Conveyor

Abstract

A conveyor (3400) for conveying goods is provided with a first arm section (3411), a second arm section (3412), a first wheel (3411a) connected to the first arm section (3411), a second wheel (3412a) connected to the second arm section (3412), at least one actuator, and a controller (control processing section (3420)). Furthermore, when the conveyor (3400) is slidably hung on the first guide rail (7a) by the first wheel (3411a) and the second wheel (3412a), the controller controls at least one actuator (an arm driving part (3413) and a roller driving motor (3415)), so that the first wheel (3411a) is separated from the first guide rail (7a) and placed on the second guide rail (7b), and the second wheel (3412a) is separated from the first guide rail (7a) and placed on the second guide rail (7b).

Description

Technical Field

[0001] The present disclosure relates to a conveyor. Background Art

[0002] A control method for improving the safety of a drone, which is an unmanned aerial vehicle, during flight has been proposed (for example, see Patent Document 1).

[0003] The technology disclosed in Patent Document 1 is to detect an abnormality in the flight of a drone using various means, and use a recovery mechanism provided on a wire or a utility pole to recover the drone performing abnormal flight.

[0004] (Prior Art Documents)

[0005] (Patent Documents)

[0006] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2018-12477 Summary of the Invention

[0007] Problems to be Solved by the Invention

[0008] However, there is room for improvement in the conveyor using the unmanned aerial vehicle of Patent Document 1 described above.

[0009] Therefore, the present disclosure provides a conveyor that has been further improved compared to the prior art.

[0010] Means for Solving the Problems

[0011] The conveyor according to one aspect of the present disclosure conveys goods, and the conveyor includes: a first arm portion; a second arm portion; a first wheel connected to the first arm portion; a second wheel connected to the second arm portion; at least one actuator that drives the first wheel, the second wheel, the first arm portion, and the second arm portion; and a controller. When the conveyor is freely slidably suspended from a first guide rail by the first wheel and the second wheel, the controller controls the at least one actuator to disengage the first wheel from the first guide rail and place it on a second guide rail, and disengage the second wheel from the first guide rail and place it on the second guide rail.

[0012] In addition, these general or specific aspects can be implemented by a conveyor, a system, a control method, an integrated circuit, a computer program, or a computer-readable recording medium such as a CD-ROM, or can be implemented by any combination of these.

[0013] Advantages of the Invention

[0014] Further improvement can be expected for the conveyor of the present disclosure. Brief Description of the Drawings

[0015] Figure 1 It is a diagram exemplifying the shipping system according to Embodiment 1.

[0016] Figure 2 It is a diagram exemplifying the state in which the first purchased commodity is placed on the display device and displayed on the multi-tiered shelf in the shipping system according to Embodiment 1.

[0017] Figure 3 It is a block diagram exemplifying the shipping system according to Embodiment 1.

[0018] Figure 4 It is a flowchart showing Working Example 1 of the shipping system according to Embodiment 1.

[0019] Figure 5 It is a flowchart showing Working Example 2 of the shipping system according to Embodiment 1.

[0020] Figure 6 It is a flowchart showing Working Example 3 of the shipping system according to Embodiment 1.

[0021] Figure 7 It is a flowchart showing Working Example 4 of the shipping system according to Embodiment 1.

[0022] Figure 8 It is a flowchart showing Working Example 5 of the shipping system according to Embodiment 1.

[0023] Figure 9A It is a diagram exemplifying the shipping system according to Modification 1 of Embodiment 1.

[0024] Figure 9B It is a block diagram exemplifying the shipping system according to Modification 1 of Embodiment 1.

[0025] Figure 10A It is a diagram exemplifying the shipping system according to Modification 2 of Embodiment 1.

[0026] Figure 10B It is a diagram exemplifying the shipping system according to Modification 3 of Embodiment 1.

[0027] Figure 11 It is a block diagram exemplifying the unmanned transporter according to Embodiment 2.

[0028] Figure 12A It is a diagram exemplifying the operation of the support structure and the wire of the unmanned transporter according to Embodiment 2.

[0029] Figure 12BIt is another diagram exemplifying the support structure of the unmanned transporter and the operation of the wire in Embodiment 2.

[0030] Figure 13A It is a diagram exemplifying the main body and the cargo basket of the unmanned transporter in Embodiment 2.

[0031] Figure 13B It is a diagram exemplifying the main body of the unmanned transporter and another cargo basket in Embodiment 2.

[0032] Figure 14 It is a diagram exemplifying the state in which the posture control device corrects the posture of the cargo basket of the unmanned transporter in Embodiment 2.

[0033] Figure 15 It is a diagram exemplifying the posture of the cargo basket of the unmanned transporter in Embodiment 2.

[0034] Figure 16 It is a flowchart exemplifying the operation when the cargo basket of the unmanned transporter in Embodiment 2 descends.

[0035] Figure 17 It is a flowchart exemplifying the operation from winding and recovering the wire storing the cargo basket with the cargo until the unmanned transporter starts running.

[0036] Figure 18 It is a diagram exemplifying the main body and the cargo basket of the unmanned transporter in the modification of Embodiment 2.

[0037] Figure 19A It is a perspective view exemplifying the express delivery box in Embodiment 3.

[0038] Figure 19B It is a block diagram exemplifying the express delivery box in Embodiment 3.

[0039] Figure 20 It is a diagram exemplifying the operation when observing the express delivery box in Embodiment 3 from the front.

[0040] Figure 21 It is a diagram exemplifying the operation when observing the operation of the cargo basket and the operation of the express delivery box from the front.

[0041] Figure 22 It is a diagram exemplifying the operation when observing the operation of the cargo basket and the operation of the express delivery box in the presence of wind from the front.

[0042] Figure 23 It is a block diagram exemplifying the express delivery box in Modification 1 of Embodiment 3.

[0043] Figure 24It is a plan view of an express delivery box related to Modification 2 of Embodiment 3, shown by way of example.

[0044] Figure 25 It is a side view of an express delivery box related to Modification 2 of Embodiment 3, shown by way of example.

[0045] Figure 26 It is a block diagram of an unmanned transportation system related to Embodiment 4, shown by way of example.

[0046] Figure 27A It is a diagram showing an unmanned transporter and a cargo basket in the unmanned transportation system related to Embodiment 4, shown by way of example.

[0047] Figure 27B It is another diagram showing an unmanned transporter and a cargo basket in the unmanned transportation system related to Embodiment 4, shown by way of example.

[0048] Figure 27C It is a schematic diagram showing the positional relationship between the first other end and the second other end in the support structure, shown by way of example.

[0049] Figure 28 It is a block diagram showing an unmanned aerial vehicle, a cargo basket, and an express delivery box of the unmanned transportation system.

[0050] Figure 29 It is a diagram showing the state of the unmanned aerial vehicle and the cargo basket of the unmanned transportation system descending, shown by way of example.

[0051] Figure 30 It is a diagram showing an example of an openable and closable lid having a slit, shown by way of example.

[0052] Figure 31A It is a diagram showing the state of the cargo basket of the unmanned transportation system rising after unloading the cargo, shown by way of example.

[0053] Figure 31B It is a diagram showing the state of the cargo basket and the unmanned aerial vehicle of the unmanned transportation system rising, shown by way of example.

[0054] Figure 31C It is a diagram showing an example of the state of closing the first lid and the second lid and the lid of the guiding structure of the frame, shown by way of example.

[0055] Figure 32A It is a diagram showing the state of an unmanned aerial vehicle with flight ability descending, shown by way of example.

[0056] Figure 32B It is a diagram showing the state of the cargo basket descending and unloading the cargo after the unmanned aerial vehicle with flight ability has descended, shown by way of example.

[0057] Figure 32C It is a diagram showing the state of the cargo basket and the unmanned aerial vehicle of the unmanned transportation system rising after the cargo has been unloaded, shown by way of example.

[0058] Figure 32D It is a diagram showing the state of moving the goods placed in the temporary storage location to the specified goods compartment.

[0059] Figure 33A It is a diagram showing the state of collecting the goods.

[0060] Figure 33B It is a diagram showing the state of lowering the unmanned aerial vehicle and the goods basket to collect the goods.

[0061] Figure 33C It is a diagram showing the state of the goods basket and the unmanned aerial vehicle of the unmanned transportation system rising after collecting the goods.

[0062] Figure 34A It is a diagram showing the state of the unmanned aerial vehicle of the unmanned transportation system descending while avoiding obstacles.

[0063] Figure 34B It is a diagram showing the state of the goods being unloaded and the goods basket and the unmanned aerial vehicle of the unmanned transportation system rising.

[0064] Figure 34C It is a diagram showing the state of the goods being unloaded and the unmanned aerial vehicle of the unmanned transportation system rising.

[0065] Figure 35 It is a schematic diagram showing the unmanned transporter, the goods basket, and the express delivery box.

[0066] Figure 36 It is a schematic diagram showing the internal structure of the express delivery box in the unmanned transportation system.

[0067] Figure 37 It is a block diagram showing the unmanned transportation system.

[0068] Figure 38 It is a side view showing the goods basket.

[0069] Figure 39 It is a schematic diagram showing the state of the goods basket entering the guiding structure.

[0070] Figure 40A It is a diagram showing the carrier inside the express delivery box moving on the lifting path and placing the goods basket on the carrier.

[0071] Figure 40B It is a diagram showing the state of the goods being placed on the carrier inside the express delivery box, the goods basket rising, and the carrier returning to the goods compartment.

[0072] Figure 40CIt is a diagram showing a carrier carrying goods for collection moving on a lifting path and a goods basket descending toward the carrier.

[0073] Figure 40D It is a diagram showing a goods basket collecting goods rising and the carrier returning to the goods room.

[0074] Figure 41A It is a schematic diagram showing the first body main body and the second body main body.

[0075] Figure 41B It is a diagram showing the first slider and the second slider sliding and the goods basket descending.

[0076] Figure 41C It is a diagram showing the first slider and the second slider after unloading the goods.

[0077] Figure 41D It is a diagram showing the rotational torque generated in the first slider and the second slider.

[0078] Figure 42 It is a block diagram showing an unmanned aerial vehicle and a delivery box of an unmanned delivery system.

[0079] Figure 43 It is a flowchart showing the operation of Embodiment 8.

[0080] Figure 44 It is a block diagram showing a management system, an information terminal, an unmanned transporter, and a delivery box.

[0081] Figure 45 It is a flowchart showing the operation of Embodiment 9.

[0082] Figure 46 It is a schematic diagram showing a food truck according to Embodiment 10.

[0083] Figure 47 It is a schematic diagram showing an unmanned transporter unloading goods onto the food truck according to Embodiment 10.

[0084] Figure 48 It is another schematic diagram showing an unmanned transporter unloading goods onto the food truck according to Embodiment 10.

[0085] Figure 49 It is a schematic diagram showing an unmanned transporter unloading goods onto the delivery box according to Embodiment 10.

[0086] Figure 50 It is a block diagram showing a conveyor according to Embodiment 11.

[0087] Figure 51It is a figure showing the conveyor simultaneously recovering and delivering goods on the balcony.

[0088] Figure 52 It is a figure showing the small conveyor delivering goods in the balcony where the express box is placed away from the security door.

[0089] Figure 53 It is a figure showing the small conveyor delivering goods in the balcony where the express box is placed in front of the security door.

[0090] Figure 54 It is a figure showing the conveyor of Embodiment 11 moving from the first guide rail to the second guide rail.

[0091] Figure 55 It is a figure showing the conveyor of Embodiment 11 moving from the first guide rail to the second guide rail until the movement ends.

[0092] Figure 56 It is a figure showing the first cargo basket of the conveyor of Embodiment 11 recovering goods and at the same time putting the goods in the second cargo basket into the express box.

[0093] Figure 57 It is a figure showing the conveyor of Embodiment 12 extending the first slider and the second slider.

[0094] Figure 58A It is a block diagram showing the conveyor of Embodiment 13.

[0095] Figure 58B It is a block diagram showing the elevator 3430 of Embodiment 13.

[0096] Figure 59 It is a schematic diagram showing the elevator of Embodiment 13.

[0097] Figure 60 It is a figure showing the wheels of the conveyor riding on the first component of the elevator of Embodiment 13 and moving.

[0098] Figure 61A It is a block diagram showing the conveyor of Embodiment 14.

[0099] Figure 61B It is an oblique view showing the cargo basket of Embodiment 14.

[0100] Figure 62 It is a figure showing the cargo basket containing the first cargo, the second cargo, and the third cargo delivering the first cargo to the first location.

[0101] Figure 63It is a diagram showing the state in which after delivering the first cargo to the first location, the cargo basket containing the second cargo and the third cargo delivers the second cargo to the second location.

[0102] Figure 64 It is a diagram showing the state in which after delivering the second cargo to the second location, the cargo basket containing the third cargo delivers the third cargo to the third location.

[0103] Figure 65 It is a diagram showing the state in which the cargo basket that has retrieved the third cargo retrieves the second cargo.

[0104] Figure 66 It is a diagram showing the state in which the cargo basket that has retrieved the first cargo and the second cargo starts to retrieve the third cargo.

[0105] Figure 67 It is a diagram showing the state in which the cargo basket that has started to retrieve the third cargo retrieves the third cargo. Detailed Embodiments

[0106] In addition, these general or specific forms can be implemented by a system, a method, an integrated circuit, a computer program, or a recording medium such as a computer-readable CD-ROM, or can also be implemented by any combination of a system, a method, an integrated circuit, a computer program, or a recording medium.

[0107] In addition, the embodiments to be described below are all general or specific examples. The numerical values, shapes, materials, constituent elements, arrangement positions and connection methods of the constituent elements, steps, order of steps, etc. shown in the following embodiments are all examples, and their main purpose is not to limit the present disclosure. Among the constituent elements of the following embodiments, the constituent elements not described in the independent technical solution are described as optional constituent elements.

[0108] And in the following embodiments, expressions such as sheet-like, horizontal direction, and substantially parallel are used. For example, sheet-like, horizontal direction, and substantially parallel do not only mean completely sheet-like, horizontal direction, and parallel, but also include substantially sheet-like, horizontal direction, and parallel, that is, cases including an error of about a few percent. And sheet-like, horizontal direction, and substantially parallel mean sheet-like, horizontal direction, and parallel within the range of the effects achievable by the present disclosure. The same applies to other cases where expressions using "like", "direction", and "substantially" are used.

[0109] The embodiments will be specifically described below with reference to the accompanying drawings.

[0110] (Embodiment 1)

[0111] The following will use Figures 1 to 3The shipping system 2600 in this embodiment will be described. Also, in this embodiment, the components of each embodiment can be applied to this embodiment.

[0112] Figure 1 It is a diagram exemplifying the shipping system 2600 according to Embodiment 1. Figure 2 It is a diagram exemplifying a state in which the first product received is placed on the display device 2610 and displayed on a multi-tier shelf in the shipping system 2600 according to Embodiment 1. And, Figure 2 The dashed line indicates the movable range of the robotic arm 2620. Figure 3 It is a block diagram exemplifying the shipping system 2600 according to Embodiment 1.

[0113] As Figures 1 to 3 shown, the shipping system 2600 is used, for example, in a situation where when a user orders a first product through a terminal device, order information indicating the ordered first product is acquired, and the first product indicated by the acquired order information is shipped (picked), or the first product received is displayed on a multi-tier shelf for shipping. Therefore, in the shipping system 2600, the first product ordered by the user is received in advance and displayed on a multi-tier shelf, and the first product ordered by the user is delivered by an unmanned aerial vehicle, a cargo handling device, etc. described in the above Embodiment 1 and the like.

[0114] Specifically, in a store where the first product is displayed and shipped, in this shipping system 2600, the robotic arm 2620 and the display device 2610 can be used, and the first product received, which is delivered to the store and taken out from the delivery cabinet, can be automatically displayed on a multi-tier shelf. By an operator placing the received first product on the display screen 2611 of the display device 2610, that is, within the placement area, in the shipping system 2600, the robotic arm 2620 can lift the first product and display it at a specified position in the multi-tier shelf. And, in the shipping system 2600, when shipping the ordered first product, the robotic arm 2620 takes out the ordered first product from the multi-tier shelf and moves it into a shipping cargo box. Accordingly, the operator can carry the first product moved into the cargo box and load the first product onto an unmanned transport device, whereby the unmanned transport device can deliver the first product to the user who placed the order.

[0115] Such a shipping system 2600 includes a barcode reader 2605, a data management unit 2606, a display device 2610, and a robotic arm 2620.

[0116] When the first item is received, the barcode reader 2605 can read the barcode labeled on the received first item. The barcode reader 2605 can be used by an operator to read the barcode labeled on the received first item, or can automatically read the barcode of the first item. The barcode reader 2605 outputs the read unique first item ID labeled on the first item to the data management unit 2606. The barcode reader 2605 is an example of a sensor.

[0117] The data management unit 2606 holds information related to all items that a user can order, that is, holds the first database and the second database, and manages the first database and the second database. The data management unit 2606 has a storage unit 2624 such as a memory, and the storage unit 2624 stores the first database and the second database.

[0118] The first database has a plurality of data associating item IDs with bottom images, and the plurality of data are listed to form the first database. The item ID is an ID for identifying an item, and the bottom image is an image showing the shape of the bottom of the item corresponding to the item ID. Also, the first database has a plurality of data associating item IDs with appearance images, and the first database can also be formed by listing these plurality of data. The appearance image is an image showing the appearance of the item corresponding to the item ID. That is, the first database is, for example, a data table that associates at least item IDs with bottom images among all items. In addition, the appearance image of the item can be an orthographic projection such as a plan view or a front view when looking down at the item from directly above, or can be an item image showing the appearance of the item.

[0119] The second database is formed by a list associating item IDs with three-dimensional data of the items corresponding to the item IDs. The item ID is an ID for identifying an item. That is, the second database is a data table that associates item IDs with three-dimensional data of items and establishes an association among all items. Here, the three-dimensional data is the three-dimensional shape of the item, including the size of the item, the height of the item, etc.

[0120] The data management unit 2606 can obtain the first product ID for identifying the first product based on the sensing data obtained from the barcode reader 2605. When the data management unit 2606 obtains the first product ID from the barcode reader 2605, it determines the first bottom image, the first appearance image, and the three-dimensional data corresponding to the obtained first product ID from the first database and the second database. Here, the first bottom image is an image showing the shape of the bottom surface of the first product, and is the bottom image corresponding to the first product ID among the multiple bottom images included in the first database. Also, the first appearance image is an image showing the appearance shape of the first product, and is the appearance image corresponding to the first product ID among the multiple appearance images included in the first database. The three-dimensional data is the three-dimensional data of the first product, and is the three-dimensional data corresponding to the first product ID among the multiple three-dimensional data included in the first database.

[0121] The data management unit 2606 can output the determined first product ID and three-dimensional data to the robotic arm 2620, or can output the first bottom image and the first appearance image to the display device 2610.

[0122] The display device 2610 is a display for displaying the first bottom image and the first appearance image of the first product on the display screen 2611. For example, in the case of a container such as a plastic bottle, if the first bottom image when the plastic bottle is placed upright is circular, the display device 2610 can display the first bottom image having the same shape and the same size as the bottom surface of the plastic bottle on the display screen 2611. After the first product ID of the first product is read by the barcode reader 2605, the display device 2610 displays the first bottom image and the first appearance image of the first product on the display screen 2611.

[0123] Specifically, the display device 2610 has a display control unit 2612. By being controlled by the display control unit 2612, the first bottom image and the first appearance image corresponding to the first product with the read first product ID are displayed on the display screen 2611. Additionally, the display control unit 2612 can also display only the first bottom image on the display screen 2611. Moreover, the display control unit 2612 may not be mounted on the display device 2610 and may be another device different from the display device 2610.

[0124] More specifically, the display device 2610 can obtain the first bottom image of the first product based on the first database and the obtained first product ID. Accordingly, the display control unit 2612 of the display device 2610 can display the first bottom image in the placement area for placing the first product, that is, the display screen 2611. The placement area corresponds to the area in the display for displaying the first bottom image, has the same size and shape as the display screen 2611, and is synonymous with the display screen 2611.

[0125] In addition, the display device 2610 may be provided with a touch screen, and the touch screen may be located in the placement area for displaying the image in the display screen 2611. In this case, it can be recognized that the first product is placed in the placement area. And the display device 2610 may also be a projector for projecting the first bottom image onto a screen. In this case, the placement area corresponds to the area in the screen for projecting the first bottom image, and the area for projecting the first bottom image becomes the display screen 2611.

[0126] In addition, the display device 2610 can obtain an image showing the appearance of the first product, that is, the first appearance image, based on the first database and the obtained first product ID. Accordingly, the display control unit 2612 of the display device 2610 can display the first appearance image while displaying the first bottom image in the placement area for placing the first product, that is, the display screen 2611.

[0127] In this way, since the first bottom image of the first product can be displayed on the display screen 2611 of the display device 2610, or the first appearance image can be displayed on the display screen 2611 of the display device 2610, the operator can place the first product with the first product ID read at a position that coincides with the first position, which is the position where the first bottom image or the first appearance image is displayed on the display screen 2611.

[0128] The display device 2610 also has a position determination processing unit 2614, which determines whether the first product is correctly placed in the first position within the placement area where the first bottom image is displayed in the display screen 2611 when the first product is placed in the placement area. In addition, the position determination processing unit 2614 may not have the display device 2610, may be included in the components of the shipping system 2600, or may be a different device from the display device 2610.

[0129] When the position determination processing unit 2614 determines that the first product is correctly placed at the first position on the placement area, the display control unit 2612 controls the display screen 2611 to display an image showing that the first product is correctly placed at the first position on the display screen 2611. In addition, when the position determination processing unit 2614 determines that the first product is not correctly placed at the first position, the display control unit 2612 controls the display screen 2611 to display an image showing that the first product is not correctly placed at the first position on the display screen 2611.

[0130] Moreover, the shipping system 2600 may also include a speaker 2633. In this case, when the position determination processing unit 2614 determines that the first product is correctly placed at the first position on the placement area, the speaker 2633 can be controlled to output a sound indicating that the first product is correctly placed at the first position. In addition, when the position determination processing unit 2614 determines that the first product is not correctly placed at the first position on the placement area, the speaker 2633 is controlled to output a sound indicating that the first product is not correctly placed at the first position.

[0131] Furthermore, it is also possible that while displaying an image showing that the first product is correctly placed on the display screen 2611, a sound indicating that the first product is correctly placed is output from the speaker 2633. And it is also possible that while displaying an image showing that the first product is not correctly placed on the display screen 2611, a sound indicating that the first product is not correctly placed is output from the speaker 2633.

[0132] Moreover, the shipping system 2600 may also include a drop sensor 2631 for detecting the drop of the first product. In this case, the shipping system 2600 may also include a drop determination processing unit 2632 that determines whether the first product lifted by the robotic arm 2620 has dropped based on the sensed data obtained from the drop sensor 2631. The drop sensor 2631 is an example of a sensor such as an infrared sensor or a camera sensor. And the drop sensor 2631 can be installed in the store or on the robotic arm 2620.

[0133] When the drop determination processing unit 2632 determines that the first product lifted by the robotic arm 2620 has dropped, the display control unit 2612 can control the display screen 2611 to display an image showing that the first product has dropped on the display screen 2611. And when the drop determination processing unit 2632 determines that the first product lifted by the robotic arm 2620 has dropped, the speaker 2633 can also be made to output a sound indicating that the first product has dropped.

