robot 1 can also be configured to lock itself while mounted on the aircraft 2, and unlock itself and then move on its own after disembarking from the aircraft 2.

[0110] According to this structure, the robot 1 can be transported to its destination in a safe state, and can easily move on its own after the transport.

[0111] The robot 1 can also be configured to lock itself after boarding the aircraft 2 or to be mounted on the aircraft 2 after locking itself.

[0112] Based on this structure, it is possible to perform loop transport of robot 1 under safe conditions.

[0113] The robot 1 can also be configured to walk to a designated work location and perform work there.

[0114] According to this structure, as a prescribed task, robot 1 is able to complete the required tasks at the destination of aircraft 2.

[0115] The robot 1 may also be configured to have a loading section 33 for loading the material 21, wherein the part of the robot 1 for handling the material 21 is capable of loading the material 21 onto the loading section 33 and removing the material 21 loaded onto the loading section 33 from the loading section 33.

[0116] According to this structure, robot 1 can load the cargo 21 carried on aircraft 2 onto its own loading unit 33 by means of the part used to handle the cargo 21 (e.g., the robot arm 32 with an end effector installed at the front end), and after moving, unload the cargo 21 from the loading unit 33 to the destination by means of the part used to handle the cargo 21.

[0117] The material air transport systems 100 and 200 may also be equipped with a remote operator 11 for operators to remotely operate the robot 1.

[0118] Based on this structure, the operator can remotely operate robot 1.

[0119] The material air transport systems 100 and 200 may also include a camera 15 for capturing images of the surroundings of the robot 1 and a display 13 for showing the images captured by the camera 15 to the operator.

[0120] According to this structure, the operator can remotely operate the robot 1 while observing an image of the robot 1's surroundings displayed on the monitor 13.

[0121] The robot 1 can also be configured to be controlled by a program.

[0122] Based on this structure, robot 1 can move automatically.

[0123] The materials 21 may also be goods, hand luggage, or disaster relief supplies.

[0124] According to this structure, goods, hand luggage or disaster relief supplies can be delivered to the required locations via air transport by aircraft 2 and ground transport by robot 1.

[0125] Furthermore, another aspect of the present invention relates to a method for airlifting goods, which includes using a self-propelled robot 1, an aircraft 2 capable of carrying goods 21 and the robot 1, and a landing / loading device 3 that enables the robot 1 to descend from the aircraft 2 to the ground and board the aircraft 2 from the ground, whether the aircraft 2 is in a landing or hovering state; and the robot 1, after descending from the aircraft 2 to the ground, can be reloaded onto the aircraft 2.

[0126] According to this structure, the required operations can be completed at the destination of aircraft 2.

[0127] Explanation of reference numerals in the attached figures

[0128] 1 robot

[0129] 2 aircraft

[0130] 3 Robot descent / mounting device

[0131] 11 Robot Manipulator

[0132] 12 Unmanned Aerial Vehicle Operator

[0133] 13 Monitors

[0134] 14. Drones

[0135] 15 cameras

[0136] 21 supplies

[0137] 22 Delivery Destination

[0138] 31 cars

[0139] 32 robotic arms

[0140] 33. Mounting section

[0141] 34 wheels

[0142] 35 Power Source

[0143] Adsorption sections 36 and 37

[0144] 51 Operating Area

[0145] 52 Aircraft arrival area

[0146] 53 Target Area

[0147] 71 Robot Controller

[0148] 91 containers

[0149] 92 Metal Wire

[0150] 100, 200 material air transport system

Claims

1. A cargo air transport system, characterized in that, Being constituted as having: A robot that has a robotic arm and can walk on its own; Aircraft capable of carrying supplies and the aforementioned robot; and A descent / mounting device, which, whether the aircraft is landed or hovering, enables the robot to descend from the aircraft to the ground and board the aircraft from the ground. Furthermore, the robot, after disembarking from the aircraft, can be remounted onto the aircraft. The robot is configured to lock itself while mounted on the aircraft, and to unlock itself upon disembarking from the aircraft, then proceed autonomously. The robot is configured to lock itself upon boarding the aircraft or to be mounted on the aircraft after locking itself. The robot is configured to lock its arm in a predetermined posture when stationary and to unlock it when started.

2. The air transport system for materials according to claim 1, characterized in that, The robot is configured to remove the supplies from the aircraft while it is in a state of landing at a first location or hovering above the first location, and then transport the removed supplies to a second location away from the first location by self-propelled movement, and place the transported supplies at the second location.

3. The air transport system for supplies according to claim 1 or 2, characterized in that, The robot is configured to walk to a designated work location and perform work there.

4. The air transport system for supplies according to claim 1 or 2, characterized in that, The robot is configured to have a loading unit for loading the materials. The part of the robot used for handling the materials is capable of placing the materials in the loading section and removing the materials placed in the loading section from the loading section.

5. The air transport system for supplies according to claim 1 or 2, characterized in that, It also has a remote control device for operators to remotely operate the robot.

6. The air transport system for supplies according to claim 5, characterized in that, It also includes a camera for capturing images of the robot's surroundings and a display for showing the images captured by the camera to the operator.

7. The air transport system for goods according to claim 1 or 2, characterized in that, The robot is configured to be controlled by a program.

8. The air transport system for supplies according to claim 1 or 2, characterized in that, The materials referred to are goods.

9. The air transport system for goods according to claim 1 or 2, characterized in that, The materials mentioned are hand luggage or disaster relief supplies.

10. A method for air transport of goods, characterized in that, include: Using a self-propelled robot with a robotic arm, an aircraft capable of carrying supplies and the robot, and at least in the state of the aircraft being landed or hovering, the robot can be disembarked from the aircraft and boarded from the ground onto the aircraft by a landing / loading device. as well as The robot, after disembarking from the aircraft, can be remounted on the aircraft. The robot locks itself while mounted on the aircraft and unlocks itself upon disembarking from the aircraft, then moves on its own. The robot either locks itself after boarding the aircraft or locks itself before being mounted on the aircraft. The robot locks its arm in a predetermined posture when it is stopped, and unlocks it when it starts.

11. The method for air transport of goods according to claim 10, characterized in that, include: The robot removes the supplies from the aircraft, which is either landed at a first location or hovering above the first location, and then moves the supplies to a second location away from the first location by the robot's self-propelled movement, and places the transported supplies at the second location.

12. The method for air transport of goods according to claim 10 or 11, characterized in that, The robot walks to the designated work location and performs its work there.

13. The method for air transport of goods according to claim 10 or 11, characterized in that, The robot has a loading unit for loading the materials. The part of the robot for handling the materials places the materials on the placement section and removes the materials placed on the placement section from the placement section.

14. The method for air transport of goods according to claim 10 or 11, characterized in that, This includes remotely operating the robot via a remote controller.

15. The method for air transport of goods according to claim 14, characterized in that, It also includes capturing images of the robot's surroundings using a camera and displaying the images captured by the camera to the operator via a monitor.

16. The method for air transport of goods according to claim 10 or 11, characterized in that, This includes program control of the robot.

17. The method for air transport of goods according to claim 10 or 11, characterized in that, The materials referred to are goods.

18. The method for air transport of goods according to claim 10 or 11, characterized in that, The materials mentioned are hand luggage or disaster relief supplies.

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