[0134] In addition, when the first product lifted by the robotic arm 2620 drops, an image showing the dropped first product can be displayed on the display screen 2611, and at the same time, a sound indicating that the first product has dropped can be output from the speaker 2633.

[0135] Moreover, the shipping system 2600 can also have a camera capable of outputting image information showing an image of the placement area and the first product placed in the placement area. In this case, the position determination processing unit 2614 can determine whether the first product is correctly placed at the first position based on the image information obtained from the camera.

[0136] When the position determination processing unit 2614 determines based on the image information that the first product is correctly placed at the first position, the display control unit 2612 can control the display screen 2611 to display an image showing that the first product is correctly placed at the first position on the display screen 2611. Also, when the position determination processing unit 2614 determines based on the image information that the first product is correctly placed at the first position, the speaker 2633 can output a sound indicating that the first product is correctly placed. And when the position determination processing unit 2614 determines based on the image information that the first product is not correctly placed at the first position, the display control unit 2612 can control the display screen 2611 to display an image showing that the first product is not correctly placed at the first position on the display screen 2611. Also, when the position determination processing unit 2614 determines based on the image information that the first product is not correctly placed at the first position, the speaker 2633 can output a sound indicating that the first product is not correctly placed at the first position.

[0137] Moreover, when the first product is placed at the first position where the first bottom image is displayed on the display screen 2611, the display control unit 2612 outputs the first position information to the robotic arm 2620. The first position information is information showing the first position where the first bottom image in the display screen 2611, that is, in the placement area, is displayed. The first position information is represented, for example, by the position coordinates of the first bottom image displayed on the placement area. The position coordinates are the same as or substantially the same as the position coordinates of the product placed on the placement area. Also, the first position information can further include information showing the position where the first appearance image is displayed, that is, the position information.

[0138] The display device 2610 may also include a placement sensor 2613 that detects the placement of a first product at a first position on the display screen 2611 where a first bottom image of the first product and a first appearance image of the first product are displayed. The placement sensor 2613 is, for example, a camera, a pressure sensor, or an infrared sensor, and is an example of a sensor. When the placement sensor 2613 detects that the first product is placed at the first position on the display screen 2611 where the first bottom image of the first product and the first appearance image of the first product are displayed, the display control unit 2612 stops the display of the first bottom image of the first product and the first appearance image of the first product that are being displayed on the display screen 2611. The placement sensor 2613 is an example of a camera.

[0139] The robotic arm 2620 is composed of multiple wrists and multiple joint parts (axes), etc., can move freely, and can lift the first product and move it. That is, the robotic arm 2620 can move the first product placed in the placement area of the display device 2610 and display it on the multi-layer cabinet, and can move the first product displayed on the multi-layer cabinet to the cargo box.

[0140] Specifically, the robotic arm 2620 includes a displacement part 2622, a first actuator 2621, an arm control unit 2623, and a storage unit 2624.

[0141] The displacement part 2622 is driven by the first actuator 2621 to lift the first product that is the object, and change the position of the first product, which is one or more first products placed in the placement area. The displacement part 2622 includes a gripping part, a suction part, or a magnetic force part. The gripping part can grip the first product to hold it, the suction part can adsorb the first product by pumping out air to hold the first product, and the magnetic force part attracts the first product by magnetic force to hold the first product. In Figure 2 etc., an example of the displacement part 2622 is shown, that is, the case of using the gripping part is shown. Here, the object refers to the product that is the object for the displacement part 2622 to lift the product.

[0142] The displacement part 2622 can move the first product to the inside of the multi-layer cabinet and display it on the multi-layer cabinet in a state of lifting the first product placed in the placement area of the display device 2610. And the displacement part 2622 can move the first product to the cargo box in a state of lifting the first product displayed on the multi-layer cabinet.

[0143] The first actuator 2621 can drive the displacement part 2622 by being controlled by the arm control unit 2623. For example, the first actuator 2621 is controlled by the arm control unit 2623 to lift the first product placed in the placement area of the display device 2610 by the displacement part 2622 to move the first product.

[0144] The arm control unit 2623 can control the drive of the first actuator 2621. By controlling the first actuator 2621, the arm control unit 2623 causes the displacement unit 2622 to lift the first commodity. Specifically, the arm control unit 2623 controls the first actuator 2621 by using the second database, the first commodity ID, and the information indicating the first position (i.e., the first position information) of the first bottom surface image displayed within the placement area, to determine the method for the displacement unit 2622 to lift the first commodity.

[0145] Here, the method determined by the arm control unit 2623 for lifting the first commodity includes the determination by the arm control unit 2623 of the first part, which is the part for the displacement unit 2622 to lift the first commodity. Specifically, after the first commodity is placed at the first position within the placement area, the arm control unit 2623 controls the first actuator 2621 to connect the first part of the first commodity on the placement area to the displacement unit 2622. That is to say, the arm control unit 2623 determines at which part of the first commodity to make the connection in order to move the first commodity by connecting it to the displacement unit 2622. Accordingly, after the displacement unit 2622 lifts the first commodity, even if the first commodity is moved, the first commodity is not likely to fall from the displacement unit 2622.

[0146] After the first commodity is placed at the first position within the placement area, the arm control unit 2623 controls the first actuator 2621 to cause the displacement unit 2622 to lift the first commodity on the placement area in the determined method, and move the first commodity into the multi - layer cabinet for display.

[0147] Moreover, the arm control unit 2623 can, based on the information related to the multi - layer cabinet stored in the storage unit 2624 of the robotic arm 2620, the control instructions of the first actuator 2621, etc., when the robotic arm 2620 stores the first commodity in a specified configuration position in the multi - layer cabinet, associate the first commodity ID with the configuration positions of each first commodity stored in the multi - layer cabinet and store them in the storage unit 2624. The information related to the multi - layer cabinet is information showing the number of shelves in the multi - layer cabinet, the height of each shelf, the position of each shelf, the accommodation space of each shelf, the distance from the robotic arm 2620 to each shelf, etc. Accordingly, since the positions of each first commodity displayed in the multi - layer cabinet are stored in the storage unit 2624, the robotic arm 2620 can grasp the first commodity with the first commodity ID shown in the order information from the multi - layer cabinet and move it to the cargo box without having to be equipped with a camera sensor, etc. Accordingly, it is possible to ship the first commodity shown in the order information.

[0148] In this way, the shipping system 2600 can also be included in the operation management system in Embodiment 11, etc.

[0149] [Working Example 1]

[0150] In this working example, Figure 4 an explanation is given of the work of reading the first product ID of the first product received in stock and displaying it on the multi-layer shelf.

[0151] Figure 4 It is a flowchart showing Working Example 1 of the shipping system 2600 according to Embodiment 1.

[0152] First, as Figure 4 shown, when the first product is received in stock, the barcode reader 2605 reads the barcode attached to the nth first product received in stock (S2601). The barcode reader 2605 outputs the first product ID attached to the read nth first product to the data management unit 2606.

[0153] Next, when the data management unit 2606 obtains the first product ID from the barcode reader 2605, it determines the first bottom surface image corresponding to the obtained first product ID from the first database, and determines the three-dimensional data corresponding to the obtained first product ID from the second database. The data management unit 2606 outputs the first product ID and the three-dimensional data of the first product ID determined from the second database to the robotic arm 2620, and outputs the first bottom surface image determined from the first database to the display device 2610 (S2602). And when the data management unit 2606 obtains the first product ID from the barcode reader 2605, it can further determine the first appearance image corresponding to the obtained first product ID from the first database. In this case, the data management unit 2606 can output the first appearance image to the display device 2610.

[0154] Next, when the display device 2610 obtains the first bottom surface image from the data management unit 2606, it displays the obtained first bottom surface image on the display screen 2611 (S2603). That is, the display control unit 2612 of the display device 2610 causes the first bottom surface image to be displayed at the first position in the placement area for placing the first product, that is, on the display screen 2611. And when the display device 2610 has obtained the first appearance image from the data management unit 2606, it can also display the obtained first appearance image on the display screen 2611. In this case, the display control unit 2612 can also cause the first appearance image to be displayed at a specified position in the placement area for placing the first product, that is, on the display screen 2611. The display device 2610 outputs the first position information to the robotic arm 2620, and the first position information is information for causing the first bottom surface image to be displayed in the placement area.

[0155] Next, the first product with the first product ID read by the barcode reader 2605 is placed at the first position within the placement area (S2604). In the present embodiment, although the operator places the first product with the read first product ID at the first position within the placement area, the first product may also be placed at the first position within the placement area by a robot.

[0156] Next, the robotic arm 2620 moves the first product placed at the first position (S2605). Specifically, the robotic arm 2620 obtains three-dimensional data corresponding to the first product ID determined in the second database and the first product ID from the data management unit 2606, and when the first position information is obtained from the display device 2610, the robotic arm 2620 raises and moves the first product placed at the first position indicated by the first position information.

[0157] Next, the robotic arm 2620 determines whether the movement of the first product is completed (S2606). That is, the arm control unit 2623 controls the first actuator 2621, so that the robotic arm 2620 raises the first product placed at the first position and moves the first product into the multi-layer cabinet. At this time, the robotic arm 2620 determines whether the display of the first product in the multi-layer cabinet is completed.

[0158] When the robotic arm 2620 determines that the movement of the first product is not completed (No in S2606), it returns to step S2605 and executes step S2605.

[0159] In addition, when the robotic arm 2620 determines that the movement of the first product is completed (Yes in S2606), the next first product is regarded as n=n + 1 (S2607). Then, in the shipping system 2600, for the (n + 1)-th first product as the next product, it returns to step S2601 and repeats the operation. In this way, in the shipping system 2600, after the first product is delivered, the first product ID of each first product can be read, the first product placed in the placement area can be lifted and displayed in the multi-layer cabinet.

[0160] [Working Example 2]

[0161] In this working example, the Figure 5 for the result of determining whether the first product is correctly placed at the first position in Figure 4 step S2604 is described for the case where the result is displayed as an image.

[0162] Figure 5 It is a flowchart showing Working Example 2 of the shipping system 2600 according to Embodiment 1.

[0163] First, as Figure 5As shown, when the first product is placed on the placement area, the position determination processing unit 2614 of the display device 2610 determines whether the first product is correctly placed at the first position within the placement area where the first bottom image is displayed on the display screen 2611 (S2611).

[0164] When the position determination processing unit 2614 determines that the first product is correctly placed at the first position on the placement area (Yes in S2611), the display control unit 2612 of the display device 2610 controls the display screen 2611 to display an image showing that the first product is correctly placed at the first position on the display screen 2611 (S2612). Then, the Figure 5 flowchart ends. Accordingly, the display device 2610 outputs the first position information, which is the information indicating the first position where the first product is placed, to the robotic arm 2620. In this way, the robotic arm 2620 can lift the first product placed at the first position.

[0165] On the other hand, when the position determination processing unit 2614 determines that the first product is not correctly placed at the first position (No in S2611), the display control unit 2612 controls the display screen 2611 to display an image showing that the first product is not correctly placed at the first position on the display screen 2611 (S2613), and returns to step S2611 and executes step S2611. In this case, since the operator can recognize that the first product received is not placed at the correct position, the first product received can be re-placed at the correct position, that is, the first position. Accordingly, the display device 2610 outputs the first position information, which is the information indicating the first position where the re-placed first product is located, to the robotic arm 2620. Therefore, the robotic arm 2620 can lift the first product placed at the first position.

[0166] [Working Example 3]

[0167] In this working example, Figure 6 is used to Figure 4 describe the work of outputting the result of determining whether the first product is correctly placed at the first position in step S2604 by voice. The same work as Figure 5 is given the same reference numeral and the description is appropriately omitted.

[0168] Figure 6 is a flowchart showing Working Example 3 of the shipping system 2600 according to Embodiment 1.

[0169] As Figure 6As shown, in the case of "Yes" in step S2611, the shipping system 2600 causes the speaker 2633 to output a sound indicating that the first product is correctly placed in the first position (S2614). Then, the Figure 6 flowchart ends. Accordingly, since the display device 2610 outputs the information of the first position showing the first position where the first product is placed, that is, the first position information, to the robotic arm 2620, the robotic arm 2620 can lift the first product placed in the first position.

[0170] In the case of "No" in step S2611, the shipping system 2600 causes the speaker 2633 to output a sound indicating that the first product is not correctly placed in the first position (S2615), returns to step S2611, and executes step S2611. In this case, since the operator can recognize that the incoming first product is not placed in the correct position, the operator can re-place the incoming first product in the correct position, that is, the first position. Accordingly, since the display device 2610 outputs the information of the first position showing the first position where the first product is re-placed, that is, the first position information, to the robotic arm 2620, the robotic arm 2620 can lift the first product placed in the first position.

[0171] [Working Example 4]

[0172] In this working example, the work in the case of Figure 7 using an image to represent the result of judging whether the first product has fallen when the first product is lifted and moved in Figure 4 step S2606 will be described.

[0173] Figure 7 is a flowchart showing Working Example 4 of the operation of the shipping system 2600 according to Embodiment 1.

[0174] First, as Figure 7 shown, the drop determination processing unit 2632 of the shipping system 2600 determines whether the first product lifted by the robotic arm 2620 has fallen (S2621).

[0175] In the case where the drop determination processing unit 2632 determines that the first product lifted by the robotic arm 2620 has fallen (Yes in S2621), the display control unit 2612 controls the display screen 2611 to display an image showing that the first product has fallen on the display screen 2611 (S2622). Then, the Figure 7 flowchart ends. Accordingly, since the operator can recognize that the incoming first product has fallen, the operator can cause the robotic arm 2620 to grasp the incoming first product again. And, in the case where the drop determination processing unit 2632 determines that the first product lifted by the robotic arm 2620 has fallen, the driving of the robotic arm 2620 can be stopped.

[0176] In addition, when the dropping determination processing unit 2632 determines that the first commodity lifted by the robotic arm 2620 has not dropped (No in S2621), the Figure 7 flowchart ends.

[0177] [Working Example 5]

[0178] In this working example, the work in the case of outputting by sound the result of determining whether the first commodity drops when lifting and moving the first commodity in Figure 8 step S2606 will be described. Figure 4

[0179] Figure 8 FIG. is a flowchart showing Working Example 5 of the shipping system 2600 according to Embodiment 1.

[0180] Figure 8 As Figure 8 shown, in the case of "Yes" in step S2621, the shipping system 2600 controls the display screen 2611 to cause the speaker 2633 to output a sound indicating that the first commodity has dropped (S2623). Then, the flowchart ends. Accordingly, since the operator can recognize that the first commodity received has dropped, the operator can cause the robotic arm 2620 to grasp the first commodity received again.

[0181] Figure 8 In addition, when the dropping determination processing unit 2632 determines that the first commodity lifted by the robotic arm 2620 has not dropped (No in S2621), the flowchart ends.

[0182] [Function and Effect]

[0183] Next, the function and effect of the shipping system 2600 according to the present embodiment will be described.

[0184] The control method of the present embodiment is a control method in a system including the display device 2610. According to the sensing data obtained from the sensor, the first commodity ID for identifying the first commodity is acquired, and based on the first database that associates and manages the commodity ID with the image showing the shape of the bottom surface of the commodity corresponding to the commodity ID, and the acquired first commodity ID, the first bottom surface image showing the shape of the bottom surface of the first commodity is acquired, and the display device 2610 is controlled to display the first bottom surface image in the placement area for placing the first commodity.

[0185] ​Accordingly, since the display device 2610 can display the first bottom surface image of the first product, the first product can be placed at the position where the first bottom surface image is displayed. Therefore, even without using a sensor or the like to determine the position where the first product is placed, it is possible to infer that the position where the first product is placed is the position where the first bottom surface image is displayed.

[0186] Therefore, in this control method, not only can the position where the first product is placed be easily inferred, but also an increase in the cost of the system can be suppressed.

[0187] The system of this embodiment executes the above control method.

[0188] Even in this case, the same effects as the above control method can be achieved.

[0189] The program of this embodiment is a program for causing the system to execute the control method.

[0190] Even in this case, the same effects as the above control method can be achieved.

[0191] In the control method of this embodiment, the first database further associates and manages the product ID with an image showing the appearance of the product corresponding to the product ID. And in the control method, based on the first database and the acquired first product ID, the first bottom surface image and the first appearance image showing the appearance of the first product are acquired, and the display device 2610 is controlled to display the first bottom surface image and the first appearance image in the placement area.

[0192] Accordingly, since the display device 2610 can display the first bottom surface image and the first appearance image, the correct first product can be placed at the position where the first bottom surface image and the first appearance image are displayed. Thus, the picking operation of the incoming products can be smoothly performed, and in this way, an increase in energy costs and human resource costs including the system can be suppressed.

[0193] In the control method of the present embodiment, the system further includes a robotic arm 2620. And the robotic arm 2620 includes a positioning unit 2622 that lifts one or more first commodities, which are the target objects, placed in the placement area, and changes the position of the first commodities. In addition, the positioning unit 2622 is driven by a first actuator 2621. And in the control method, a second database, a first commodity ID, and first position information are further used to determine the method for the positioning unit 2622 to lift the first commodity. The above-mentioned second database is a database that manages by associating a commodity ID with three-dimensional data of the commodity corresponding to the commodity ID. The above-mentioned first position information is information indicating the first position within the placement area where the first bottom image is displayed. After the first commodity is placed at the first position within the placement area, the first actuator 2621 is controlled to make the positioning unit 2622 lift the first commodity on the placement area in the determined method.

[0194] Accordingly, the robotic arm 2620 can lift the first commodity placed in the placement area of the display device 2610 and move the first commodity to another position. Thus, the stocked first commodity is displayed at a specified position, so that the displayed first commodity can be taken out and shipped.

[0195] Further in the control method of the present embodiment, when the first commodity is placed in the placement area, it is determined whether the first commodity is correctly placed at the first position. When it is determined that the first commodity is correctly placed at the first position, the display device 2610 is controlled to display an image showing that the first commodity is correctly placed at the first position. When it is determined that the first commodity is not correctly placed at the first position, the display device 2610 is controlled to display an image showing that the first commodity is not correctly placed at the first position.

[0196] Accordingly, when the first commodity is correctly placed at the first position, an image showing that the first commodity is correctly placed can be displayed. And when the first commodity is not correctly placed at the first position, an image showing that the first commodity is not correctly placed can be displayed. Thus, the operator can easily identify whether the first commodity is correctly placed.

[0197] In the control method of the present embodiment, the system further includes a speaker 2633. Further, in the control method, when the first commodity is placed on the placement area, it is determined whether the first commodity is correctly placed at the first position. When it is determined that the first commodity is correctly placed at the first position, the speaker 2633 is controlled to output a sound indicating that the first commodity is correctly placed at the first position. When it is determined that the first commodity is not correctly placed, the speaker 2633 is controlled to output a sound indicating that the first commodity is not correctly placed at the first position.

[0198] Accordingly, when the first commodity is correctly placed at the first position, a sound indicating that the first commodity is correctly placed can be output. Also, when the first commodity is not correctly placed at the first position, a sound indicating that the first commodity is not correctly placed can be output. Thus, the operator can easily identify whether the first commodity is correctly placed.

[0199] The control method of the present embodiment determines whether the first commodity is correctly placed based on the image information obtained from the camera.

[0200] Accordingly, it is possible to use the camera to determine whether the first commodity is correctly placed. Also, it is possible to accurately determine whether the first commodity is correctly placed based on the image information.

[0201] In the control method of the present embodiment, the displacement unit 2622 includes a gripping portion, or a suction portion, or a magnetic force portion. The gripping portion can grip and hold the first commodity, the suction portion can suck air to suck and hold the first commodity, and the magnetic force portion can attract the first commodity by magnetic force to hold the first commodity.

[0202] Accordingly, the first commodity of any type can be lifted.

[0203] In the control method of the present embodiment, the displacement unit 2622 is a device for gripping. In the control method, the method of determining to lift the first commodity by the displacement unit 2622 includes determining the first portion, which is the portion for lifting the first commodity. After the first commodity is placed at the first position within the placement area, the actuator is controlled to make the displacement unit 2622 lift the first commodity on the placement area with the first portion.

[0204] Accordingly, it is possible to determine the portion for lifting the first commodity to lift the first commodity, thereby suppressing the dropping of the lifted first commodity.

[0205] In the control method of the present embodiment, the system further includes a speaker 2633. Further, in the control method, based on the sensing result obtained from a sensor (a drop sensor 2631), it is determined whether the first commodity lifted by the displacement unit 2622 has dropped. After it is determined that the first commodity has dropped, the speaker 2633 is controlled to output a sound indicating that the first commodity has dropped.

[0206] Accordingly, when the first commodity lifted by the robotic arm 2620 has dropped, a sound indicating that the first commodity has dropped can be output. Since the operator can easily identify whether the first commodity is correctly placed, measures such as recovering the dropped first commodity can be taken.

[0207] Further, in the control method of the present embodiment, based on the sensing result obtained from a sensor, it is determined whether the first commodity lifted by the displacement unit 2622 has dropped. After it is determined that the first commodity has dropped, the display device 2610 is controlled to output an image indicating that the first commodity has dropped.

[0208] Accordingly, when the first commodity lifted by the robotic arm 2620 has dropped, an image indicating that the first commodity has dropped can be displayed. Since the operator can easily identify whether the first commodity is correctly placed, measures such as recovering the dropped first commodity can be taken.

[0209] In the control method of the present embodiment, the display device 2610 is a display for displaying the first bottom image of the first commodity on the placement area. And the placement area corresponds to the area on the display for displaying the first bottom image.

[0210] Accordingly, a general display can be used to display the first bottom image.

[0211] In the control method of the present embodiment, the area on the display for displaying the first bottom image has a touch screen.

[0212] Accordingly, just by placing the incoming first commodity in the area on the display for displaying the first bottom image, it can be applied to the judgment of whether the first commodity is correctly placed.

[0213] In the control method of the present embodiment, the display device 2610 is a projector for projecting the first bottom image onto a screen. And the placement area corresponds to the area on the screen for projecting the first bottom image.

[0214] Accordingly, it can be applied to the judgment of whether the first commodity is correctly placed using a projector.

[0215] (Modification Example 1 of Embodiment 1)

[0216] Hereinafter, since the basic configuration of the shipping system 2600a in this modification example is the same as that of the shipping system in the first embodiment, the same reference numerals as those above are given to the basic configuration of the shipping system 2600a in this modification example, and the description thereof is appropriately omitted. Also, in this modification example, the configurations of the respective embodiments can be applied to this modification example.

[0217] Use Figures 9A to 9B to describe the configuration of this modification example.

[0218] Figure 9A FIG. is an example showing the shipping system 2600a according to the first modification example of the first embodiment. And Figure 9A The dashed line indicates the movable range of the robotic arm 2620 when the table 2641 moves to a specified position on the belt conveyor 2650. Figure 9B FIG. is a block diagram showing the shipping system 2600a according to the first modification example of the first embodiment.

[0219] As Figure 9A and Figure 9B shown, the shipping system 2600a further includes a belt conveyor 2650 for moving the robotic arm 2620.

[0220] The belt conveyor 2650 includes a second actuator 2652, a conveyor control unit 2651, and a conveyor slider 2640.

[0221] The belt conveyor 2650 is Figure 9A indicated by diagonal hatching in, and is arranged along the direction in which a plurality of multi-tier cabinets are arranged. In other words, the plurality of multi-tier cabinets are arranged along the length direction of the belt conveyor 2650. The belt conveyor 2650 can be driven by the second actuator 2652 to convey the conveyor slider 2640 disposed on the belt conveyor 2650 in the length direction of the belt conveyor 2650 as indicated by the arrow.

[0222] The second actuator 2652 can drive the belt conveyor 2650 by being controlled by the conveyor control unit 2651. For example, the second actuator 2652 can move the conveyor slider 2640 in front of a specified multi-tier cabinet by being controlled by the conveyor control unit 2651.

[0223] The conveyor control unit 2651 can control the driving of the second actuator 2652. By controlling the second actuator 2652, the conveyor control unit 2651 can drive or stop the belt conveyor 2650. Accordingly, since the movement of the conveyor slider 2640 placed on the belt conveyor 2650 can be controlled, the conveyor control unit 2651 can move the conveyor slider 2640 in front of a specified multi-tier cabinet.

[0224] The transfer slider 2640 has a stage 2641 that moves together with the robotic arm 2620 by the drive of the belt conveyor 2650. That is, the stage 2641 is arranged on the belt conveyor 2650 and can be moved by the drive of the belt conveyor 2650. And, the robotic arm 2620 is arranged on the stage 2641, and by the drive of the belt conveyor 2650, the stage 2641 and the robotic arm 2620 move in front of a specified multi-tier cabinet.

[0225] And, a temporary storage area capable of arranging a plurality of commodities is formed on the stage 2641. The temporary storage area corresponds to the area of the top surface of the stage 2641. And it can also be said that the temporary storage area corresponds to the area of the top surface of the stage 2641 connected to the robotic arm 2620.

[0226] And, when a commodity is placed on the stage 2641, the displacement part 2622 of the robotic arm 2620 moves the first commodity from the placement area to the temporary storage area for temporarily placing the first commodity. When at least the first commodity is placed in the temporary storage area, the temporary storage area of the stage 2641 moves together with the robotic arm 2620 with the drive of the second actuator 2652.

[0227] And, when a plurality of commodities are placed on the stage 2641 of the transfer slider 2640, the robotic arm 2620 moves the first commodity, which is the first commodity, from the placement area and arranges it on the temporary storage area for temporarily placing the first commodity. And, after the second commodity is placed at the second position in the placement area, the robotic arm 2620 moves the second commodity on the placement area to the temporary storage area by a determined method. That is, the robotic arm 2620 moves the second commodity, which is the second commodity, from the placement area and arranges it on the temporary storage area for temporarily placing the second commodity.

[0228] And, after the first commodity is lifted by the displacement part 2622, the shipping system 2600a can drive the second actuator 2652 to move the robotic arm 2620 on the belt conveyor 2650 to the first specified position to be displayed. That is, the conveyor control unit 2651 can control the second actuator 2652 so that the transfer slider 2640 moves to the first specified position to be displayed.

[0229] After the robotic arm 2620 arranged on the belt conveyor 2650 moves to the first specified position, the robotic arm 2620 can drive the first actuator 2621 to move the first commodity lifted by the displacement part 2622 to the second specified position, which is the specified placement position.

[0230] In such a shipping system 2600a, after an operator places the first incoming product on the placement area of the display device 2610, the robotic arm 2620 can move the first product placed on the placement area to the top surface of the platform 2641. Specifically, when the operator places the first product, which is the first item, on the placement area of the display device 2610, after the first product is lifted by the displacement unit 2622, the robotic arm 2620 places the first product in the temporary storage area on the top surface of the platform 2641. At this time, based on the information related to the platform 2641 stored in the storage unit 2624, the control instruction of the first actuator 2621, etc., when placing the first product in the temporary storage area, the robotic arm 2620 can associate the first product ID with the placement position of the first product placed in the temporary storage area and store it in the storage unit 2624. The information related to the platform 2641 is information indicating the height of the platform 2641, the position of the temporary storage area, the space of the temporary storage area, the distance from the robotic arm 2620 to the temporary storage area, etc. Thus, since the position of the first product placed in the temporary storage area is stored in the storage unit 2624, the robotic arm 2620 can, without having to carry a camera sensor or the like, after moving to the first specified position, grasp the first product with the first product ID placed in the temporary storage area and move it to the second specified position in the multi-tier cabinet. Accordingly, the first product to be delivered can be displayed in the multi-tier cabinet.

[0231] Moreover, in the case where multiple products such as the first product and the second product are placed in the temporary storage area, when the operator places the first product, which is the first item, on the placement area of the display device 2610, the robotic arm 2620 places the first product in the temporary storage area on the top surface of the platform 2641. Then, when the operator places the second product, which is the second item, on the placement area of the display device 2610, after the second product is lifted by the displacement unit 2622, the robotic arm 2620 places the second product in the temporary storage area on the top surface of the platform 2641. At this time, based on the information related to the platform 2641 stored in the storage unit 2624, the control instruction of the first actuator 2621, etc., when placing the second product in the temporary storage area, the robotic arm 2620 can associate the second product ID with the placement position of the second product placed in the temporary storage area and store it in the storage unit 2624. Accordingly, since the position of the second product placed in the temporary storage area is stored in the storage unit 2624, the robotic arm 2620 can, even without carrying a camera sensor or the like, after moving to the first specified position, grasp the second product with the second product ID placed in the temporary storage area and move it to the second specified position in the multi-tier cabinet. Accordingly, the second product to be delivered can be displayed in the multi-tier cabinet.

[0232] In addition, in this modification, when the first commodity lifted by the robot arm 2620 falls onto the belt conveyor 2650, the first commodity can be moved to a position where it does not get in the way by driving the belt conveyor 2650. In this case, a weight sensor for detecting the first commodity falling onto the belt conveyor 2650 may also be provided.

[0233] Next, the effects of the delivery system 2600a according to this modification will be described.

[0234] In the control method of this variation, the system (shipping system 2600a) further includes a belt conveyor 2650 for moving the robot arm 2620. The belt conveyor 2650 is driven by a second actuator 2652. Furthermore, in the control method, after the first commodity is lifted by the displacement unit 2622, the second actuator 2652 is driven to move the robot arm 2620 on the belt conveyor 2650 to the first prescribed position, and after the robot arm 2620 on the belt conveyor 2650 is moved to the first prescribed position, the first actuator 2621 is driven to move the first commodity lifted by the displacement unit 2622 to the second prescribed position.

[0235] Thus, the robot arm 2620 that lifts the first product can be moved together with the first product by the belt conveyor 2650. Thus, even if the placement area is far from the second predetermined position, the robot arm 2620 can move the first product to the second predetermined position.

[0236] The control method of this modification example is a control method in a system including a robotic arm 2620 and a display device 2610. Moreover, the robotic arm 2620 includes a displacement unit 2622 that lifts an object and changes the position of the object. The displacement unit 2622 is driven by a first actuator 2621, and the system further includes a belt conveyor 2650 for moving the robotic arm 2620. Moreover, the belt conveyor 2650 is driven by a second actuator 2652. In the control method, according to the sensing data obtained from the sensor, a first product ID for identifying a first product is acquired, and based on a first database that manages by associating the product ID with an image showing the shape of the bottom surface of the product corresponding to the product ID, and the acquired first product ID, a first bottom surface image showing the shape of the bottom surface of the first product is acquired, and the display device 2610 is controlled to display the first bottom surface image in a placement area for placing the product. According to the sensing data obtained from the sensor, a second product ID for identifying a second product is acquired, and based on the first database and the acquired second product ID, a second bottom surface image showing the shape of the bottom surface of the second product is acquired, and the display device 2610 is controlled to display the second bottom surface image in the placement area. Using a second database that manages by associating the product ID with the three-dimensional data of the product corresponding to the product ID, the first product ID, and first position information showing a first position in the placement area where the first bottom surface image is displayed, a method for the displacement unit 2622 to lift the first product is determined. After the first product is placed at the first position in the placement area, the first actuator 2621 is controlled, and the displacement unit 2622 lifts the first product on the placement area in the determined method. After lifting the first product, the first actuator 2621 is controlled to move the first product lifted by the displacement unit 2622 to a temporary storage area for temporarily placing the first product. The temporary storage area moves together with the robotic arm 2620 as the second actuator 2652 is driven. In the control method, using the second database, the second product ID, and second position information showing a second position in the placement area where the second bottom surface image is displayed, a method for the displacement unit 2622 to lift the second product is determined. After the second product is placed at the second position in the placement area, the first actuator 2621 is controlled to make the displacement unit 2622 lift the second product on the placement area in the determined method. After the second product is lifted, the first actuator 2621 is controlled to move the second product lifted by the displacement unit 2622 to a temporary storage area for temporarily placing the second product.

[0237] For example, in the case where there is no temporary storage area, the robotic arm needs to lift the first product one by one and move it to a specified position for placing the first product, move and then return.

[0238] In this regard, through this embodiment, a plurality of products can be placed on the temporary storage area. Accordingly, the robotic arm 2620 can retrieve a plurality of products in a short time and efficiently move to a specified position, and after the movement, place the products.

[0239] Moreover, since the display device 2610 can display the first bottom surface image of the first product, the first product can be placed at the position where the first bottom surface image is displayed. Accordingly, even without using a sensor or the like to determine the position where the first product is placed, it is possible to infer that the position where the first product is placed is the position where the first bottom surface image is displayed. The same applies to the second product. Accordingly, in this control method, not only can the positions where the first product and the second product are placed be easily determined, but also an increase in the cost of the system can be suppressed.

[0240] Moreover, the robotic arm 2620 can lift the first product according to the three-dimensional data of the first product placed in the placement area of the display device 2610, and can move the first product to the temporary storage area. And after lifting the first product, it is possible to then lift the second product according to the three-dimensional data of another second product, and can move the second product to the temporary storage area. In this way, a plurality of products can be continuously arranged in the temporary storage area. Thus, a plurality of products (the first product and the second product) received can be arranged in the temporary storage area, so that a plurality of products can be moved at one time. Accordingly, a plurality of products can be displayed at a specified position, and the plurality of products displayed can be retrieved and shipped.

[0241] In this way, the picking operation of the received products can be smoothly performed, etc., thereby suppressing an increase in energy costs and human resource costs including the system.

[0242] In the control method of this modification, the temporary storage area corresponds to the area of the part connected to the robotic arm 2620.

[0243] Accordingly, since the robotic arm 2620 can be arranged in the temporary storage area, the first product and the second product can be moved to the second specified position together with the robotic arm 2620. Thus, a plurality of products can be displayed at a specified position, and the plurality of products displayed can be retrieved and shipped. Accordingly, an increase in the time required for displaying and shipping a plurality of products can be suppressed.

[0244] In the control method of this modification, the temporary storage area corresponds to the area of the top surface of the table 2641 that moves together with the robotic arm 2620 through the belt conveyor 2650.

[0245] Accordingly, the first product and the second product lifted by the robotic arm 2620 can be easily placed on the top surface of the table.

[0246] (Variation 2 of Implementation Example 1)

[0247] Since the basic structure of the delivery system 2600b in this modification is the same as that of the above-mentioned embodiment, the basic structure of the delivery system 2600b in this modification is given the same reference numerals as those in the above-mentioned embodiment and the description thereof is omitted as appropriate. In addition, in this modification, the structures of each embodiment can also be applied to this modification.

[0248] use Figure 10A The configuration of this modification example will be described.

[0249] Figure 10A FIG. 2 is a diagram showing an example of a delivery system according to a second variation of the first embodiment. Figure 10A (a) shows an example of the first shelf 2656a displaying the first product moving upward. The double-dashed line shows the first shelf 2656a after it is raised. Figure 10A (b) shows an example of the robot arm 2620 extending the second wrist 2620b to the first commodity arranged on the inner side of the second shelf 2656b. Figure 10A (c) shows the displacement unit 2622 of the robot arm 2620 grabbing the first product. Figure 10A (d) shows the displacement unit 2622 of the robot arm 2620 lifting the first product. Figure 10A (e) shows the robot arm 2620 that has lifted the first product and retracted the extended second wrist 2620b. Figure 10A (f) shows the robot arm 2620 moving the lifted first product.

[0250] like Figure 10A As shown, the delivery system 2600b further has a multi-layer cabinet 2655. In addition, the delivery system 2600b may also have a belt conveyor 2650 for moving the robot arm 2620.

[0251] In the multi-layer cabinet 2655, a plurality of shelves 2656 are arranged in multiple layers in the vertical direction. Specifically, the multi-layer cabinet 2655 includes a plurality of shelves 2656, an actuator 2657 for changing the position of each of the plurality of shelves 2656 in the vertical direction, and a control processing unit 2658 for controlling the driving of the actuator 2657. The multi-layer cabinet 2655 is an example of a display cabinet.

[0252] Each of the plurality of shelves 2656 is plate-shaped and arranged in a posture parallel to the horizontal direction. Each of the plurality of shelves 2656 is a shelf for placing the first product, and is arranged in multiple layers in the vertical direction. The first product is displayed on each of the plurality of shelves 2656 by the robotic arm 2620.

[0253] Moreover, the plurality of shelves 2656 includes a first shelf 2656a and a second shelf 2656b located on the lower layer of the first shelf 2656a. In the present embodiment, the first shelf 2656a and the second shelf 2656b, which are two adjacent shelves in the plurality of shelves 2656 in the vertical direction, will be taken as an example for description.

[0254] The plurality of shelves 2656 can move in the vertical direction by driving an actuator 2657 controlled by a control processing unit 2658.

[0255] The actuator 2657 can move each of the plurality of shelves 2656 in the vertical direction by being controlled by the control processing unit 2658. For example, the actuator 2657 can move the uppermost shelf 2656 among the plurality of shelves 2656 to a specified layer in the vertical direction by being controlled by the control processing unit 2658.

[0256] The control processing unit 2658 controls the actuator 2657, so that the interval between the first shelf 2656a and the second shelf 2656b can be changed. Specifically, when the control processing unit 2658 acquires a first signal for requesting to increase the interval between the first shelf 2656a and the second shelf 2656b in the vertical direction, it can change the interval from a first interval to a second interval larger than the first interval by controlling the actuator 2657.

[0257] For example, in Figure 10A (a), when the robotic arm 2620 removes the first product displayed on the second shelf 2656b, which is the second shelf from the top, the control processing unit 2658 controls the actuator 2657 when acquiring the first signal from the robotic arm 2620, so that the uppermost shelf, i.e., the first shelf 2656a, can rise. Accordingly, the first shelf 2656a rises by the actuator 2657, and the interval between the first shelf 2656a and the second shelf 2656b in the vertical direction becomes the second interval from the first interval.

[0258] In order not to bring the first product into contact with the top surface of the multi-layer cabinet 2655, before the first shelf 2656a rises, the interval between the first shelf 2656a on which the first product is placed and the top surface of the multi-layer cabinet 2655 is preferably a third interval that is larger than the first interval. The third interval can be the same as the second interval or larger than the second interval. That is, a space larger than the first interval is formed between the topmost shelf 2656 in the multi-layer cabinet 2655 and the top surface of the multi-layer cabinet 2655.

[0259] And in Figure 10A (f) of, and in (f) of FIG. 73A, when the robotic arm 2620 takes out the first product displayed inside the second shelf 2656b, which is the second shelf from the top, the control processing unit 2658 controls the actuator 2657 when it receives the second signal from the robotic arm 2620, so that the topmost shelf, i.e., the first shelf 2656a, can be lowered to its original position. Accordingly, the first shelf 2656a is lowered by the actuator 2657, and the interval between the first shelf 2656a and the second shelf 2656b in the vertical direction changes from the second interval to the first interval.

[0260] Next, an operation example of the shipping system 2600b according to this modification will be described.

[0261] For example, in the shipping system 2600, when shipping the first product according to the order information from the user, it is necessary to take out the first product to be shipped from inside the shelf 2656. Since the shipping system 2600 manages all the first products and the multi-layer cabinet 2655, it manages the location of the first product to be shipped on which shelf 2656 and at which position in which multi-layer cabinet 2655. When the shipping system 2600 takes out the target first product from inside the shelf 2656 using the robotic arm 2620, it may be difficult to take out the target first product due to the influence of the first product arranged in front of the shelf 2656.

[0262] In this operation example, assume the following situation: The robotic arm 2620 takes out the target first product placed on the second shelf 2656b that is blocked by another first product, and ships the taken-out first product.

[0263] First, as shown in (a) of Figure 10A , the belt conveyor 2650 moves the transfer slider 2640, so that the robotic arm 2620 moves in front of the multi-layer cabinet 2655 on which the target first product is displayed. Then, the robotic arm 2620 outputs a first signal to the multi-layer cabinet 2655 to request an increase in the interval between the first shelf 2656a and the second shelf 2656b in the vertical direction. Accordingly, the control processing unit 2658 of the multi-layer cabinet 2655 receives the first signal.

[0264] Next, as shown in Figure 10A (a) and (b) below, when the control processing unit 2658 acquires the first signal, it controls the actuator 2657 to change the vertical interval between the first shelf 2656a and the second shelf 2656b from the first interval to a second interval that is larger than the first interval. That is, the actuator 2657 is controlled by the control processing unit 2658 to raise the first shelf 2656a in such a way that the first commodity does not contact the top surface of the multi-layer cabinet 2655. Accordingly, the interval between the second shelf 2656b on which the first commodity to be targeted is placed and the first shelf 2656a increases, and the robotic arm 2620 can insert the displacement unit 2622 into this interval.

[0265] Next, as shown in Figure 10A (b) below, the robotic arm 2620 extends the first arm 2620a upward, positions the displacement unit 2622 at a height between the first shelf 2656a and the second shelf 2656b, and extends the second arm 2620b in the horizontal direction. Then, the robotic arm 2620 positions the displacement unit 2622 above the first commodity to be targeted that is blocked by another first commodity and located inside the second shelf 2656b, and changes the posture of the displacement unit 2622 to grasp the first commodity to be targeted.

[0266] Next, as shown in Figure 10A (c) and (d) below, the displacement unit 2622 of the robotic arm 2620 grasps and lifts the first commodity to be targeted.

[0267] Next, as shown in Figure 10A (e) below, after the robotic arm 2620 lifts the first commodity to be targeted, it retracts the extended second arm 2620b.

[0268] Next, as shown in Figure 10A (f) below, after the robotic arm 2620 removes the first commodity to be targeted, it outputs a second signal to the multi-layer cabinet 2655 requesting the vertical interval between the first shelf 2656a and the second shelf 2656b to become smaller (return to the original state). Accordingly, the control processing unit 2658 of the multi-layer cabinet 2655 acquires the second signal.

[0269] Next, when the control processing unit 2658 acquires the second signal, it controls the actuator 2657 to change the vertical interval between the first shelf 2656a and the second shelf 2656b from the second interval to the first interval. Accordingly, the interval between the second shelf 2656b and the first shelf 2656a returns to the original first interval.

[0270] Next, as shown in Figure 10AAs shown in (f), when the second wrist part 2620b of the robotic arm 2620 is shortened to a specified amount, the first wrist part 2620a is retracted downward to a specified amount.

[0271] Then, the robotic arm 2620 can place the lifted first item on the stage 2641 of the transfer slider 2640. The robotic arm 2620 continues until the first item to be targeted is taken out from the multi-layer cabinet 2655. In addition, instead of placing the first item to be targeted on the stage 2641 of the transfer slider 2640, the robotic arm 2620 can move it to the cargo box in a state where the first item is lifted.

[0272] In addition, in the shipping system 2600b, when taking out the first item to be targeted, it can also be pre-judged whether it is possible to take it out without raising the shelf 2656. The shipping system 2600b can also execute the above work example when it is judged that the item cannot be taken out without raising the shelf 2656.

[0273] Moreover, in this modification example, although the case where only the topmost shelf 2656 is raised is exemplified, for example, when the first item to be targeted is arranged on the third shelf 2656 from the top and is located inside and blocked by another first item, when the control processing unit 2658 acquires the first signal, it controls the actuator 2657 to change the interval in the vertical direction between the second shelf 2656b and the third shelf (the third shelf 2656 from the top) from the first interval to the second interval. That is, the actuator 2657 is controlled by the control processing unit 2658 to raise the first shelf 2656a and the second shelf 2656b in such a way that the first item does not contact the top surface of the multi-layer cabinet 2655. Accordingly, the interval between the second shelf 2656b on which the first item to be targeted is arranged and the third shelf increases, and the robotic arm 2620 can insert the displacement part 2622 into this interval. In this way, in this modification example, when the robotic arm 2620 takes out the first item located inside the shelf 2656 and blocked by another first item, all the shelves above the shelf 2656 on which the first item to be targeted is arranged are raised.

[0274] Next, the operation and effect of the shipping system 2600b according to this modification example will be described.

[0275] In the control method of this variation, the system (shipping system 2600b) further includes a display cabinet (multi-layer cabinet 2655), which includes a plurality of shelves 2656 for placing the first commodity and forming multiple layers in the vertical direction, and an actuator 2657 for changing the vertical position of each of the plurality of shelves 2656. In addition, the plurality of shelves 2656 include a first shelf 2656a and a second shelf 2656b located in the next layer of the first shelf 2656a. Therefore, when the system obtains a first signal for requesting an increase in the vertical interval between the first shelf 2656a and the second shelf 2656b, the system controls the actuator 2657 to change the interval from the first interval to the second interval larger than the first interval.

[0276] Accordingly, even if the first commodity placed on the shelf 2656 is located at the inner side of the shelf 2656 and is blocked by another first commodity among the plurality of shelves 2656, the first commodity arranged at the inner side of the shelf 2656 can be lifted by the robot arm 2620 by increasing the vertical interval between the first shelf 2656a and the second shelf 2656b. Thus, since the first commodity can be lifted regardless of where it is arranged on the shelf 2656, the space on the shelf 2656 can be effectively utilized to display the first commodity.

[0277] (Variation 3 of Implementation Example 1)

[0278] Hereinafter, since the basic structure of the delivery system 2600c in this modification is the same as that of the above-mentioned embodiment, the basic structure of the delivery system 2600c in this modification is given the same reference numerals as those above and the description thereof is omitted as appropriate. In addition, in this modification, the structures of each embodiment can also be applied to this modification.

[0279] use Figure 10B The configuration of this modification example will be described. Figure 10B FIG. 2 is a diagram showing an example of a delivery system 2600c according to a third variation of the first embodiment. Figure 10B In (a) of FIG. 1 , a plurality of shelves 2656 displaying the first commodity are shown as an example. Figure 10B (b) shows an example of the robot arm 2620 extending its wrist to the first commodity arranged on the inner side of the first shelf 2656a. Figure 10B (c) shows an example of the displacement unit 2622 of the robot arm 2620 grabbing the first product. Figure 10B (d) shows the displacement unit 2622 of the robot arm 2620 lifting the first product. Figure 10B (e) shows an example of the front wall 2662 being rotated and laid down, and the shelf 2656 displaying the first product sliding. Figure 10BThe numbers 1 to 7 shown beside indicate the number of layers of the shelves 2656.

[0280] The shipping system 2600c includes a multi - layer cabinet 2655a and a robotic arm 2620. The shipping system 2600c is an example of a display cabinet system.

[0281] As Figure 10B As shown in (a) and (b) of [], the multi - layer cabinet 2655a includes: a plurality of shelves 2656 arranged in multiple layers in the vertical direction, a first actuator 2657a that moves the first shelf 2656a included in the plurality of shelves 2656 in the horizontal direction, a control processing unit 2658, a first barrier 2659a, a second barrier 2659b, and a second actuator 2657b. The multi - layer cabinet 2655a is an example of a display cabinet.

[0282] Each of the plurality of shelves 2656 is plate - shaped and is arranged in a posture parallel to the horizontal direction. Each of the plurality of shelves 2656 is a shelf for placing the first commodity and is arranged in the vertical direction. Each of the plurality of shelves 2656 is moved in the horizontal direction by the first actuator 2657a.

[0283] The first shelf 2656a among the plurality of shelves 2656 can move between a first position and a second position in front of the first position by the drive of the first actuator 2657a. The first position is the position where the first shelf 2656a is stored in the multi - layer cabinet 2655a. In addition, the second position is the position where the first shelf 2656a slides horizontally from the multi - layer cabinet 2655a and extends beyond the multi - layer cabinet 2655a.

[0284] The first barrier 2659a is arranged on the front side of the plurality of shelves 2656 and extends downward from the upper part of the multi - layer cabinet 2655a. Specifically, the upper end of the first barrier 2659a is connected to the upper plate of the multi - layer cabinet 2655a, and the lower end of the first barrier 2659a contacts the upper end of the second barrier 2659b.

[0285] The second barrier 2659b is arranged on the front side of the plurality of shelves 2656 and extends upward from the lower part of the multi - layer cabinet 2655a. Specifically, the lower end of the second barrier 2659b is connected to the lower plate of the multi - layer cabinet 2655a, and the upper end of the second barrier 2659b can contact the lower end of the first barrier 2659a.

[0286] The opening of the multi - layer cabinet 2655a is sealed by the contact between the lower end of the first barrier 2659a and the upper end of the second barrier 2659b.

[0287] The second actuator 2657b drives the first barrier 2659a and the second barrier 2659b. Accordingly, the lower end of the first barrier 2659a and the upper end of the second barrier 2659b can move in the vertical direction. Also, by separating the lower end of the first barrier 2659a from the upper end of the second barrier 2659b, the interior of the multi-layer cabinet 2655a can be opened to expose the plurality of shelves 2656. Additionally, the second actuator 2657b can also be provided separately for the first barrier 2659a and the second barrier 2659b.

[0288] The second actuator 2657b is controlled by the control processing unit 2658 of the multi-layer cabinet 2655a. When the control processing unit 2658 receives a signal indicating that the first shelf 2656a should be moved forward, it controls the first actuator 2657a to move the first shelf 2656a from the first position to the second position. Specifically, if the control processing unit 2658 receives a signal indicating that the first shelf 2656a should be moved forward when the opening of the multi-layer cabinet 2655a is blocked, (1) it controls the second actuator 2657b to create a first gap between the lower end of the first barrier 2659a and the upper end of the second barrier 2659b, and (2) it controls the first actuator 2657a to move the first shelf 2656a through the first gap from the first position to the second position. The control processing unit 2658 is an example of a controller.

[0289] The robotic arm 2620 includes a positioning unit 2622, an arm control unit 2623, and an arm driving unit 2625.

[0290] The positioning unit 2622 is driven by the arm driving unit 2625 to lift one or more commodities placed on the first shelf 2656a, which are the target commodities (the first commodities), and change the positions of the commodities. The positioning unit 2622 includes a gripping unit, a suction unit, or a magnetic force unit. The gripping unit can grip the first commodity, the suction unit can hold the first commodity by evacuating air to suck the first commodity, and the magnetic force unit can hold the first commodity by attracting the first commodity with magnetic force.

[0291] The positioning unit 2622 can move the first commodity within the multi-layer cabinet 2655a in a state of lifting the first commodity arranged on the shelf 2656 and display it on another shelf 2656 or another multi-layer cabinet 2655a.

[0292] The arm driving unit 2625 drives the positioning unit 2622. Specifically, the arm driving unit 2625 can drive the positioning unit 2622 by being controlled by the arm control unit 2623. The arm driving unit 2625 can also be referred to as the above-mentioned first actuator 2621. Therefore, the arm driving unit 2625 can have the same functional configuration as the first actuator 2621.

[0293] When the arm control unit 2623 acquires a signal for instructing to take out the first product on the first shelf 2656a, it is controlled by the control processing unit 2658 via the first actuator, and the first shelf 2656a is moved from the first position to the second position. By controlling the arm driving unit 2625, the position of the first product on the first shelf 2656a is displaced by the displacement unit 2622.

[0294] When the opening (front side take-out port) of the multi-layer cabinet 2655a is blocked by the first barrier 2659a and the second barrier 2659b, and when a signal for instructing to take out the first product on the first shelf 2656a is acquired at this time, the control processing unit 2658 (1) controls the second actuator 2657b to form a first gap between the lower end of the first barrier 2659a and the upper end of the second barrier 2659b, and (2) controls the first actuator 2657a to move the first shelf 2656a from the first position to the second position through the first gap. Then, the arm control unit 2623 (3) controls the arm driving unit 2625 to displace the position of the first product on the first shelf 2656a through the displacement unit 2622.

[0295] Next, an operation example of the shipping system 2600c according to this modification will be described.

[0296] As Figure 10B shown in (b) of, for example, in the shipping system 2600c, when shipping the first product according to the order information from the user, there may be a case where it is necessary to take out the first product to be shipped from the inside of the shelf 2656. Since the shipping system 2600c manages all the first products and the multi-layer cabinet 2655a, it manages which multi-layer cabinet 2655a, which shelf 2656, and which position the first product to be shipped is arranged at. When the robotic arm 2620 takes out the first product to be the object from the inside of the shelf 2656 in the shipping system 2600c, it may be difficult to take out the first product to be the object due to the influence of the first product arranged in front of the shelf 2656.

[0297] In the operation example assumed here: by moving the shelf 2656, the robotic arm 2620 lifts and takes out the first product to be the object, and ships the taken-out first product.

[0298] First, as Figure 10B shown in (a) of, the opening of the multi-layer cabinet 2655a may be blocked. For this reason, when the robotic arm 2620 takes out the first product, when the opening of the multi-layer cabinet 2655a is blocked, the control processing unit 2658 acquires a signal for instructing that the first shelf 2656a should be moved forward from the data management unit.

[0299] like Figure 10B As shown in (b), the control processing unit 2658 controls the second actuator 2657b based on the signal indicating that the first shelf 2656a should be moved to the front, so that the first gap is formed between the lower end of the first barrier 2659a and the upper end of the second barrier 2659b. At this time, the control processing unit 2658 controls the second actuator 2657b to form the first gap in front of the shelf (first shelf 2656a) from which the first commodity is to be taken out. Accordingly, the lower end of the first barrier 2659a is separated from the upper end of the second barrier 2659b, and the first gap is formed in front of the first shelf 2656a from which the first commodity is to be taken out. Figure 10B (b) shows an example of a case where the first gap is formed in front of the shelf 2656 on the second floor from the bottom.

[0300] Next, the control processing unit 2658 controls the first actuator 2657a based on the signal indicating that the first shelf 2656a should be moved to the front, so that the first shelf 2656a moves from the first position to the second position through the first gap. As a result, the first shelf 2656a, which is the object of taking out the first commodity, slides in the horizontal direction and moves from the first position to the second position. As a result, the first shelf 2656a and the first commodity are pulled out of the multi-layer cabinet 2655a, so that the robot arm 2620 can grab the first commodity from above.

[0301] Next, if Figure 10B As shown in (b), when the arm control unit 2623 obtains a signal for instructing to take out the first commodity on the first shelf 2656a, it controls the arm driving unit 2625 to move the displacement unit 2622 vertically above the first commodity to be taken out. Specifically, the robot arm 2620 moves the displacement unit 2622 horizontally to vertically above the first commodity to be taken out.

[0302] Next, Figure 10B As shown in (c) and (d), the displacement unit 2622 of the robot arm 2620 descends, grabs and lifts the first product to be taken out.

[0303] In response to this, the arm control unit 2623 controls the arm driving unit 2625 , and the position of the first product on the first shelf 2656 a is displaced by the displacement unit 2622 .

[0304] In this way, the displacement unit 2622 can lift the first product arranged on the first shelf 2656a and store it in a cargo box for shipment.

[0305] In addition, Figure 10BAs shown in (d), for example, when the lowermost shelf 2656 among the multiple shelves 2656 of the multi-layer cabinet 2655a slides to move in the horizontal direction (from the first position to the second position), it will contact the front wall 2662 of the multi-layer cabinet 2655a. Therefore, when the shelf 2656 that will contact the front wall 2662 of the multi-layer cabinet 2655a among the multiple shelves 2656 slides and moves in the horizontal direction, the front wall 2662 of the multi-layer cabinet 2655a can be rotated and laid down, thereby being able to suppress the contact between the front wall 2662 of the multi-layer cabinet 2655a and the shelf 2656. Specifically, when the shelf 2656 that will contact the front wall 2662 of the multi-layer cabinet 2655a moves from the first position to the second position, the control processing unit 2658 can control another actuator of the multi-layer cabinet 2655a to rotate the front wall 2662.

[0306] (Embodiment 2)

[0307] The unmanned transporter 2660 in the present embodiment will be described below. In addition, the same reference numerals are given to the components that are basically the same as those in the above-described embodiment, and the description is appropriately omitted. And in the present embodiment, the components of each embodiment can also be applied to the present embodiment.

[0308] First, Figures 11 to 15 A control method for a distribution system including the unmanned transporter 2660 in the present embodiment will be described.

[0309] Figure 11 It is a block diagram exemplarily showing the unmanned transporter 2660 according to Embodiment 2. Figure 12A It is a diagram exemplarily showing the operation of the support structure 2684 and the wire 2663 of the unmanned transporter 2660 according to Embodiment 2. In Figure 12A The state where the first door structure 2685 and the second door structure 2686 are opened (the second state) is exemplarily shown in (a). In Figure 12A The state where the first door structure 2685 and the second door structure 2686 are closed (the first state) is exemplarily shown in (b). In Figure 12A The situation of the unmanned transporter 2660 in the state of observing (b) from the side is exemplarily shown in (c). In Figure 12A The situation of the unmanned transporter 2660 in the state of observing (b) from the side is exemplarily shown in (c). In Figure 12A The first door state of the first door structure 2685 and the second door structure 2686 is exemplarily shown in (d). Figure 12B It is another diagram exemplarily showing the operation of the support structure 2684 and the wire 2663 of the unmanned transporter 2660 according to Embodiment 2. Figure 13A It is a diagram exemplarily showing the body main body 2660a and the cargo basket 2670 of the unmanned transporter 2660 according to Embodiment 2.Figure 13B FIG. Figure 13B is a diagram showing the body main body 2660 of the unmanned transporter 2660 and another cargo basket 2670 according to Embodiment 2 by way of example. Figure 14 FIG. Figure 14 is a diagram showing an example of the attitude control device 2670a correcting the attitude of the cargo basket 2670 of the unmanned transporter 2660 according to Embodiment 2.

[0310] Figure 15 FIG. Figure 15 is a diagram showing the attitude of the cargo basket 2670 of the unmanned transporter 2660 according to Embodiment 2 by way of example.

[0311] As Figure 11 and Figure 12A shown, a control method of a system including the unmanned transporter 2660 is adopted in the distribution system. The distribution system is a system capable of delivering goods from a courier sender to a courier receiver using the unmanned transporter 2660. For example, the distribution system can deliver goods to the courier receiver by flying or traveling the unmanned transporter 2660 carrying the goods. The courier sender is the party that sends the goods, and the courier receiver is the party that receives the goods. In the present embodiment, the courier sender is a facility of a courier logistics company such as a distribution center, a store such as a convenience store serving as a forwarding place. And, in the present embodiment, the courier receiver is the party that receives the goods, that is, the delivery destination, for example, a house, a convenience store serving as a forwarding place, a courier box provided in a house, a convenience store, etc. The distribution system of the present embodiment is an example of the system. The courier box is an example of the receiving box.

[0312] The distribution system includes the unmanned transporter 2660 and the cargo basket 2670.

[0313] The unmanned transporter 2660 is, for example, a flying body such as a drone, a traveling body equipped with wheels 2681. The unmanned transporter 2660 can not only fly in the air but also travel along the guide rail 7 laid on the ground. The unmanned transporter 2660 is connected to the cargo basket 2670 in a state of being connected to the wire 2663, and transports the goods by traveling along the guide rail 7. In the present embodiment, the distribution system may also include the guide rail 7 in its components.

[0314] The guide rail 7 is, for example, installed at a position several meters to several tens of meters above the ground and fixed by columns, facilities, etc. provided on the ground. In addition, the guide rail 7 can be provided in all areas on the ground, or can be provided at least only around the courier receiver. The guide rail 7 is, for example, provided along the road. The guide rail 7 may also have connection points. The connection point is a part where one guide rail 7 is connected to other guide rails 7. In addition, a sheet-like, net-like or plate-like structure may be arranged directly below the connection point.

[0315] The unmanned transporter 2660 has a body main body 2660a, a control processing unit 2664, a suspension arm 2682, an arm drive unit 2665, wheels 2681, a wire control module 2666, a winding and recovery unit 2667, a support structure 2684, and a support body drive unit 2668. Additionally, the body main body 2660a may also include a wire 2663 among its components.

[0316] The body main body 2660a is a traveling body in a rectangular shape. The body main body 2660a supports the control processing unit 2664, the suspension arm 2682, the arm drive unit 2665, the wheels 2681, the wire control module 2666, the winding and recovery unit 2667, the support structure 2684, and the support body drive unit 2668 in a prescribed posture. Additionally, when the body main body 2660a can load a cargo basket 2670, the body main body 2660a may also support the cargo basket 2670 in a prescribed posture. The body main body 2660a is an example of the main body.

[0317] Additionally, the body main body 2660a may also have a plurality of propellers. In this case, thrust can be imparted to the unmanned transporter 2660 by the rotational drive of a propeller drive motor provided in the body main body 2660a.

[0318] The suspension arm 2682 is a hook that can be connected to the guide rail 7, so it can be hooked onto the guide rail 7. The lower end of the suspension arm 2682 is connected to the body main body 2660a, and the wheels 2681 are connected to the other end, i.e., the front end. The wheels 2681 rotatably contact the guide rail 7. Also, a plurality of suspension arms 2682 are provided on the body main body 2660a. Additionally, a motor that rotates the rotation axis of the wheels 2681 may be provided on the suspension arm 2682. Also, as the suspension arm 2682 in this embodiment, the arm portion, hook, connecting body, etc. in the above-described embodiment may be used. The suspension arm 2682 is an example of the arm portion.

[0319] The arm drive unit 2665 can change the posture of the suspension arm 2682 by driving the suspension arm 2682. Specifically, the arm drive unit 2665 is controlled by the control processing unit 2664 to rotate the suspension arm 2682 around an axis along the length direction of the guide rail 7, bringing the wheels 2681 into contact with the guide rail 7, thereby enabling the suspension arm 2682 to be connected to the guide rail 7. Also, the arm drive unit 2665 is controlled by the control processing unit 2664 to rotate the suspension arm 2682 around an axis along the length direction of the guide rail 7, causing the wheels 2681 to leave the guide rail 7 and disconnecting from the guide rail 7. The arm drive unit 2665 is an example of a second actuator for driving the suspension arm 2682.

[0320] The wheel 2681 is a roller that can rotate freely in contact with the guide rail 7 and travel on the guide rail 7. The rotation axis of the wheel 2681 extends in a direction orthogonal to the length direction of the guide rail 7. When the suspension arm 2682 is connected to the guide rail 7, the wheel 2681 provided on the suspension arm 2682 rotates about the axis of the rotation axis.

[0321] The control processing unit 2664 can control the flight state of the unmanned transporter 2660, can adjust the position of the unmanned transporter 2660, and can control the winding and unwinding of the wire 2663.

[0322] The flight state of the unmanned transporter 2660 can be forward, backward, right turn, left turn, hovering, etc. Specifically, the control processing unit 2664 controls the inclination of the main body 2660a of the aircraft with respect to the horizontal direction according to the position information, angular velocity information, acceleration information, speed information, etc., or controls the rotational speed of the propeller of the unmanned transporter 2660 by controlling the propeller drive motor.

[0323] The adjustment of the position of the unmanned transporter 2660 is to displace the main body 2660a of the unmanned transporter 2660 with respect to the guide rail 7. Specifically, the unmanned transporter 2660 can be changed to the third state and the fourth state by the drive of the arm drive unit 2665. The third state is a state in which the distance between the main body 2660a and the guide rail 7 becomes the first distance, and the fourth state is a state in which the distance between the main body 2660a and the guide rail 7 becomes the second distance larger than the first distance. When the unmanned transporter 2660 travels, the control processing unit 2664 controls the arm drive unit 2665 to make the unmanned transporter 2660 in the third state. When the unmanned transporter 2660 travels, the distance between the main body 2660a and the guide rail 7 becomes closer, and the distance between the main body 2660a and the ground becomes farther, so the main body 2660a can easily avoid obstacles. Also, when the unmanned transporter 2660 lowers the cargo, the control processing unit 2664 controls the arm drive unit 2665 to make the unmanned transporter 2660 in the fourth state. In addition, when the unmanned transporter 2660 lowers the cargo, the distance between the main body 2660a and the guide rail 7 becomes farther, and the distance between the main body 2660a and the ground becomes closer, making it easier to unload the cargo.

[0324] The release and winding recovery of the wire 2663 are achieved by the wire control module 2666 controlling the winding recovery unit 2667. That is, when the wire control module 2666 obtains an instruction to release the wire 2663 from the control processing unit 2664, it can drive and control the winding recovery unit 2667 to release the wire 2663, causing the cargo basket 2670 to leave the unmanned transporter 2660. Also, when the wire control module 2666 obtains an instruction to wind and recover the wire 2663 from the control processing unit 2664, it can drive and control the winding recovery unit 2667 to wind and recover the wire 2663 and retrieve the cargo basket 2670.

[0325] Also, the wire control module 2666 can control the motor 2667a of the winding recovery unit 2667 so that, as shown in (a) and (b) of Figure 12A , the wire 2663 can be wound and recovered so that the length of the wire 2663 extending from the body main part 2660a to the cargo basket 2670 becomes the first length. After the wire 2663 reaches the first length, the control processing unit 2664 controls the support body drive unit 2668 to change the support structure 2684 from the second door state to the first door state. And, as shown in (d) of Figure 12A , after the support structure 2684 becomes the first door state, the wire control module 2666 controls the motor 2667a of the winding recovery unit 2667 to release the wire 2663 so that the length of the wire 2663 extending from the body main part 2660a to the cargo basket 2670 becomes a second length longer than the first length. When the length of the wire 2663 extending from the body main part 2660a to the cargo basket 2670 becomes the second length, the cargo basket 2670 is supported by the end part 2685a of the first door structure 2685 of the support structure 2684 and the end part 2686a of the second door structure 2686 of the support structure 2684. In addition, the wire control module 2666 can identify the length of the wire 2663 based on the rotation amount of the rotating shaft of the motor 2667a, or can also identify the length of the wire 2663 through a sensor.

[0326] The sensor is, for example, a camera sensor. The camera sensor is provided in the body main unit 2660a and is an imaging device capable of photographing goods, express delivery boxes, etc. from above or photographing the wire 2663. The camera sensor photographs the goods, the express delivery box, and the wire 2663, and outputs image information, which is the photographed image, to the control processing unit 2664. For example, the image information includes information showing the relative position (distance) between the goods and the express delivery box, the distance from the body main unit 2660a to the goods, the distance from the body 2301 to the express delivery box, the height from the ground to the opening of the express delivery box, the length of the wire 2663, etc. The camera sensor can be, for example, a TOF (Time-of-Flight) camera, a distance measuring sensor, etc.

[0327] Here, the wire 2663 is configured to be able to be freely paid out and wound up by the drive of the motor 2667a of the winding and recovering unit 2667. By the drive of the motor 2667a, the wire 2663 can extend to a length more than 5 times the height (thickness) of the unmanned transporter 2660.

[0328] As Figure 11 and Figure 12A As shown, the winding and recovering unit 2667 includes a motor 2667a. By the drive of the motor 2667a, the wire 2663 is wound up, recovered, or paid out, so that the length of the wire 2663 extending from the body main unit 2660a of the unmanned transporter 2660 to the cargo basket 2670 can be adjusted. In the present disclosure, the winding and recovering unit 2667 can also be referred to as a reel or a winch. The motor 2667a of the winding and recovering unit 2667 can rotate a reel capable of paying out and winding up the wire 2663. The winding and recovering unit 2667 is driven and controlled by the wire control module 2666 based on an instruction to pay out the wire 2663 or an instruction to wind up and recover the wire 2663 from the control processing unit 2664. The motor 2667a is an example of a motor.

[0329] The support structure 2684 is a support body capable of supporting the cargo basket 2670. By driving the support body drive unit 2668, the support structure 2684 can change the cargo basket 2670 from a first supported state supported by the support structure 2684 to a second suspended state in which the cargo basket 2670 is suspended by the tension of the wire 2663 without being affected by the tension of the wire 2663.

[0330] Specifically, the support structure 2684 can rotate relative to the body main unit 2660a and is connected to the body main unit 2660a, and has a first door structure 2685 and a second door structure 2686. In addition, the support structure 2684 may include the wire 2663 in its components.

[0331] The first door structure 2685 is connected to one side in the short direction of the elongated body main body 2660a along the guide rail 7. The first door structure 2685 has a plate portion 2685b that can rotate with the body main body 2660a as a fulcrum, and an end portion 2685a that is connected to the front end of the plate portion 2685b and is bent relative to the plate portion 2685b. The second door structure 2686 is connected to the other side in the short direction of the elongated body main body 2660a along the guide rail 7. The second door structure 2686 has a plate portion 2686b that can rotate with the body main body 2660a as a fulcrum, and an end portion 2686a that is connected to the front end of the plate portion 2685b and is bent relative to the plate portion 2685b. The plate portion 2685b may correspond to part A, and the plate portion 2686b may correspond to part C. Also, the end portion 2685a may correspond to part B, and the end portion 2686a may correspond to part D.

[0332] The first door structure 2685 and the second door structure 2686 are hook-shaped support arm portions that can support the cargo basket 2670. One end of the first door structure 2685 and the second door structure 2686 is connected to the body main body 2660a and can rotate with the connection portion as a fulcrum. The other ends of the first door structure 2685 and the second door structure 2686, namely the end portions 2685a and 2686a, can support the cargo basket 2670. Thus, the first door structure 2685 and the second door structure 2686 are in a closed posture in the first door state, so that the cargo basket 2670 can be supported, and in the second door state, they are in an open posture, so that the support for the cargo basket 2670 can be released. That is, when the first door structure 2685 and the second door structure 2686 are in the first door state, the cargo basket 2670 can be clamped by the plate portion 2685b and the plate portion 2686b, and since the end portions 2685a and 2686a are arranged vertically below the cargo basket 2670, the cargo basket 2670 can be supported. Also, when the first door structure 2685 and the second door structure 2686 are in the second door state, the plate portion 2685b, the plate portion 2686b, the end portion 2685a, and the end portion 2686a are separated from the cargo basket 2670, so that the support for the cargo basket 2670 can be released.

[0333] Here, the first door state corresponds to the state where the first door structure 2685 and the second door structure 2686 are close to the cargo basket 2670. That is, the first door state is the state where the first door structure 2685 and the second door structure 2686 are in the closed posture. In the first door state, the end 2685a of the first door structure 2685 and the end 2686a of the second door structure 2686 are located below the cargo basket 2670 and contact the bottom of the cargo basket 2670 to support the cargo basket 2670. The end 2685a of the first door structure 2685 is an example of the first part of the first door structure 2685. Also, the end 2686a of the second door structure 2686 is an example of the second part of the second door structure 2686.

[0334] Also, the second door state corresponds to the state where the first door structure 2685 and the second door structure 2686 are separated from the cargo basket 2670. That is, the second door state is the state where the first door structure 2685 and the second door structure 2686 do not support the cargo basket 2670. In the second door state, the end 2685a of the first door structure 2685 and the end 2686a of the second door structure 2686 are not located below the cargo basket 2670.

[0335] The support body drive unit 2668 can drive the support structure 2684. Specifically, the support body drive unit 2668 is provided corresponding to the first door structure 2685 and the second door structure 2686 respectively. One support body drive unit 2668 can rotate the first door structure 2685 around the fulcrum of the body main body 2660a. Also, the other support body drive unit 2668 can rotate the second door structure 2686 around the fulcrum of the body main body 2660a. Accordingly, the support body drive unit 2668 can displace the support structure 2684 into an open posture or a closed posture. The support body drive unit 2668 is an example of the first actuator for driving the support structure 2684.

[0336] The cargo basket 2670 is connected to a wire 2663 extending downward from the main body of the unmanned transporter 2660. The cargo basket 2670 can accommodate the goods delivered by the unmanned transporter 2660.

[0337] As Figure 13A and Figure 13B shown, a first storage space 2674 for storing goods and a second storage space 2675 for storing the posture control device 2670a and the rotating body 2671 are formed in the cargo basket 2670.

[0338] As Figure 13AAs shown, in the cargo basket 2670, the posture control device 2670a can be located above the first storage space 2674. That is, the first storage space 2674 can be located below the second storage space 2675. In this case, since the goods are arranged below the posture control device 2670a, by lowering the cargo basket 2670 suspended by the wire 2663, the goods can be easily placed at the destination of the recipient of the express delivery. The first storage space 2674 is an example of a storage space.

[0339] As Figure 13B shown, in the cargo basket 2670, the posture control device 2670a can also be located below the first storage space 2674. That is, the first storage space 2674 can be located above the second storage space 2675. In this case, since the heavy posture control device 2670a is arranged below the goods, when the wire 2663 is released to lower the cargo basket 2670, the posture of the cargo basket 2670 can be stabilized.

[0340] Here, the posture of the cargo basket 2670 when the unmanned transporter 2660 releases the wire 2663 and lowers the cargo basket 2670 will be described.

[0341] When the unmanned transporter 2660 releases the wire 2663 to lower the cargo basket 2670, the cargo basket 2670 may deviate from the destination due to the influence of external disturbances such as wind, or the posture may deviate when rotating about the connection part of the wire 2663. In this case, even if the wire 2663 is released to lower the cargo basket 2670, it may be difficult to insert it into the top opening of the express delivery box as the destination.

[0342] For example Figure 15 as shown in (a), in the case of no wind, when the angle between one side of the cargo basket 2670 and the length direction of the guide rail 7 is θ = 0°, even if the wire 2663 is released to lower the cargo basket 2670, it can be inserted into the top opening of the express delivery box as the destination. And as Figure 14 and Figure 15 shown in (b), in the case of wind, when the angle between one side of the cargo basket 2670 and the length direction of the guide rail 7 is θ = 0°, even if the wire 2663 is released to lower the cargo basket 2670, by moving the unmanned transporter 2660 or moving the opening position of the express delivery box, it can be received into the express delivery box as the destination. And as Figure 14 and Figure 15As shown in (c), in the case of wind, when the angle between one side of the cargo basket 2670 and the longitudinal direction of the guide rail 7 is θ = 45°, even if the wire 2663 is released to lower the cargo basket 2670, the cargo basket 2670 will be caught by the top opening of the express delivery box and it will be difficult to store the goods in the express delivery box. And as Figure 15 shown in (d) and (e), in the case of wind, when the angle between one side of the cargo basket 2670 and the longitudinal direction of the guide rail 7 is θ = 45° + α1 and θ = 45° + α2, even if the wire 2663 is released to lower the cargo basket 2670, since the cargo basket 2670 is not vertically above the top opening of the express delivery box, it is difficult to store the goods in the express delivery box.

[0343] Therefore, as Figure 14 shown, the posture of the cargo basket 2670 is controlled for the cargo basket 2670. Specifically, as Figure 11 、 Figure 13A and Figure 13B shown, the cargo basket 2670 has a posture control device 2670a, and controls the posture of the cargo basket 2670 in the state of being suspended by the wire 2663 by controlling the rotating body 2671. Typically, the rotating body is a disk-shaped plate.

[0344] The posture control device 2670a controls a rotating body 2671 such as a reaction wheel or a flywheel, for example, so that the posture of the cargo basket 2670 can be corrected to a correct posture. The posture control device 2670a has: a sensor 2661 that detects the posture of the cargo basket 2670, a motor drive control unit 2673 that drives a motor 2672 based on the sensing result of the sensor 2661, and a motor 2672 that rotates the rotating body 2671 by rotating a rotating shaft 2671a. Here, the control of the rotating body 2671 includes: control of the rotation speed of the rotating body 2671 and control of the direction of the rotating shaft 2671a of the rotating body 2671. In addition, the rotating shaft 2671a may be included in the components of the rotating body 2671 or may be included in the components of the motor 2672.

[0345] Specifically, the posture control device 2670a can obtain the sensing result from the sensor 2661 that can detect the posture of the cargo basket 2670. The sensor 2661 is, for example, a camera sensor, an angular velocity sensor, etc. In the present embodiment, the sensor 2661 is a camera sensor provided on the body main body 2660a and capable of photographing vertically below the body main body 2660a.

[0346] When the unmanned transporter 2660 arrives at the recipient of the express delivery, the posture control device 2670a can identify the posture of the cargo basket 2670 based on the sensing result of the posture of the cargo basket 2670 sensed by the sensor 2661. Then, the posture control device 2670a determines whether the posture of the cargo basket 2670 is the target posture. That is, it determines whether it is a posture that can be received into the express delivery box. Here, the target posture refers to a posture in which one side of the rectangular cargo basket 2670 in the plan view is parallel to the length direction of the guide rail 7. That is, when the angle between this side and the length direction of the guide rail 7 is θ = 0° as the reference, the posture within the specified angle range. In the target posture, the cargo basket 2670 can receive the goods into the express delivery box. And the target posture includes a posture in which the vertical direction (vertical direction) along the vertical direction is consistent with the up and down direction of the cargo basket 2670.

[0347] The posture control device 2670a controls the rotating body 2671 based on the sensing result of the posture of the cargo basket 2670 sensed by the sensor 2661, that is, the sensing result obtained by the sensor 2661, so that the posture of the cargo basket 2670 can become the target posture. For example, when the cargo basket 2670 rotates counterclockwise by an arbitrary angle in the plan view, the posture control device 2670a rotates the rotating body 2671 counterclockwise by an arbitrary angle as shown by the blank arrow, so that the cargo basket 2670 rotates clockwise by an arbitrary angle as shown by the blank arrow. Then, the posture of the cargo basket 2670 is corrected to θ = 0°. Additionally, although not shown in the figure, when the cargo basket 2670 rotates clockwise by an arbitrary angle in the plan view, the posture control device 2670a rotates the rotating body 2671 clockwise by an arbitrary angle, so that the cargo basket 2670 rotates counterclockwise by an arbitrary angle. Then, the posture of the cargo basket 2670 is corrected to θ = 0°.

[0348] In this way, in the unmanned transporter 2660 as Figure 12B shown, when receiving the goods into the cargo basket 2670 of the unmanned transporter 2660, the first door structure 2685 and the second door structure 2686 are in the open posture (the second door state). The wire control module 2666 controls the motor 2667a of the winding and recycling unit 2667 to wind and recycle the wire 2663 extending from the main body 2660a of the machine to the cargo basket 2670. Accordingly, the cargo basket 2670 containing the goods rises. When the cargo basket 2670 approaches the main body 2660a of the unmanned transporter 2660, the wire control module 2666 controls the motor 2667a of the winding and recycling unit 2667 to stop the winding and recycling of the wire 2663.

[0349] The support body drive unit 2668 is controlled by the control processing unit 2664 to rotate the first door structure 2685 around the fulcrum of the body main body 2660a and at the same time rotate the second door structure 2686 around the fulcrum of the body main body 2660a. The first door structure 2685 and the second door structure 2686 are in the closed posture (the first door state). The wire control module 2666 drives the motor 2667a of the winding and recovery unit 2667 by being controlled by the control processing unit 2664 to release the wire 2663. Accordingly, the cargo basket 2670 can be placed on the end portion 2685a of the first door structure 2685 and the end portion 2686a of the second door structure 2686. After that, when the unmanned transporter 2660 starts to travel, it is possible to suppress the shaking of the cargo basket 2670 caused by the travel of the unmanned transporter 2660, and it is possible to suppress the dropping of the cargo basket 2670 by the first door structure 2685 and the second door structure 2686.

[0350] [Working Example 1]

[0351] In this working example, Figure 16 etc. are used to describe the work from lowering the cargo basket 2670 to loading the cargo onto the cargo basket 2670.

[0352] Figure 16 It is a flowchart showing the work when the cargo basket 2670 of the unmanned transporter 2660 according to Embodiment 2 descends.

[0353] First, the unmanned transporter 2660 is suspended from the guide rail 7 in a state where the suspension arm 2682 is connected to the guide rail 7 as shown in Figure 12A (a) of Figure 16 and shown. In order for the operator to store the cargo in the cargo basket 2670 of the unmanned transporter 2660, the first door structure 2685 and the second door structure 2686 are in the first door state. Therefore, the wire control module 2666 controls the motor 2667a of the winding and recovery unit 2667 to wind and recover the wire 2663 until the length of the wire 2663 extending from the body main body 2660a to the cargo basket 2670 becomes the first length (S2631).

[0354] Accordingly, the bottom of the cargo basket 2670 departs from the end 2685a of the first door structure 2685 and the end 2686a of the second door structure 2686. That is, the cargo basket 2670 is suspended by the pulling force of the wire 2663, and the first door structure 2685 and the second door structure 2686 are in the second door state (S2632) separated from the cargo basket 2670. The support body drive unit 2668 is controlled by the control processing unit 2664 to rotate the first door structure 2685 around the fulcrum of the body main body 2660a and to rotate the second door structure 2686 around the fulcrum of the body main body 2660a.

[0355] Next, the wire control module 2666 controls the motor 2667a of the winding and recovery unit 2667, and lowers the cargo basket 2670 by paying out the wire 2663 (S2633).

[0356] Next, the control processing unit 2664 determines whether the lowering of the cargo basket 2670 has been completed (S2634).

[0357] If the control processing unit 2664 determines that the lowering of the cargo basket 2670 is not yet complete (No in S2634), it returns to step S2633.

[0358] In addition, when the control processing unit 2664 determines that the lowering of the cargo basket 2670 has been completed (Yes in S2634), it ends Figure 16 the flowchart. Accordingly, the operator can store the goods in the cargo basket 2670.

[0359] [Working Example 2]

[0360] In this working example, Figure 17 etc. are used to explain the work of the unmanned transporter 2660 starting to travel after the goods are loaded onto the cargo basket 2670.

[0361] Figure 17 is a flowchart showing the work from winding and recovering the wire 2663 of the cargo basket 2670 containing the goods until the unmanned transporter 2660 starts to travel.

[0362] First, as Figure 12A in (b), (c) and Figure 17As shown, after the operator stores the goods in the goods basket 2670, when the wire control module 2666 receives the winding and recycling instruction of the wire 2663 from the control processing unit 2664, it drives and controls the winding and recycling unit 2667 to wind and recycle the wire 2663 (S2635). For example, the wire control module 2666 controls the motor 2667a of the winding and recycling unit 2667 to wind and recycle the wire 2663 until the length of the wire 2663 extending from the main body 2660a of the machine to the goods basket 2670 becomes the first length. Accordingly, the goods basket 2670 containing the goods rises and approaches the side of the main body 2660a of the machine.

[0363] Next, the control processing unit 2664 determines whether the ascent of the goods basket 2670 has ended (S2636).

[0364] When the control processing unit 2664 determines that the ascent of the goods basket 2670 has not ended (the "No" in S2636), it returns to step S2635.

[0365] In addition, when the control processing unit 2664 determines that the ascent of the goods basket 2670 has ended (the "Yes" in S2636), the support body drive unit 2668 is controlled by the control processing unit 2664 to rotate the first door structure 2685 around the fulcrum of the main body 2660a of the machine and rotate the second door structure 2686 around the fulcrum of the main body 2660a of the machine. Accordingly, the first door structure 2685 and the second door structure 2686 are in a closed posture, thus becoming the first door state (S2637).

[0366] Next, the control processing unit 2664 determines whether the goods basket 2670 is facing the front (S2638).

[0367] When the control processing unit 2664 determines that the goods basket 2670 is not facing the front (the "No" in S2638), it returns to step S2637.

[0368] In addition, when the control processing unit 2664 determines that the goods basket 2670 is facing the front (the "Yes" in S2638), as Figure 12A shown in (d) and Figure 17 shown, it determines whether the first door structure 2685 and the second door structure 2686 are closed (whether they are fully closed) (S2639).

[0369] When the control processing unit 2664 determines that the first door structure 2685 and the second door structure 2686 are not closed (the "No" in S2639), it returns to step S2637.

[0370] In addition, when the control processing unit 2664 determines that the first door structure 2685 and the second door structure 2686 are closed (Yes in S2639), the wire control module 2666 is controlled by the control processing unit 2664 to drive the motor 2667a of the winding and recovery unit 2667 to release the wire 2663 so that the length of the wire 2663 extending from the main body 2660a of the machine to the cargo basket 2670 becomes a second length that is longer than the first length (S2640).

[0371] When releasing the wire 2663, the control processing unit 2664 determines whether the wire 2663 is bent (S2641). Whether the wire 2663 is bent can also be determined by a tension sensor provided in the winding and recovery unit 2667. The tension sensor is a sensor that detects the tension of the wire 2663. The tension sensor outputs tension information indicating the tension of the wire 2663 to the control processing unit 2664.

[0372] When the control processing unit 2664 determines that the wire 2663 is not bent when releasing the wire 2663 (No in S2641), it returns to step S2640.

[0373] In addition, when the control processing unit 2664 determines that the wire 2663 is bent when releasing the wire 2663 (Yes in S2641), since the length of the wire 2663 extending from the main body 2660a of the machine to the cargo basket 2670 becomes the second length, the cargo basket 2670 is supported by the end 2685a of the first door structure 2685 and the end 2686a of the second door structure 2686. That is, the cargo basket 2670 is placed on the end 2685a of the first door structure 2685 and the end 2686a of the second door structure 2686.

[0374] Next, the unmanned transporter 2660 starts to move (S2642). Then, the Figure 17 flowchart ends.

[0375] [Function and Effect]

[0376] Next, the function and effect of the unmanned transporter 2660 according to the present embodiment will be described.

[0377] The system of this embodiment is a system including an unmanned transporter 2660, and includes: an unmanned transporter 2660; a first winch (winding and recovering unit 2667) connected to the unmanned transporter 2660 and capable of paying out and winding and recovering a wire 2663; a cargo basket 2670 connected to the wire 2663 for storing the cargo transported by the unmanned transporter 2660; and a controller (control processing unit 2664). Further, the cargo basket 2670 includes a posture control device 2670a, and the posture control device 2670a includes a flywheel (rotating body 2671) that rotates about a rotation axis 2671a extending in the vertical direction. And a storage space (first storage space 2674) for storing the cargo is formed in the cargo basket 2670. And the controller obtains a sensing result from a sensor 2661 capable of detecting the posture of the cargo basket 2670, and controls the rotation of the flywheel according to the obtained sensing result to rotate the cargo basket 2670 about the rotation axis 2671a so that the cargo basket 2670 becomes a target posture.

[0378] Accordingly, even if the posture of the cargo basket 2670 is inclined with respect to the horizontal direction or rotates about the vertical axis, the rotating body 2671 can be controlled by the posture control device 2670a so that the cargo basket 2670 becomes a target posture. Thus, the cargo can be delivered to a receiving box (express box) at the delivery destination.

[0379] The system of this embodiment executes a control method.

[0380] Even in this case, the same effects as the above control method can be achieved.

[0381] The program of this embodiment is a program for causing the system to execute a control method.

[0382] Even in this case, the same effects as the above control method can be achieved.

[0383] In the system of this embodiment, when looking at the cargo basket 2670 from above in the vertical direction, the position of the rotation axis 2671a overlaps with the position of the wire 2663, and the posture control device 2670a is located above the storage space.

[0384] Accordingly, since the cargo is disposed below the posture control device 2670a, when the cargo basket 2670 is suspended and lowered, the cargo can be easily taken out from the cargo basket 2670.

[0385] And since the position of the rotation axis 2671a is set to overlap with the position of the wire 2663 when looking from above in the vertical direction, the cargo basket 2670 can be rotated stably.

[0386] In the system of the present embodiment, when viewed from above in the vertical direction, the position of the rotation axis 2671a overlaps with the position of the wire 2663, and in the cargo basket 2670, the posture control device 2670a is located below the storage space.

[0387] Accordingly, since the posture control device 2670a of the heavy object is arranged below the cargo, when the cargo basket 2670 is hung and lowered, the posture of the cargo basket 2670 can be stabilized.

[0388] Moreover, when viewed from above in the vertical direction, since the position of the rotation axis 2671a is set to overlap with the position of the wire 2663, the cargo basket 2670 can be rotated stably.

[0389] In the system of the present embodiment, the first winch can extend the wire 2663 to a length more than five times the height of the unmanned transporter 2660.

[0390] In this way, when the wire 2663 extends a long distance, even if the posture of the cargo basket 2670 is inclined with respect to the horizontal direction or rotates about the vertical axis, the rotating body 2671 can be controlled by the posture control device 2670a to make the cargo basket 2670 assume the target posture. Accordingly, the cargo can be delivered to the receiving box at the delivery destination.

[0391] In the control method of the present embodiment, the system further includes: a winding and recovery unit 2667 including a motor, which winds, recovers, or pays out the wire 2663 by driving the motor, thereby adjusting the length of the wire 2663 extending from the main body of the unmanned transporter 2660 to the cargo basket 2670; a support structure 2684 for supporting the cargo basket 2670; and a first actuator (support body drive unit 2668) for driving the support structure 2684. The support structure 2684 can change between a first gate state and a second gate state. The first gate state is a state in which the cargo basket 2670 is supported by the support structure 2684 without being affected by the tension of the wire 2663 by driving the first actuator, and the second gate state is a state in which the cargo basket 2670 is hung by the tension of the wire 2663.

[0392] Accordingly, for example, when the unmanned transporter 2660 delivers cargo, the cargo basket 2670 can be supported by the support structure 2684. And when the unmanned transporter 2660 unloads the cargo, it can be hung by the tension of the wire 2663. Thus, when the unmanned transporter 2660 delivers cargo, it is not necessary to hang it by the tension of the wire 2663, so the deterioration of the wire 2663 can be suppressed. And since the cargo can be supported by the support structure 2684, the cargo can be properly supported even when the unmanned transporter 2660 is running.

[0393] The system of this embodiment further includes a first actuator for driving the support structure 2684, and the support structure 2684 includes a first door structure 2685 and a second door structure 2686 that are connected in a rotatable manner with respect to the unmanned transporter 2660. Moreover, the first door structure 2685 and the second door structure 2686 can be controlled by the first actuator to change into a first door state and a second door state. The first door state corresponds to the state in which the first door structure 2685 and the second door structure 2686 rotate to approach the cargo basket 2670, and the second door state corresponds to the state in which the first door structure 2685 and the second door structure 2686 rotate to move away from the cargo basket 2670. The controller performs the following controls (1) and (2): (1) control the first winch (the winding and unwinding unit 2667) until the length of the wire 2663 extending from the unmanned transporter 2660 to the cargo basket 2670 becomes a second first length, and wind and unwind the wire 2663; (2) after reaching the second first length, control the first actuator to change the support structure 2684 from the second door state to the first door state, and after the support structure 2684 becomes the first door state, control the motor of the winding and unwinding unit 2667 until the length of the wire 2663 extending from the unmanned transporter 2660 to the cargo basket 2670 becomes a second length that is longer than the second first length, and pay out the wire 2663. Thus, the cargo basket 2670 is supported by the first part of the first door structure 2685 and the first part (the end 2685a) of the second door structure 2686 located below the cargo basket 2670, so that the unmanned transporter 2660 changes into the first door state.

[0394] Accordingly, when the first door structure 2685 and the second door structure 2686 are in the first door state, the first part of the first door structure 2685 and the second part of the second door structure 2686 can support the cargo basket 2670. Thereby, since it is not necessary to hang by the tension of the wire 2663 when the unmanned transporter 2660 distributes goods, the deterioration of the wire 2663 can be suppressed. Moreover, since the cargo can be supported by the support structure 2684, the cargo can be properly supported even when the unmanned transporter 2660 is traveling.

[0395] Moreover, in order to support the cargo basket 2670 by the support structure 2684, the length of the wire 2663 can be made the second length. Accordingly, since the cargo basket 2670 can be supported by the support structure 2684 when the unmanned transporter 2660 distributes goods, the deterioration of the wire 2663 can be suppressed. Moreover, since the cargo can be supported by the support structure 2684, the cargo can be properly supported even when the unmanned transporter 2660 is traveling.

[0396] In the system of this embodiment, the controller controls the first winch to wind and retract the wire 2663, controls the attitude control device to rotate the cargo basket 2670, and controls the first winch to release the wire 2663, thereby changing the unmanned transporter 2660 from the second state to the first state.

[0397] Accordingly, when the unmanned transporter 2660 delivers goods, it is not suspended by the tension of the wire 2663, so that deterioration of the wire 2663 can be suppressed. Moreover, since the cargo is supported by the support structure 2684, the cargo can be properly supported even when the unmanned transporter 2660 is traveling.

[0398] In the system of this embodiment, when the cargo basket 2670 is in the second state, the controller controls the first winch to change the cargo basket 2670 from the second state to the first state.

[0399] Even in this case, the same effect as described above is achieved.

[0400] In the system of this embodiment, the support structure includes a first part and a second part, the first part and the second part of the support structure are separated by a predetermined distance, the cargo basket 2670 includes a third part and a fourth part, and when the cargo basket 2670 is in the second state, the controller controls the first winch to connect the third part of the cargo basket 2670 to the first part of the support structure and connect the fourth part of the cargo basket 2670 to the second part of the support structure, thereby changing the cargo basket 2670 to the first state.

[0401] Even in this case, the same effect as described above is achieved.

[0402] The system of this embodiment further includes a first actuator for driving the support structure. The support structure includes a first door structure 2685 and a second door structure 2686 connected in a rotatable manner with respect to the unmanned transporter 2660. The controller can control the first actuator to change the first door structure 2685 and the second door structure 2686 to a first door state and a second door state. The first door state is a state in which the cargo basket 2670 can be supported by the first door structure 2685 and the second door structure 2686, and the second door state is a state in which the cargo basket 2670 is supported by the wire 2663 and cannot be supported by the first door structure 2685 and the second door structure 2686.

[0403] Accordingly, when the first door structure 2685 and the second door structure 2686 are in the first door state, the first part of the first door structure 2685 and the second part of the second door structure 2686 can support the cargo basket 2670. Therefore, when the unmanned transporter 2660 delivers goods, it will not be suspended by the tension of the wire 2663, so the deterioration of the wire 2663 can be suppressed. Moreover, since the goods are supported by the support structure 2684, the goods can be properly supported even when the unmanned transporter 2660 is running.

[0404] In the system of this embodiment, the first door structure 2685 includes a part A extending in the first direction and a part B extending in the second direction, and the part B is fixed in a non-rotatable manner relative to the part A. When the first door structure 2685 is in the first door state, the first direction is substantially parallel to the vertical direction, the second direction is substantially parallel to the horizontal direction, and the part A of the first door structure 2685 is located above the part B. The second door structure 2686 includes a part C extending in the third direction and a part D extending in the fourth direction, and the part D is fixed in a non-rotatable state relative to the part C. When the second door structure 2686 is in the first door state, the third direction is substantially parallel to the vertical direction, the fourth direction is substantially parallel to the horizontal direction, and the part C of the second door structure 2686 is located above the part D.

[0405] In this way, the first door structure 2685 includes a part A extending in the first direction and a part B extending in the second direction, and the part A and the part B are fixed together in a non-rotatable state. Moreover, the second door structure 2686 includes a part C extending in the third direction and a part D extending in the fourth direction, and the part C and the part D are fixed together in a non-rotatable state.

[0406] For this reason, when the system transports the cargo basket 2670, even if the power supply to the first actuator is cut off, since there are the part B of the first door structure 2685 and the part D of the second door structure 2686 below the cargo basket 2670, the cargo basket 2670 can be prevented from falling.

[0407] In the system of this embodiment, the controller controls the first actuator in the case of the first door state so that the first door structure 2685 and the second door structure 2686 clamp both sides of the cargo basket 2670 and support the lower surface of the cargo basket 2670.

[0408] Even in this case, the same effect as above is achieved.

[0409] In the system of this embodiment, the first door structure 2685 includes a portion A extending in the first direction and a portion B extending in the second direction, and the portion B is fixed in a state where it cannot rotate relative to the portion A. The second door structure 2686 includes a portion C extending in the third direction and a portion D extending in the fourth direction, and the portion D is fixed in a state where it cannot rotate relative to the portion C. The controller controls the first actuator in the case of the first door state so that the portion A and the portion C are arranged to sandwich both sides of the cargo basket 2670, and the portion B and the portion D are arranged below the cargo basket 2670.

[0410] Even in this case, the same effect as described above is achieved.

[0411] In the control method of this embodiment, the unmanned transporter 2660 travels along the guide rail 7 to transport goods. The unmanned transporter 2660 further includes: wheels 2681 for traveling on the guide rail 7, an arm portion (suspension arm 2682) connected to the main body of the unmanned transporter 2660 and the wheels 2681, and a second actuator (arm drive portion 2665) for driving the arm portion. And, the unmanned transporter 2660 can be changed to a third state and a fourth state by driving the second actuator. The third state is a state where the distance between the main body and the guide rail 7 is a first distance, and the fourth state is a state where the distance is a second distance greater than the first distance.

[0412] Accordingly, in the case where the unmanned transporter 2660 travels and in the case where the unmanned transporter 2660 unloads goods, the state of the unmanned transporter 2660 can be switched to the third state and the fourth state.

[0413] In the control method of this embodiment, when the unmanned transporter 2660 travels, the second actuator is controlled to make the unmanned transporter 2660 into the third state, and when the unmanned transporter 2660 unloads goods, the second actuator is controlled to make the unmanned transporter 2660 into the fourth state.

[0414] Accordingly, in the case where the unmanned transporter 2660 travels, the distance between the main body 2660a of the machine body and the guide rail 7 becomes closer, and since the distance between the main body 2660a of the machine body and the ground becomes farther, the main body 2660a of the machine body can easily avoid obstacles. And, when the unmanned transporter 2660 unloads goods, the control processing unit 2664 controls the arm drive portion 2665 to make the unmanned transporter 2660 into the fourth state. In addition, in the case where the unmanned transporter 2660 unloads goods, the distance between the main body 2660a of the machine body and the guide rail 7 becomes farther, and since the distance between the main body 2660a of the machine body and the ground becomes closer, it is convenient to unload the goods.

[0415] In the control method of the present embodiment, the target posture includes a posture in which the vertical direction of the target is the same as the vertical direction of the cargo basket 2670.

[0416] Accordingly, since the cargo basket 2670 can be corrected to the target posture, the cargo can be delivered to the receiving box at the delivery destination.

[0417] (Modification of Embodiment 2)

[0418] The unmanned transporter 2660b in this modification will be described below. In addition, the same reference numerals are given to the components that are the same as the basic components of the above-described embodiment, and the description may be appropriately omitted. Also, in this modification, the components of each embodiment can be applied to this modification.

[0419] First, using Figure 18 The unmanned transporter 2660b in this modification will be described.

[0420] Figure 18 FIG. is a diagram showing an example of the body main body 2660a and the cargo basket 2670 of the unmanned transporter 2660b according to the modification of Embodiment 2.

[0421] As Figure 18 shown, the unmanned transporter 2660b can travel along the guide rail 7. A first connector 2691, a second connector 2692, and a third connector 2693 are provided on the unmanned transporter 2660b. The first connector 2691 is disposed on one side in the traveling direction of the body main body 2660a of the unmanned transporter 2660b, and the second connector 2692 is disposed on the other side in the traveling direction of the body main body 2660a of the unmanned transporter 2660b. The third connector 2693 is disposed at the center of the body main body 2660a of the unmanned transporter 2660b, between the first connector 2691 and the second connector 2692. The wheels 2681 of the first connector 2691 and the wheels 2681 of the second connector 2692 are disposed above the guide rail 7, and the wheels 2681 of the third connector 2693 are disposed below the guide rail 7.

[0422] In this modified example, the first connecting body 2691 and the second connecting body 2692 are driven by the arm driving part 2694 and can rotate relative to the main body 2660a of the machine. Specifically, the lower ends of the first connecting body 2691 and the second connecting body 2692 are respectively arranged on the main body 2660a of the machine in a rotatable manner with the short direction of the main body 2660a of the machine as the axis. Moreover, the first connecting body 2691 and the second connecting body 2692 are respectively connected between the wheels 2681 and the lower ends and each arm driving part 2694 and can rotate relative to each arm driving part 2694. Since each arm driving part 2694 is a damper or the like, by being controlled by the control processing part 2664, the first connecting body 2691 and the second connecting body 2692 can be respectively pushed and pulled. Accordingly, each arm driving part 2694 can make the first connecting body 2691 and the second connecting body 2692 rotate relative to the main body 2660a of the machine.

[0423] For example, by respectively pushing the first connecting body 2691 and the second connecting body 2692 by each arm driving part 2694, the first connecting body 2691 rotates in the clockwise direction and the second connecting body 2692 rotates in the counterclockwise direction, so that the main body 2660a of the machine approaches the guide rail 7, the distance between the main body 2660a of the machine and the guide rail 7 becomes closer, and the distance between the main body 2660a of the machine and the ground becomes farther. Moreover, by respectively pulling the first connecting body 2691 and the second connecting body 2692 by each arm driving part 2694, the first connecting body 2691 rotates in the counterclockwise direction and the second connecting body 2692 rotates in the clockwise direction, so that the distance between the main body 2660a of the machine and the guide rail 7 becomes farther and the distance between the main body 2660a of the machine and the ground becomes closer.

[0424] (Embodiment 3)

[0425] The basic configuration of the express delivery box 2700 in the present embodiment will be described below. In addition, the same reference numerals are given to the components having the same basic configuration as those in the above-described embodiment, and the description may be appropriately omitted. Moreover, in this modified example, the components of each embodiment can also be applied to this modified example.

[0426] First, Figures 19A to 20 the control method using the express delivery box 2700 in the present embodiment will be described.

[0427] Figure 19A is a perspective view exemplarily showing the express delivery box 2700 according to Embodiment 3. Figure 19B is a block diagram exemplarily showing the express delivery box according to Embodiment 3. Figure 20 is a view exemplarily showing the operation of the express delivery box 2700 according to Embodiment 3 when viewed from the front. In Figure 20In (a) of the figure, an example is shown of the case where the box structure 2722 of the carrying box 2720 receives goods when the delivery box 2700 is viewed from the front. In Figure 20 In (b) of the figure, an example is shown of delivering the goods received by the box structure 2722 to a specified box 2708 among the plurality of boxes 2708. Figure 20 In (b) of the figure, the illustration of the guiding structure 2710 is omitted.

[0428] As Figures 19A to 20 shown, the delivery box 2700 is a receiving box for receiving goods from the unmanned transporter 2660. The delivery box 2700 is included in the shipping system of the above-described embodiment. An ordering screen 2703 for ordering goods can also be provided in the delivery box 2700. The delivery box 2700 is an example of a receiving box.

[0429] The delivery box 2700 includes a frame 2701, a guiding structure 2710, a guiding movable part 2715, a drive control part 2716, and a carrying box 2720.

[0430] The frame 2701 is in a cubic shape or a cylindrical shape and is a container capable of storing a plurality of goods. A top opening 2704, a receiving space 2704a, and a lifting path 2704b are formed in the frame 2701. The top opening 2704 is formed in the top surface part vertically above the frame 2701. The receiving space 2704a is a space for receiving goods passing through the top opening 2704. The lifting path 2704b is for delivering the received goods to a specified box 2708 among the plurality of boxes 2708 provided in the frame 2701.

[0431] The top opening 2704 is formed in the vertical upper surface of the frame 2701. The top opening 2704 is vertically below the guide rail and is elongated in the length direction of the guide rail. The unmanned transporter 2660 lowers the delivered goods and makes the goods pass through the top opening 2704. That is, the top opening 2704 is the goods inlet. The top opening 2704 is an example of the opening of the frame 2701.

[0432] The receiving space 2704a is connected to the top opening 2704 and is a space formed above the plurality of boxes 2708 arranged in the frame 2701. Goods passing through the top opening 2704 can be received in the receiving space 2704a, that is, goods delivered by the unmanned transporter 2660 can be received. When the unmanned transporter 2660 moves goods into the delivery box 2700, the carrying box 2720 capable of receiving goods is arranged in the receiving space 2704a. Therefore, goods delivered by the unmanned transporter 2660 can be received in the receiving space 2704a.

[0433] The lifting path 2704b is connected to the receiving space 2704a. In the lifting path 2704b, the handling box 2720 that has received goods in the receiving space 2704a can move vertically like an elevator. That is, the lifting path 2704b is a passage for delivering the goods received in the receiving space 2704a to a specified box. Specifically, the handling box 2720 delivers the goods to a specified box 2708 among the multiple boxes 2708.

[0434] The multiple boxes 2708 are arranged along the lifting path 2704b in a one-to-one correspondence with the multiple loading openings, and the multiple loading openings communicate with the lifting path 2704b. In the present embodiment, the multiple boxes 2708 are arranged in two columns in the vertical direction with the lifting path 2704b interposed therebetween. The loading opening is a receiving port for the goods delivered by the handling box 2720 to be loaded. A switchable loading door may also be provided at the loading opening.

[0435] In each of the multiple boxes 2708, an extraction opening 2702a is formed through which the goods arranged in the internal space of the box 2708 can be taken out. And each of the multiple boxes 2708 has an extraction door 2702 that can open and close the extraction opening 2702a. The extraction door 2702 can open and close the extraction opening 2702a.

[0436] The guiding structure 2710 is a frame-shaped structure that can guide goods. An opening 2711 through which the goods can pass is formed in the guiding structure 2710.

[0437] The guiding structure 2710 has a plurality of upper covers 2712 and an upper cover driving part 2718 for rotating the upper covers 2712. When the unmanned transporter 2660 lowers the delivered goods, the plurality of upper covers 2712 can guide the descending goods basket 2670.

[0438] When the drive control unit 2716 obtains the sensing result of the sensor 2717, the drive control unit 2716 controls the upper cover driving part 2718 of the guiding structure 2710, and the plurality of upper covers 2712 open the opening 2711. At this time, since the plurality of upper covers 2712 maintain an inclined posture, when the unmanned transporter 2660 lowers the goods basket 2670, the goods basket 2670 can be guided to the opening 2711, that is, the goods basket 2670 can be guided to the top opening 2704. And when the drive control unit 2716 obtains the sensing result of the sensor 2717, the drive control unit 2716 controls the upper cover driving part 2718 of the guiding structure 2710, so that the plurality of upper covers 2712 close the opening 2711. The sensor 2717 is an image sensor or the like.

[0439] Here, the sensing result of the sensor 2717 is, for example, the position information of the unmanned transporter 2660, and may also include information indicating that the unmanned transporter 2660 lowers the cargo basket 2670, and information indicating the completion of the loading of the cargo into the express box 2700.

[0440] Moreover, the guiding structure 2710 is provided at the top opening 2704 of the housing 2701 and can slide by being driven by the guiding movable part 2715. That is, the guiding structure 2710 can move along the length direction of the top opening 2704. Therefore, when the unmanned transporter 2660 lowers the delivered cargo, even if the cargo basket 2670 is blown by the wind or the like, the cargo can be received by the movement of the guiding structure 2710. That is, the guiding structure 2710 is located above the housing 2701 and can receive the cargo in the cargo basket 2670 that descends from the unmanned transporter 2660 above the express box 2700 via the wire 2663.

[0441] The guiding movable part 2715 is an actuator that can slide the guiding structure 2710 disposed at the top opening 2704 of the housing 2701 by being controlled by the drive control unit 2716. The guiding movable part 2715 is an example of a third actuator.

[0442] When the cargo basket 2670 and the cargo descend via the wire 2663, the drive control unit 2716 controls the guiding movable part 2715 according to the sensing result of the sensor 2717, and moves the guiding structure 2710 to a position that overlaps the cargo basket 2670 when viewed from above in the vertical direction. Here, the sensing result of the sensor 2717 includes acquiring the position information indicating the position of the cargo basket 2670. Moreover, the position information may be information indicating the relative positional relationship between the cargo basket 2670 and the express box 2700, and information indicating the relative positional relationship between the cargo basket 2670 and the handling box 2720. Moreover, the position information may also be information obtained based on the image information acquired by the camera. The camera may be provided on the unmanned transporter 2660 or may be provided on the cargo basket 2670.

[0443] Moreover, when the unmanned transporter 2660 lowers the cargo basket 2670, the drive control unit 2716 controls the upper cover drive part 2718 of the guiding structure 2710 to drive the plurality of upper covers 2712, so that the opening 2711 of the guiding structure 2710 can be opened or closed.

[0444] The handling box 2720 can move in the receiving space 2704a and the lifting path 2704b in the housing 2701 by being controlled by the drive control unit 2716.

[0445] For example Figure 20As shown in (a) thereof, when the unmanned transporter 2660 lowers the cargo basket 2670, the handling box 2720 is controlled by the drive control unit 2716 to move so as to be vertically below the guiding structure 2710. Specifically, when the cargo basket 2670 and the cargo descend via the wire 2663, the drive control unit 2716 controls the transporting unit 2721 of the handling box 2720 according to the sensing result of the sensor 2717 to move the handling box 2720 so that the cargo basket 2670 and the handling box 2720 overlap when viewed from above in the vertical direction.

[0446] The handling box 2720 has a transporting unit 2721 and a box structure 2722.

[0447] The transporting unit 2721 can move the box structure 2722 along a path by being controlled by the drive control unit 2716. That is, when the transporting unit 2721 is controlled by the drive control unit 2716, as shown by the dashed arrow in (a) of Figure 20 the handling box 2720 moves in the receiving space 2704a and reaches the lifting path 2704b, and as shown in (b) of Figure 20 it descends along the lifting path 2704b, so that it can move in front of the box 2708 of the express recipient. Specifically, the handling box 2720 can obtain information indicating the delivery destination through the drive control unit 2716, pick up the cargo from the cargo basket 2670, and move in front of the specified box 2708 of the express recipient. In this way, after the cargo moves from the cargo basket 2670 to the handling box 2720, the drive control unit 2716 controls the transporting unit 2721 of the handling box 2720 to move the box structure 2722 along the path. In addition, the transporting unit 2721 is an example of an actuator of the wire 2663. The receiving space 2704a and the lifting path 2704b are examples of paths.

[0448] The box structure 2722 has a bottom plate 2723 and a carrying-out door 2724. When the unmanned transporter 2660 lowers the cargo basket 2670, the bottom plate 2723 can pick up the cargo and place the picked-up cargo. The carrying-out door 2724 is a door for carrying out the cargo to the box 2708, which can be opened when the cargo is received into the box 2708 and can be closed after the cargo is received. The carrying-out door 2724 is controlled by the drive control unit 2716 through a door drive unit (not shown) provided in the handling box 2720 to be opened and closed. When the carrying-out door 2724 is opened, the cargo placed on the bottom plate 2723 can be guided from the bottom plate 2723 to the loading opening of the box 2708. Then, the cargo placed on the bottom plate 2723 is sent out by a sending unit (not shown) provided in the box structure 2722 and received into the specified box 2708.

[0449] [Working example]

[0450] Next, the working examples of the following cases will be described. These cases are: the case where the cargo basket 2670 is lowered to the express delivery box 2700 when the cargo basket 2670 is in the correct posture, and the case where the cargo basket 2670 is lowered to the express delivery box 2700 after correcting the posture when the posture of the cargo basket 2670 is deviated. Figure 21

[0451] It is a figure showing the work of the cargo basket 2670 and the work of the express delivery box 2700 when viewed from the front. Specifically, Figure 21 In (a) of Figure 21 , an example is shown of the appearance of the handling box 2720 of the express delivery box 2700 collecting goods when the cargo basket 2670 is in the correct posture. Figure 21 In (b) of Figure 21 , an example is shown of the appearance of correcting the posture of the cargo basket 2670 and the handling box 2720 of the express delivery box 2700 collecting goods when the posture of the cargo basket 2670 is inclined with respect to the horizontal direction. Figure 21 In (c) of Figure 21 , an example is shown of the appearance of correcting the posture of the cargo basket 2670 and the handling box 2720 of the express delivery box 2700 collecting goods when the cargo basket 2670 rotates about the vertical axis and the posture of the cargo basket 2670 is deviated. In addition, in Figure 21 the guiding structure 2710 can be provided on the express delivery box 2700 or not provided on the express delivery box 2700.

[0452] In Figure 21 In (a) of Figure 21 , when the unmanned transporter 2660 lowers the cargo basket 2670, the handling box 2720 moves in a manner located vertically above the guiding structure 2710 by being controlled by the drive control unit 2716. Accordingly, the cargo basket 2670 descends, the cargo basket 2670 is guided by the guiding structure 2710, and the cargo basket 2670 reaches the handling box 2720. Accordingly, the handling box 2720 can collect goods from the cargo basket 2670.

[0453] In Figure 21 In (b) of Figure 21 , when the unmanned transporter 2660 lowers the cargo basket 2670, since the posture of the cargo basket 2670 is inclined with respect to the horizontal direction, the rotational speed of the rotating body and the direction of the rotation axis of the rotating body are controlled by the posture control device of the cargo basket 2670 as in the above-described embodiment, so that the posture of the cargo basket 2670 can be corrected to the correct posture. Accordingly, the bottom surface of the cargo basket 2670 becomes a posture parallel to the horizontal direction.

[0454] In Figure 21In (c) above, when the unmanned transporter 2660 lowers the cargo basket 2670, since the cargo basket 2670 rotates about the vertical axis and the posture of the cargo basket 2670 deviates, the rotational speed of the rotating body can be controlled by the posture control device of the cargo basket 2670 as in the above-described embodiment, so that the posture of the cargo basket 2670 can be corrected to the correct posture.

[0455] Accordingly, when viewed from above in the vertical direction, the cargo basket 2670 assumes a posture within the opening 2711 in the guiding structure 2710. Therefore, as long as the cargo basket 2670 is lowered, the cargo basket 2670 will be guided by the guiding structure 2710, and thus the cargo basket 2670 reaches the carrying box 2720. Accordingly, the carrying box 2720 can receive the cargo from the cargo basket 2670.

[0456] [Function and Effect]

[0457] Next, the function and effect of the express box 2700 according to the present embodiment will be described.

[0458] In the control method of the present embodiment, the system further includes a receiving box (express box 2700) for receiving the cargo from the unmanned transporter 2660. The receiving box includes a frame body 2701, a guiding structure 2710, and a third actuator (the guiding movable part 2715). The guiding structure 2710 is located in the upper part of the frame body 2701 and is used to receive the cargo from the cargo basket 2670 that descends from the unmanned transporter 2660 above the receiving box via the wire 2663. The third actuator is used to move the guiding structure 2710. And, in the control method, when the cargo basket 2670 and the cargo descend via the wire 2663, the third actuator is controlled according to the position information indicating the position of the cargo basket 2670 to move the guiding structure 2710 so that the cargo basket 2670 overlaps with the guiding structure 2710 when viewed from above in the vertical direction.

[0459] Accordingly, when the unmanned transporter 2660 unloads the cargo, even if the cargo basket 2670 is deviated due to the influence of wind or the like, the guiding structure 2710 can be moved so that the cargo basket 2670 overlaps with the guiding structure 2710. Therefore, the guiding structure 2710 can guide the cargo basket 2670. Accordingly, the receiving box can receive the cargo from the cargo basket 2670.

[0460] In the control method of the present embodiment, the system further includes a receiving box for receiving goods from the unmanned transporter 2660. Moreover, the receiving box includes a frame 2701 and a basket moving mechanism (carrying box 2720) located within the frame 2701. The basket moving mechanism includes a box structure 2722 and an actuator (transporting unit 2721), and the box structure 2722 is moved along a path by driving the actuator. Also, in the control method, when the goods basket 2670 and the goods descend via the wire 2663, the actuator of the basket moving mechanism is controlled based on the position information indicating the position of the goods basket 2670 so that the box structure 2722 moves in such a way that the goods basket 2670 overlaps with the box structure 2722 when viewed from above in the vertical direction. After the goods move from the goods basket 2670 to the box structure 2722, the actuator of the basket moving mechanism is controlled to move the box structure 2722 along the path.

[0461] Accordingly, when the unmanned transporter 2660 unloads goods, even if the goods basket 2670 deviates due to the influence of wind or the like, the goods basket 2670 can be overlapped with the guiding structure 2710 by moving the guiding structure 2710, so that the guiding structure 2710 can guide the goods basket 2670. Therefore, the receiving box can receive goods from the goods basket 2670. Then, the box structure 2722 can move the received goods to a specified position. Accordingly, the goods can be arranged at a specified place.

[0462] (Modification Example 1 of Embodiment 3)

[0463] Hereinafter, since the basic configuration of the express delivery box 2700a in this modification example is the same as the basic configuration of the express delivery box in Embodiment 3 and the like, the same reference numerals as those in the above-described embodiments are given to the basic configurations of the above-described embodiments, and the description is appropriately omitted. Also, in this modification example, the respective configurations of the respective embodiments can be applied to this modification example.

[0464] First, use Figure 22 and Figure 23 to illustrate the control method using the express delivery box 2700a in the present embodiment.

[0465] Figure 22 is a diagram exemplifying the operation of the goods basket 2670 and the operation of the express delivery box 2700a when there is wind as viewed from the front. Figure 23 is a block diagram exemplifying the express delivery box according to Modification Example 1 of Embodiment 3.

[0466] As Figure 22 and Figure 23As shown, the frame 2701 of the express delivery box 2700a has: a placement part 2704c located inside the frame 2701 for placing goods, a bottom plate 2723 located inside the frame 2701 for loading goods, and a protruding part 2704d formed on the lifting path 2704b.

[0467] The placement part 2704c is the bottom surface. When the unmanned transporter 2660 moves goods into the express delivery box 2700a, it can load and collect the goods. Since the placement part 2704c is located on the lower end surface of the collection space 2704a, the collection space 2704a is formed by the placement part 2704c and the frame 2701. The placement part 2704c is an example of the first bottom surface.

[0468] The bottom plate 2723 is a movable plate that loads goods by moving the goods placed on the placement part 2704c by the first moving mechanism 2725. The bottom plate 2723 can move in the lifting path 2704b like an elevator by being driven by the transport part 2721 controlled by the drive control part 2716. Accordingly, the loaded goods can be moved in front of the specified box 2708. The bottom plate 2723 is an example of the second bottom surface.

[0469] The protruding part 2704d is a convex part that makes a part of the lifting path 2704b narrower and protrudes. Specifically, the protruding part 2704d protrudes and extends in the lifting path 2704b in such a way that it does not contact the bottom plate 2723 moving in the vertical direction in the lifting path 2704b. A plurality of protruding parts 2704d are formed corresponding to a plurality of boxes 2708 arranged in the vertical direction. Specifically, the protruding part 2704d is formed on the upper end edge of each of the plurality of boxes 2708.

[0470] The express delivery box 2700a further includes a first moving mechanism 2725 and a second moving mechanism 2726.

[0471] The first moving mechanism 2725 includes an actuator 2725a located inside the frame 2701 for moving the goods placed on the placement part 2704c. That is, the first moving mechanism 2725 is controlled by the drive control part 2716, so that the actuator 2725a moves the goods. For example, the first moving mechanism 2725 can drive the push rod through the drive of the actuator 2725a, and push the goods by the push rod, so that the goods move from the placement part 2704c to the bottom plate 2723. And the placement part 2704c itself can be a belt conveyor. In this case, the belt conveyor can be driven by the actuator 2725a to move the goods.

[0472] The second moving mechanism 2726 is located within the housing 2701, includes a conveying unit 2721, and can move the bottom plate 2723 along a path by driving the conveying unit 2721. That is, the second moving mechanism 2726 is controlled by the drive control unit 2716, so that the conveying unit 2721 moves the goods. The conveying unit 2721 is an example of an actuator of the second moving mechanism 2726.

[0473] After the goods in the goods basket 2670 that has descended from the unmanned transporter 2660 above the express delivery box 2700a via the wire 2663 are placed on the placement unit 2704c, the drive control unit 2716 controls the actuator 2725a of the first moving mechanism 2725, so that the goods can be moved from the placement unit 2704c to the bottom plate 2723.

[0474] And, after the goods are moved onto the bottom plate 2723, the conveying unit 2721 of the second moving mechanism 2726 is controlled, so that the bottom plate 2723 can move along the path.

[0475] Next, Figure 22 A working example in the following cases will be described. These cases are: the case where the goods basket 2670 lowers the bottom plate 2723, and the case where the goods are moved to the bottom plate 2723 when the goods basket 2670 is affected by wind or the like and the bottom plate 2723 deviates from the goods collection position.

[0476] Specifically, Figure 22 (a) of shows the appearance of the goods basket 2670 lowering to the bottom plate 2723 to collect goods without being shaken due to the influence of wind or the like. Figure 22 (b) of shows the appearance of moving the goods to the bottom plate 2723 when the goods basket 2670 is shaken by wind or the like and the position of the goods collected from the goods basket 2670 deviates from the bottom plate 2723. Figure 22 (c) of shows the appearance of the goods on the bottom plate 2723 being moved to in front of the specified box 2708 and the goods being stored in the specified box 2708.

[0477] As Figure 22 As shown in (a) of, since the unmanned transporter 2660 lowers the goods basket 2670 to the bottom plate 2723, the bottom plate 2723 can receive the goods from the goods basket 2670. When the bottom plate 2723 receives the goods from the goods basket 2670, the bottom plate 2723 moves in front of the specified box 2708. The goods are moved by another actuator 2726a, cross from the bottom plate 2723 to the protruding portion 2704D, and are stored in the specified box 2708.

[0478] As Figure 22As shown in FIG. (b), the cargo basket 2670 sways due to wind or the like. Therefore, when the cargo basket 2670 descends to a position deviated from the bottom plate 2723, that is, the placement part 2704c, the placement part 2704c can receive the cargo from the cargo basket 2670. The first moving mechanism 2725 drives the actuator 2725a to move the cargo from the placement part 2704c to the bottom plate 2723. Specifically, by moving the cargo placed on the placement part 2704c by the actuator 2725a, the cargo is moved from the placement part 2704c via the protruding part 2704d to the bottom plate 2723. Therefore, the cargo can be guided to the bottom plate 2723 in such a manner that the cargo will not be caught in the gap between the bottom plate 2723 and the protruding part 2704d.

[0479] As Figure 22 As shown in FIG. (c), when the cargo is placed on the bottom plate 2723, the bottom plate 2723 is driven by the transport part 2721 of the second moving mechanism 2726 controlled by the drive control part 2716 and moves like an elevator in the lifting path 2704b. The bottom plate 2723 moves in front of the specified box 2708. The cargo is moved by another actuator 2726a, jumps from the bottom plate 2723 onto the protruding part 2704D, and is stored in the specified box 2708. Specifically, when the bottom plate 2723 moves in front of the specified box 2708, the cargo placed on the bottom plate 2723 is moved by another actuator 2726a, so that the cargo can be stored in the specified box 2708 from the bottom plate 2723 via the protruding part 2704d. Therefore, the cargo can be guided to the specified box 2708 in such a manner that the cargo will not be caught in the gap between the bottom plate 2723 and the protruding part 2704d.

[0480] Next, the effects of the control method in the express box 2700a of this modification will be described.

[0481] In the control method of the present modification described above, the system further includes a receiving box (express delivery box 2700a) for receiving goods from the unmanned transporter 2660. The receiving box includes: a frame 2701 having a first bottom surface (placement portion 2704c) for placing goods; a second bottom surface (bottom plate 2723) located inside the frame 2701 for placing goods; a first moving mechanism 2725 located inside the frame 2701, including an actuator 2725a for moving the goods placed on the first bottom surface; and a second moving mechanism 2726 located inside the frame 2701, including an actuator (transportation portion 2721), and moving the second bottom surface along a path by driving the actuator. In the control method, after the goods in the goods basket 2670 descending via the wire 2663 from the unmanned transporter 2660 above the receiving box are placed on the first bottom surface, the actuator 2725a of the first moving mechanism 2725 is controlled to move the goods from the first bottom surface to the second bottom surface. After the goods are moved to the second bottom surface, the actuator of the second moving mechanism 2726 is controlled to move the second bottom surface along the path.

[0482] Accordingly, when the unmanned transporter 2660 unloads goods, even if the goods basket 2670 deviates due to the influence of wind or the like, the goods can be received from the goods basket 2670 on the first bottom surface. The goods arranged on the first bottom surface are moved to the second bottom surface by the first moving mechanism 2725, so that the goods can be moved to a specified position inside the frame 2701.

[0483] (Modification 2 of Embodiment 3)

[0484] Hereinafter, since the basic configuration of the express delivery box 2700b in this modification is the same as the basic configuration of the express delivery box in Embodiment 3 and the like, the same reference numerals as those in the above-described embodiments are given to the basic configurations of the above-described embodiments, and the description is appropriately omitted. Also, in this modification, the respective configurations of the respective embodiments can be applied to this modification.

[0485] First, use Figure 24 and Figure 25 to describe the control method using the express delivery box 2700b in this embodiment.

[0486] Figure 24 is a plan view exemplarily showing the express delivery box 2700b according to Modification 2 of Embodiment 3. Figure 25 is a side view exemplarily showing the express delivery box 2700b according to Modification 2 of Embodiment 3. In Figure 24 an example is shown of the state where the express delivery box 2700b is arranged more outside than the outer road line and faces the road.

[0487] When viewed from above in the vertical direction, the frame 2701 of the express delivery box 2700b in this modification example includes a first first side 2701a, a first second side 2701b adjacent to the first first side 2701a, a first third side 2701c adjacent to the first second side 2701b, and a first fourth side 2701d adjacent to the first third side 2701c and the first first side 2701a.

[0488] Specifically, when the frame 2701 is viewed in plan view, its shape is rectangular. More specifically, the first first side 2701a is substantially parallel to the first third side 2701c, the lengths of the first first side 2701a and the first third side 2701c are the same, the lengths of the first second side 2701b and the first fourth side 2701d are the same, and the first first side 2701a is longer than the first second side 2701b. The first second side 2701b is connected to one end of the first first side 2701a and one end of the first third side 2701c, and the first third side 2701c is connected to the other end of the first first side 2701a and the other end of the first third side 2701c.

[0489] In addition, the frame 2701 includes a first opening / closing door 2705 connected to the first first side 2701a and capable of opening and closing the top opening 2704 of the frame 2701, and a second opening / closing door 2706 connected to the first third side 2701c and capable of opening and closing the top opening 2704 of the frame 2701.

[0490] The first opening / closing door 2705 is a lid including a second first side 2705a and a second second side 2705b adjacent to the second first side 2705a. In addition, the first opening / closing door 2705 includes a second third side 2705c parallel to the second first side 2705a and a second fourth side 2705d parallel to the second second side 2705b. The second second side 2705b is connected to one end of the second first side 2705a and one end of the second third side 2705c, and the second fourth side 2705d is connected to the other end of the second first side 2705a and the other end of the second third side 2705c. The second first side 2705a is connected to the first first side 2701a. And when the first opening / closing door 2705 opens the top opening 2704 of the frame 2701, it is disposed below the guide rail 7.

[0491] The second opening / closing door 2706 is a lid including a third first side 2706a and a third second side 2706b adjacent to the third first side 2706a. Moreover, the second opening / closing door 2706 includes a third third side 2706c parallel to the third first side 2706a and a third fourth side 2706d parallel to the third second side 2706b. The third second side 2706b is connected to one end of the third first side 2706a and one end of the third third side 2706c, and the third fourth side 2706d is connected to the other end of the third first side 2706a and the other end of the third third side 2706c. The third first side 2706a is connected to the first third side 2701c.

[0492] That is, the first opening / closing door 2705 and the second opening / closing door 2706 are connected to the frame 2701 in a rotatable manner.

[0493] In addition, the first opening / closing door 2705 and the second opening / closing door 2706 may have the same structure as the above-mentioned upper lid, or may be rotated by the upper lid driving portion.

[0494] And, the second second side 2705b is set to be longer than the third second side 2706b. That is, as Figure 25 shown, when the first opening / closing door 2705 and the second opening / closing door 2706 are viewed from the side, the length of the first opening / closing door 2705 is set to be longer than the length of the second opening / closing door 2706.

[0495] In such a delivery box 2700b, when the road, the delivery box 2700b, and the guide rail 7 on which the unmanned transporter 2660 travels are viewed from above in the vertical direction, the delivery box 2700b is arranged such that the first first side 2701a is parallel to the guide rail 7. And, the delivery box 2700b is also arranged such that, in the direction away from the center line of the road toward the outside, the guide rail 7, the first first side 2701a, and the first third side 2701c are arranged in this order. That is, the first opening / closing door 2705 is arranged more facing the road than the second opening / closing door 2706 with respect to the frame 2701. Therefore, when the unmanned transporter 2660 unloads the goods, even if the goods basket 2670 deviates due to the influence of wind or the like, the goods can be guided to the first opening / closing door 2705 and the second opening / closing door 2706. Therefore, it is possible to prevent the goods from falling onto the road.

[0496] Next, the operation and effect of the control method in the delivery box 2700b of this modification will be described.

[0497] In the control method of the present modification described above, when viewed from above in the vertical direction, the housing 2701 includes a first first side 2701a, a first second side 2701b adjacent to the first first side 2701a, a first third side 2701c adjacent to the first second side 2701b, and a first fourth side 2701d adjacent to the first third side 2701c and the first first side 2701a. The housing 2701 includes a first opening / closing door 2705 connected to the first first side 2701a and capable of opening and closing the top opening 2704 of the housing 2701, and a second opening / closing door 2706 connected to the first third side 2701c and capable of opening and closing the top opening 2704 of the housing 2701.

[0498] Accordingly, the first opening / closing door 2705 and the second opening / closing door 2706 can be arranged along the first first side 2701a and the first third side 2701c of the housing 2701. Therefore, when loading goods from the top opening 2704 of the housing 2701, even if the cargo basket 2670 deviates due to the influence of wind or the like when the goods are unloaded by the unmanned transporter 2660, the first opening / closing door 2705 and the second opening / closing door 2706 can guide the goods.

[0499] In the control method of the present modification, the first first side 2701a and the first third side 2701c have the same length, the first second side 2701b and the first fourth side 2701d have the same length, the first first side 2701a is longer than the first second side 2701b, the receiving box (delivery box 2700b) is arranged facing the road, and when viewing the road, the receiving box, and the guide rail 7 from above in the vertical direction, the first first side 2701a is parallel to the guide rail 7, and in the arrangement order along the direction away from the center line of the road to the outside, it is the guide rail 7, the first first side 2701a, the first third side 2701c. The first opening / closing door 2705 includes a second first side 2705a and a second second side 2705b adjacent to the second first side 2705a, the second first side 2705a is connected to the first first side 2701a, the second opening / closing door 2706 includes a third first side 2706a and a third second side 2706b adjacent to the third first side 2706a, the third first side 2706a is connected to the first third side 2701c, and the second second side 2705b is longer than the third second side 2706b.

[0500] Accordingly, since the first opening / closing door 2705 in which the second side 2705b of the second is longer than the second side 2706b of the third is arranged on the road side, when the unmanned transporter 2660 unloads the goods, even if the goods basket 2670 is deviated due to the influence of wind or the like, the first opening / closing door 2705 and the second opening / closing door 2706 can guide the goods. Therefore, it is possible to prevent the goods from falling onto the road.

[0501] (Embodiment 4)

[0502] Hereinafter, the difference between the unmanned transportation system 2800 in the present embodiment and the second embodiment or the like is that a support structure 2810 is provided on the body main body 2802 of the unmanned transporter 2801, and the goods basket 2820 has a first metal structure 2811 and a second metal structure 2812. Since the basic configuration of the unmanned transportation system 2800 in the present embodiment is the same as the basic configuration of the above-described embodiments, the same reference numerals are given to the basic configuration of the unmanned transporter in the present embodiment and the description is appropriately omitted. Also, in the present embodiment, the configurations of the respective embodiments can be applied to the present embodiment.

[0503] [Function and Configuration]

[0504] First, Figure 26 , Figures 27A to 27C the unmanned transportation system 2800 in the present embodiment will be described.

[0505] Figure 26 is a block diagram exemplifying the unmanned transportation system 2800 according to Embodiment 4. Figure 27A is a diagram exemplifying the unmanned transporter 2801 and the goods basket 2820 in the unmanned transportation system 2800 according to Embodiment 4. Figure 27B is another diagram exemplifying the unmanned transporter 2801 and the goods basket 2820 in the unmanned transportation system 2800 according to Embodiment 16. In Figure 27A and Figure 27B the illustration of the guide rail 7 and the connecting body 2803 is omitted. Figure 27C is a schematic diagram exemplifying the positional relationship between the first other end 2811c and the second other end 2812c in the support structure 2810.

[0506] [Function and Configuration]

[0507] As Figures 26 to 27B shown, the unmanned transportation system 2800 includes an unmanned transporter 2801, a support structure 2810, a goods basket 2820, a first hoist 2831, and a control processing unit 2833. The unmanned transportation system 2800 is an example of a system.

[0508] The unmanned transporter 2801 can travel along the guide rail 7. That is, the unmanned transporter 2801 can transport the cargo basket 2820 by traveling along the guide rail 7.

[0509] Specifically, a body main body 2802 and a connecting body 2803 are provided on the unmanned transporter 2801. In addition, although the unmanned transporter 2801 of the present embodiment has two connecting bodies 2803 (for example, a first connecting body and a second connecting body), it may also have three or more connecting bodies 2803. The connecting body 2803 is an example of an arm portion.

[0510] The body main body 2802 is elongated in the length direction of the guide rail 7. A first connecting body, a second connecting body, a support structure 2810, etc. are provided on the body main body 2802. In the body main body 2802 of the present embodiment, two concave portions may also be formed in a structure where two support structures 2810 are provided, that is: a first concave portion for arranging one support structure 2810 and the cargo basket 2820, and a second concave portion for arranging the other support structure 2810 and the cargo basket 2820. Due to such a configuration, when looking at the side surface of the body main body 2802 along the short direction of the body main body 2802, it can be in a T shape.

[0511] The first connecting body is arranged on one side in the traveling direction of the body main body 2802 of the unmanned transporter 2801, and the second connecting body is arranged on the other side in the traveling direction of the body main body 2802 of the unmanned transporter 2801.

[0512] The first connecting body has a wheel 2803a for traveling on the guide rail 7, and an arm portion connected to the body main body 2802 of the unmanned transporter 2801 and connected to the wheel 2803a. The second connecting body also has a wheel 2803a for traveling on the guide rail 7, and an arm portion connected to the body main body 2802 of the unmanned transporter 2801 and connected to the wheel 2803a.

[0513] The wheel 2803a of the first connecting body and the wheel 2803a of the second connecting body are arranged on the guide rail 7 when the unmanned transporter 2801 travels along the guide rail 7. The wheel 2803a of the first connecting body is the upper end of the first connecting body and is arranged on one end surface of the first connecting body. And the wheel 2803a of the second connecting body is the upper end of the second connecting body and is arranged on one end surface of the second connecting body. That is, the wheel 2803a of the first connecting body and the wheel 2803a of the second connecting body are arranged on the end surfaces in the same direction of each connecting body.

[0514] In the present embodiment, the lower ends of the arm-shaped first connector and the arm-shaped second connector are each provided on the body main body 2802 so as to be rotatable about the short direction axis of the body main body 2802. The arm-shaped first connector and the arm-shaped second connector are driven by respective arm driving units 2834 (an example of an actuator) for driving the connectors, and can rotate relative to the body main body 2802.

[0515] Each arm driving unit 2834 can push and pull each of the first connector and the second connector by being controlled by the control processing unit 2833. Accordingly, each arm driving unit 2834 can rotate the first connector and the second connector relative to the body main body 2802. For example, the unmanned transporter 2801 can be in a first distance state and a second distance state by driving of the actuator. The first distance state is a state in which the distance between the body main body 2802 and the guide rail 7 is the first distance, and the second distance state is a state in which the distance between the body main body 2802 and the guide rail 7 is a second distance greater than the first distance.

[0516] The support structure 2810 is provided on the body main body 2802 and can be connected to the cargo basket 2820. The support structure 2810 can support the cargo basket 2820 connected to the unmanned transporter 2801. Therefore, the cargo basket 2820 is loaded on the body main body 2802 via the support structure 2810.

[0517] The support structure 2810 includes a first metal structure 2811 having a first portion 2811a and a second metal structure 2812 having a second portion 2812a.

[0518] The first metal structure 2811 is a structure that extends from a first one end connected to the unmanned transporter 2801 to the first portion 2811a of the support structure 2810 located vertically below, and then folds back at the first portion 2811a of the support structure 2810 and extends to a first other end 2811c located vertically above. That is, the first metal structure 2811 has: an elongated portion extending in the vertical direction from the lower surface of the body main body 2802, a first portion 2811a that bends and extends in a direction intersecting the elongated portion from the lower end of the elongated portion, and a protruding portion that protrudes vertically upward from the front end of the first portion 2811a. The first one end is connected to the lower surface of the body main body 2802.

[0519] The second metal structure 2812 extends from the second one end connected to the unmanned transporter 2801 to the second part 2812a of the support structure 2810 located vertically below, and then folds back at the second part 2812a of the support structure 2810 and extends all the way to the second other end 2812c located vertically above. That is, the second metal structure 2812 has: an elongated portion extending in the vertical direction from the lower surface of the body main body 2802, a second part 2812a that bends and extends from the lower end of the elongated portion in a direction intersecting the elongated portion, and a protruding portion protruding vertically upward from the front end of the second part 2812a. The second one end is connected to the lower surface of the body main body 2802.

[0520] Moreover, the extending direction of the second part 2812a is opposite to the extending direction of the first part 2811a. The first part 2811a and the second part 2812a extend along the short direction of the body main body 2802 in a manner away from the body main body 2802.

[0521] Therefore, as Figure 27C shown, the first metal structure 2811 and the second metal structure 2812 are arranged symmetrically. In this case, it can be said that they are arranged such that when viewing the support structure 2810 from above in the vertical direction, the straight line represented by the single dotted line connecting the first other end 2811c and the second other end 2812c intersects the straight line represented by the double dotted line connecting the center point of the first part 2811a of the support structure 2810 and the center point of the second part 2812a of the support structure 2810.

[0522] In the present embodiment, the support structure 2810 is a pair of hooks having a first part 2811a and a second part 2812a. Taking a pair of hooks as one set, they are respectively arranged on one side and the other side of the body main body 2802. Since the support structure 2810 can carry one cargo basket 2820, two cargo baskets 2820 can be carried on the body main body 2802. In addition, on the body main body 2802, one set of a pair of hooks (support structure 2810) can be provided, or three or more sets of hooks can be provided.

[0523] The support structure 2810 is arranged on the lower end surface of the body main body 2802. A pair of connecting parts 2821 of the cargo basket 2820 are respectively hooked to a pair of hooks (support structure 2810) one by one, so that the cargo basket 2820 is connected to the support structure 2810.

[0524] In this embodiment, the support structure 2810 is not limited by a pair of hooks. The support structure 2810 may also be a gripping structure capable of grasping the cargo basket 2820, or may be a clip-like structure capable of clamping the cargo basket 2820. Further, the support structure 2810 may also be merely a columnar member or a ring-shaped member. That is, the cargo basket 2820 only needs to be able to be hung by the support structure 2810.

[0525] In this embodiment, the cargo basket 2820 has a pair of connecting portions 2821. The pair of connecting portions 2821 is composed of a third portion 2822a and a fourth portion 2822b. The pair of connecting portions 2821 may, for example, be a pair of hooks capable of being connected to the pair of hooks (support structure 2810) one-to-one, may also be a gripping structure capable of grasping the support structure 2810, or may be a clip-like structure capable of clamping the support structure 2810. Further, the pair of connecting portions 2821 may also be a columnar member or a ring-shaped member capable of hanging the support structure 2810.

[0526] A first portion 2811a of the pair of hooks (support structure 2810) and a second portion 2812a of the pair of hooks (support structure 2810) are arranged at a predetermined length from each other. That is, the first portion 2811a and the second portion 2812a are spaced apart. Further, a third portion 2822a of the pair of connecting portions 2821 and a fourth portion 2822b of the pair of connecting portions 2821 are arranged at a predetermined length from each other. That is, the third portion 2822a and the fourth portion 2822b are spaced apart.

[0527] Since the support structure 2810 and the pair of connecting portions 2821 are configured as described above, the first portion 2811a of the support structure 2810 is connected to the third portion 2822a of the pair of connecting portions 2821, and the second portion 2812a of the support structure 2810 is connected to the fourth portion 2822b of the pair of connecting portions 2821. In this case, the cargo basket 2820 assumes a first state supported by the support structure 2810. When the cargo basket 2820 is in the first state, the unmanned transporter 2801 travels along the guide rail 7.

[0528] Further, when the first winch 2831 of the unmanned transporter 2801 winds up and retrieves the wire 2805, the connection between the first part 2811a in the support structure 2810 and the third part 2822a in the pair of connection parts 2821 is released, and the connection between the second part 2812a in the support structure 2810 and the fourth part 2822b in the pair of connection parts 2821 is released. In this case, the cargo basket 2820 is not supported by the support structure 2810, and the cargo basket 2820 becomes the second state of being suspended by the wire 2805. When the cargo basket 2820 is in the second state, the cargo basket 2820 is lowered via the wire 2805 to a destination located vertically below the unmanned transporter 2801.

[0529] The winding and retrieving control of such a wire 2805 is executed by the control processing unit 2833. The control processing unit 2833 is an example of a controller.

[0530] For example, when changing the cargo basket 2820 from the second state to the first state, first, the control processing unit 2833 (1) controls the first winch 2831 to wind up and retrieve the wire 2805 so that the length of the wire 2805 extending from the unmanned transporter 2801 to the cargo basket 2820 becomes the first length. Accordingly, the third part 2822a of the cargo basket 2820 is located at a position higher than the first part 2811a of the support structure 2810, and the fourth part 2822b of the cargo basket 2820 is located at a position higher than the second part 2812a of the support structure 2810.

[0531] Next, the control processing unit 2833 (2) controls the attitude control device 2870 to rotate the cargo basket 2820. Accordingly, the third part 2822a of the cargo basket 2820 is located directly above the first part 2811a of the support structure 2810, and the fourth part 2822b of the cargo basket 2820 is located directly above the second part 2812a of the support structure 2810.

[0532] Next, the control processing unit 2833 (3) controls the first winch 2831 to pay out the wire 2805. Accordingly, the third part 2822a of the cargo basket 2820 is connected to the first part 2811a of the support structure 2810, and the fourth part 2822b of the cargo basket 2820 is connected to the second part 2812a of the support structure 2810, so that the cargo basket 2820 becomes the first state.

[0533] The cargo basket 2820 can load the goods transported by the unmanned transporter 2801. That is, a storage space for storing goods is formed in the cargo basket 2820.

[0534] Further, the top surface of the cargo basket 2820 is connected to the wire 2805. By controlling the first winch 2831 through the control processing unit 2833, the wire 2805 can be paid out or wound up. Therefore, the cargo basket 2820 rises by the winding up of the wire 2805 or descends by the payout of the wire 2805.

[0535] Moreover, the cargo basket 2820 is provided with a posture control device 2870 which controls the posture of the cargo basket 2820 in the state of being suspended by the wire 2805 by controlling a rotating body. For example, the posture control device 2870 can correct the posture of the cargo basket 2820 to a correct posture by controlling rotating bodies such as a reaction wheel and a flywheel.

[0536] The first winch 2831 is connected to the unmanned transporter 2801 and can pay out and wind up the wire 2805. That is, the first winch 2831 winds up the wire 2805 to raise the cargo basket 2820 or pays out the wire 2805 to lower the cargo basket 2820 under the control of the control processing unit 2833. The first winch 2831 can change the cargo basket 2820 between a first state and a second state under the control of the control processing unit 2833. In the present disclosure, the winch may also be referred to as a reel.

[0537] The correction of the posture of the cargo basket 2820 is executed by the control processing unit 2833.

[0538] For example, the control processing unit 2833 obtains the sensing result from a sensor 2836 capable of detecting the posture of the cargo basket 2820, and controls the rotating body of the posture control device 2870 according to the obtained sensing result to make the cargo basket 2820 assume a target posture. That is, the posture control device 2870 can identify the posture of the cargo basket 2820 according to the sensing result of the posture of the cargo basket 2820 sensed by the sensor 2836. When it is known from the sensing result that the posture of the cargo basket 2820 is not the target posture, the control processing unit 2833 controls the posture control device 2870 to make the cargo basket 2820 assume the target posture. The sensor 2836 is, for example, a camera sensor, an angular velocity sensor, etc.

[0539] [Function and Effect]

[0540] Next, the function and effect of the unmanned transportation system 2800 in the present embodiment will be described.

[0541] As described above, in the unmanned transportation system 2800 according to the present embodiment, the unmanned transporter 2801 transports the cargo basket 2820 by traveling along the guide rail 7. Further, the unmanned transporter 2801 is also provided with a support structure 2810 that is connected to the unmanned transporter 2801 and supports the cargo basket 2820. Further, the unmanned transporter 2801 can be in a first state and a second state. The first state is a state in which the cargo basket 2820 is supported by the support structure 2810, and the second state is a state in which the cargo basket 2820 is not supported by the support structure 2810 but is suspended by the wire 2805. Then, when the unmanned transporter 2801 travels along the guide rail 7, the cargo basket 2820 is in the first state, and when the cargo basket 2820 is lowered via the wire 2805 to a destination located vertically below the unmanned transporter 2801, the cargo basket 2820 is in the second state.

[0542] Accordingly, when the cargo basket 2820 is in the first state, the unmanned transporter 2801 can travel while supporting the cargo basket 2820. Therefore, the unmanned transporter 2801 can deliver the goods stored inside the cargo basket 2820 from the express sender to the destination of the express receiver.

[0543] Further, when the cargo basket 2820 is in the second state, the unmanned transporter 2801 when stopped can lower the cargo basket 2820, and thus the goods can be delivered to the destination of the express receiver.

[0544] As described above, in the unmanned transportation system 2800 according to the present embodiment, the support structure 2810 includes a first portion 2811a and a second portion 2812a. Further, the first portion 2811a of the support structure 2810 is separated from the second portion 2812a of the support structure 2810 by a predetermined length. Further, the cargo basket 2820 includes a third portion 2822a and a fourth portion 2822b. Further, the third portion 2822a of the cargo basket 2820 is separated from the fourth portion 2822b of the cargo basket 2820 by a predetermined length. Further, in the first state, the first portion 2811a of the support structure 2810 is connected to the third portion 2822a of the cargo basket 2820, and the second portion 2812a of the support structure 2810 is connected to the fourth portion 2822b of the cargo basket 2820. Then, the control processing unit 2833 performs the following controls (1) to (3). (1) By controlling the first winch 2831, the wire 2805 is wound and recovered so that the length of the wire 2805 extending from the unmanned transporter 2801 to the cargo basket 2820 becomes a first length, and while the third portion 2822a of the cargo basket 2820 is located at a position higher than the height of the first portion 2811a of the support structure 2810, the fourth portion 2822b of the cargo basket 2820 is located at a position higher than the height of the second portion 2812a of the support structure 2810. (2) The posture control device 2870 is controlled to rotate the cargo basket 2820 so that the third portion 2822a of the cargo basket 2820 is located directly above the first portion 2811a of the support structure 2810, and the fourth portion 2822b of the cargo basket 2820 is located directly above the second portion 2812a of the support structure 2810. (3) The first winch 2831 is controlled to pay out the wire 2805 so that the third portion 2822a of the cargo basket 2820 is connected to the first portion 2811a of the support structure 2810, and the fourth portion 2822b of the cargo basket 2820 is connected to the second portion 2812a of the support structure 2810, whereby the unmanned transporter 2801 is brought into the first state.

[0545] Accordingly, the control processing unit 2833 controls the first winch 2831, whereby the cargo basket 2820 is brought into the first state. Thus, the unmanned transporter 2801 can travel while supporting the cargo basket 2820.

[0546] (Embodiment 5)

[0547] In the unmanned transportation system 2900 in the present embodiment, the difference from the fourth embodiment etc. is that the cargo basket 2820 has a second winch 2832. Since the basic configuration of the unmanned transportation system 2900 in the present embodiment is the same as the basic configurations of the above-described embodiments, the same reference numerals are given to the basic configuration of the unmanned transportation system 2900 in the present embodiment and the description is appropriately omitted. Also, in the present embodiment, the respective configurations of the embodiments can be applied to the present embodiment.

[0548] [Function and Configuration]

[0549] First, Figures 28 to 34C the unmanned transportation system 2900 in the present embodiment will be described.

[0550] Figure 28 It is a block diagram showing the unmanned aerial vehicle 2910, the cargo basket 2820, and the express box 2950 of the unmanned transportation system 2900. Figure 29 It shows the state where the unmanned aerial vehicle 2910 and the cargo basket 2820 of the unmanned transportation system 2900 are descending. Figure 30 It is a diagram exemplarily showing one lid 2952d that can open and close and has a slit 2952e. Figure 31A It shows the state where the cargo is unloaded and the cargo basket 2820 of the unmanned transportation system 2900 is ascending. Figure 31B It shows the state where the cargo basket 2820 and the unmanned aerial vehicle 2910 of the unmanned transportation system 2900 are ascending. Figure 31C It is a diagram exemplarily showing the state of the lid 2959 that closes the first lid 2952a and the second lid 2952b and the guiding structure for closing the housing 2951.

[0551] Figure 32A It shows the state where the unmanned aerial vehicle 2910 with flight ability is descending. Figure 32B It shows the state where after the unmanned aerial vehicle 2910 with flight ability descends, the cargo basket 2820 descends and unloads the cargo. Figure 32C It shows the state where the cargo is unloaded and the cargo basket 2820 and the unmanned aerial vehicle 2910 of the unmanned transportation system 2900 are ascending. Figure 32D It shows the state of moving the cargo placed at the temporary placement location to the specified cargo room 2953. [[ID It shows the state of collecting the cargo. ​ It shows the state of descending the unmanned aerial vehicle 2910 and the cargo basket 2820 to collect the cargo. ​ It shows the state where after collecting the cargo, the cargo basket 2820 and the unmanned aerial vehicle 2910 of the unmanned transportation system 2900 are ascending. ​The figure shows the unmanned aerial vehicle 2910 of the unmanned transportation system 2900 descending while avoiding obstacles. ​ The figure shows the cargo basket 2820 and the unmanned aerial vehicle 2910 of the unmanned transportation system 2900 ascending while the cargo is being unloaded. ​ The figure shows the unmanned aerial vehicle 2910 of the unmanned transportation system 2900 ascending while the cargo is being unloaded. In ​ the illustration of the guide rail and the connecting body of the present disclosure is omitted.

[0552] As ​ 、 ​ shown in (a1) to (a3) of

[0553] the unmanned transportation system 2900 includes an unmanned transporter 2901, a protective shell 2911, a first winch 2831, a cargo basket 2820, a second winch 2832, an unmanned aerial vehicle 2910, a control processing unit 2933, and a delivery box 2950.

[0554] The unmanned transporter 2901 is a traveling body equipped with wheels (illustration omitted), for example. The unmanned transporter 2901 can not only fly in the air but also travel along a guide rail laid on the ground. The unmanned transporter 2901 is connected to the cargo basket 2820 in a state of being connected to the first wire 2941, and can transport the cargo by traveling along the guide rail in this state. In addition, the unmanned transporter 2901 can also be a flying body such as a drone. That is, a propeller can be provided on the unmanned transporter 2901, or a propeller can be not provided. ​ the illustration of the connecting body, the arm driving unit, and the wheels is omitted in

[0555] The body main body is a traveling body having a rectangular shape. The body main body supports the connecting body and the first winch 2831 in a predetermined posture. The body main body is an example of the main body.

[0556] In addition, the body main body can also have a plurality of propellers. In this case, thrust can be applied to the unmanned transporter 2901 by the rotational drive of the propeller drive motor provided on the body main body.

[0557] Since the connecting body is a hook that can be connected to the guide rail, it can be hooked to the guide rail. The lower end of the connecting body is connected to the main body of the machine, and the other end, that is, the front end, is connected to a wheel that rotatably contacts the guide rail. In addition, a plurality of connecting bodies are provided on the main body of the machine. Further, a motor for rotating the wheel may be provided on the connecting body. Also, as the connecting body of the present embodiment, the arm portion, the hook, the connecting body, etc. in the above-described embodiment may be used. In addition, the connecting body may be configured to include an arm portion and a wheel, or may be configured to include only an arm portion.

[0558] The arm driving unit can change the posture of the connecting body by driving the connecting body. Specifically, the arm driving unit can rotate the connecting body around an axis along the length direction of the guide rail by being controlled by the control processing unit 2933, bring the wheel into contact with the guide rail, and thus connect the connecting body to the guide rail. Further, the arm driving unit rotates the connecting body around an axis along the length direction of the guide rail by being controlled by the control processing unit 2933 to move the wheel away from the guide rail, and thereby can disconnect the connection with the guide rail. The arm driving unit is an example of a second actuator for driving the connecting body.

[0559] The wheel is a roller that can rotatably contact the guide rail and travel on the guide rail. The rotation axis of the wheel extends in a direction orthogonal to the length direction of the guide rail. When the connecting body is connected to the guide rail, the wheel provided on the connecting body rotates around the axis of the rotation axis.

[0560] The control processing unit 2933 can control the flight state of the unmanned transporter 2901. Specifically, the flight state of the unmanned transporter 2901 is forward, backward, right turn, left turn, hover, etc. The control processing unit 2933 controls the inclination of the main body of the machine with respect to the horizontal direction based on position information, angular velocity information, acceleration information, speed information, etc., and controls the rotation speed of the propeller of the unmanned transporter 2901 by controlling the propeller driving motor.

[0561] In addition, the unmanned transporter 2901 is connected to the cargo basket 2820 via the first wire 2941. That is, one end of the first wire 2941 is connected to the unmanned transporter 2901, and the other end of the first wire 2941 is connected to the unmanned transporter 2901.

[0562] The control processing unit 2933 controls the wire control module 2934, enabling the wire control module 2934 to wind up and release the first wire 2941. That is, the release and winding up of the first wire 2941 are achieved by the wire control module 2934 driving and controlling the first winch 2831. Specifically, when the wire control module 2934 receives an instruction to release the first wire 2941 from the control processing unit 2933, it can drive and control the first winch 2831 to release the first wire 2941 and move the cargo basket 2820 away from the unmanned transporter 2901. Also, when the wire control module 2934 receives an instruction to wind up and recover the first wire 2941 from the control processing unit 2933, it drives and controls the first winch 2831 to wind up and recover the first wire 2941, thereby recovering the cargo basket 2820. The wire control module 2934 can also be configured to be integrated with the first winch 2831.

[0563] The first winch 2831 is provided below the unmanned transporter 2901 and can release and wind up the first wire 2941. That is, the first winch 2831 is controlled by the control processing unit 2933 to release the first wire 2941, lower the cargo basket 2820, or wind up the first wire 2941 to raise the cargo basket 2820.

[0564] The cargo basket 2820 is connected to the first wire 2941 and can carry the goods transported by the unmanned transporter 2901. That is, a storage space for receiving goods is formed in the cargo basket 2820.

[0565] Moreover, the top surface of the cargo basket 2820 is connected to the first wire 2941. By the control processing unit 2933 controlling the first winch 2831, the first wire 2941 can be released or wound up, so that the cargo basket 2820 rises by the winding up of the first wire 2941 or descends by the release of the first wire 2941.

[0566] A second winch 2832 is provided on the cargo basket 2820. The second winch 2832 is provided below the cargo basket 2820 and can release and wind up the second wire 2942. That is, the second winch 2832 is controlled by the control processing unit 2933 to release the second wire 2942, lower the unmanned aerial vehicle 2910, and wind up the second wire 2942 to raise the unmanned aerial vehicle 2910.

[0567] The unmanned aerial vehicle 2910 is a device capable of correcting the position of goods in the express box 2950. The unmanned aerial vehicle 2910 can communicate with the body main body of the unmanned transporter 2901 via the wire 2941, or can also perform wireless communication using a communication module or the like. In addition, the unmanned aerial vehicle 2910 can also be a drone or the like.

[0568] The unmanned aerial vehicle 2910 is connected to the cargo basket 2820 via the second wire 2942. Specifically, one end of the second wire 2942 is connected to the cargo basket 2820, and the other end of the second wire 2942 is connected to the protective case 2911.

[0569] The unmanned aerial vehicle 2910 is covered by the protective case 2911 for protecting the unmanned aerial vehicle 2910. The unmanned aerial vehicle 2910 is fixed to the protective case 2911 and is connected to the second wire 2942 via the protective case 2911. The protective case 2911 covers the entire unmanned aerial vehicle 2910. In addition, the protective case 2911 may not be provided on the unmanned aerial vehicle 2910. In this case, the second wire 2942 is directly connected to the unmanned aerial vehicle 2910. And the protective case 2911 may also cover only a part of the unmanned aerial vehicle 2910.

[0570] The unmanned aerial vehicle 2910 is a flying body such as a drone that can fly. The unmanned aerial vehicle 2910 flies in a state of being connected to the second wire 2942 via the protective case 2911. Therefore, the longer the second wire 2942 released from the second winch 2832 of the cargo basket 2820, the farther the unmanned aerial vehicle 2910 can move from the cargo basket 2820.

[0571] By controlling the wire control module 2934 by the control processing unit 2933, the second winch 2832 can wind up, recover, and release the second wire 2942. That is, the release and winding up and recovery of the second wire 2942 are achieved by driving and controlling the second winch 2832 by the wire control module 2934. Specifically, when the wire control module 2934 obtains an instruction to release the second wire 2942 from the control processing unit 2933, it can drive and control the second winch 2832 to release the second wire 2942 and move the cargo basket 2820 away from the unmanned transporter 2901. And it can also be that when the wire control module 2934 obtains an instruction to wind up and recover the second wire 2942 from the control processing unit 2933, it drives and controls the second winch 2832 to wind up and recover the second wire 2942, thereby recovering the cargo basket 2820.

[0572] In addition, the wire control module 2934 can be a module for driving and controlling the first winch 2831 and a module for driving and controlling the second winch 2832, which are different modules respectively.

[0573] The unmanned aerial vehicle 2910 includes a fuselage main body, a plurality of propeller drive motors, a plurality of propellers, a drive control unit, and a camera sensor.

[0574] The fuselage main body is a supporting member that can hold the cargo in a specified posture by engaging with the upper part of the cargo. The fuselage main body holds the cargo in a manner that allows for loading and unloading. The fuselage main body is a polygonal frame-shaped body that surrounds the cargo. The fuselage main body stores the cargo inside an opening formed in the center of the fuselage main body, surrounds the upper edge of the cargo, and holds or connects to the cargo in a way that sandwiches the cargo, thereby being able to hold the cargo in a specified posture.

[0575] Moreover, the fuselage main body can be a basket-shaped cargo basket. The cargo can be stored inside. The fuselage main body has a shape corresponding to the shape of the cargo in a plan view. In the present embodiment, as an example of a polygon, the fuselage main body has a rectangular shape.

[0576] The fuselage main body supports a plurality of propeller drive motors. A plurality of propeller drive motors and a plurality of propellers are provided on the outer peripheral side surface of the fuselage main body. In the present embodiment, two propellers and two propeller drive motors are provided on each side of the fuselage main body.

[0577] The plurality of propeller drive motors are motors that rotate the rotating shaft through the motor main body to rotate each of the plurality of propellers. The driving and stopping of each of the plurality of propeller drive motors are independently controlled by the drive control unit. The propeller drive motor can receive power from the battery of the fuselage main body 2301 of the cargo handling device 10p via the first wire 2941 and the second wire 2942, for example. Additionally, a battery can be mounted on the fuselage main body, and each of the plurality of propeller drive motors can also receive power from this battery.

[0578] The plurality of propeller drive motors are arranged on the fuselage main body. The plurality of propeller drive motors are dispersedly arranged in a manner that surrounds the fuselage main body and are supported by the fuselage main body.

[0579] Each of the plurality of propellers is arranged on the fuselage main body and is arranged on the fuselage main body in a manner that generates thrust in the horizontal direction and / or vertically upward.

[0580] A plurality of propellers correspond one-to-one to the rotating shafts of a plurality of propeller drive motors and are fixedly connected to the rotating shafts of the plurality of propeller drive motors one-to-one. The plurality of propellers are respectively driven by the plurality of propeller drive motors to generate thrust in the longitudinal direction of the rotating shaft.

[0581] The camera sensor is disposed on the cargo side of the airframe main body, that is, on the vertically lower side, and outputs the image information obtained by photographing the express delivery box 2950 to the drive control unit. A plurality of camera sensors may be provided. Moreover, the camera sensor is not an essential component of the unmanned aerial vehicle 2910. Therefore, the unmanned aerial vehicle 2910 may not be equipped with a camera sensor.

[0582] During at least a part of the period when the first wire 2941 and / or the second wire 2942 is released, the drive control unit controls at least one of the plurality of propeller drive motors of the unmanned aerial vehicle 2910 to drive.

[0583] Specifically, the drive control unit calculates the positions of the express delivery box 2950 and the unmanned aerial vehicle 2910 based on the image information acquired from the camera sensor. The drive control unit controls the plurality of propeller drive motors of the unmanned aerial vehicle 2910 such that the cargo is disposed vertically above the opening of the express delivery box 2950, and moves the unmanned aerial vehicle 2910 and the cargo so that, in a top view state, the cargo can be located within the range of the opening of the express delivery box 2950. Specifically, the drive control unit calculates the error (position deviation) between the opening of the express delivery box 2950 and the cargo, and corrects the position of the cargo relative to the opening of the express delivery box 2950 by modifying the calculated error.

[0584] The drive control unit also controls the rotational speeds of the rotating shafts of the plurality of propeller drive motors. The drive control unit controls the rotational speeds of the rotating shafts by changing the current values supplied to the plurality of propeller drive motors. In addition, the drive control unit can also control the rotational speeds of the rotating shafts of the plurality of propeller drive motors respectively.

[0585] The express delivery box 2950 is a receiving box for receiving goods from the unmanned transporter 2901 or for collecting goods. An ordering screen 2963 may be provided on the express delivery box 2950, and goods that can be delivered to the express delivery box 2950 can be ordered through the ordering screen 2963, and the collection of goods can also be commissioned.

[0586] As ​ 、 ​ shown in (a1) to (b2) of , the express delivery box 2950 includes a frame body 2951, a box structure 2952, a plurality of cargo compartments 2953, a sensor 2958, a first actuator 2961, and a second actuator 2962.

[0587] The housing 2951 is in the shape of a rectangular parallelepiped or a cylinder and is a container capable of storing a plurality of goods. A top opening 2951a and a lifting path 2954 are formed in the housing 2951. The top opening 2951a is formed in the top surface portion vertically above the housing 2951, and the lifting path 2954 is used to deliver the received goods to a specified goods compartment 2953 among the plurality of goods compartments 2953 arranged in the housing 2951. Further, a lid 2959 capable of guiding the goods basket 2820 is provided at the top opening 2951a. Therefore, as shown in (b1) of ​ , even if the goods basket 2820 is shaken by the wind and deviates from the top opening 2951a, the lid 2959 can guide the goods basket 2820.

[0588] The box structure 2952 has a lid capable of opening and closing the entrance. The lid is composed of a first lid 2952a and a second lid 2952b. In the box structure 2952, when the first lid 2952a and the second lid 2952b are closed, as shown in (c2) of ​ , a hole 2952c is formed by a part of the first lid 2952a and a part of the second lid 2952b. The lid is movable by a first actuator 2961.

[0589] The first actuator 2961 can open and close the lid of the box structure 2952 by being controlled by the drive control unit 2957. That is, the first actuator 2961 is controlled by the drive control unit 2957 to move the first lid 2952a and the second lid 2952b, so that the entrance of the box structure 2952 can be opened and closed. In addition, the first actuator 2961 can be provided on the first lid 2952a and the second lid 2952b respectively.

[0590] Further, the box structure 2952 is movable by a second actuator 2962 controlled by the drive control unit 2957 and moves along the lifting path 2954 of the housing 2951.

[0591] The lifting path 2954 is a path extending in the vertical direction from the top opening 2951a of the housing 2951 to the bottom of the housing 2951. The top opening 2951a is the top surface portion vertically above the lifting path 2954 and allows the unmanned aerial vehicle 2910 and the goods basket 2820 to pass through. The lifting path 2954 can accommodate the box structure 2952 and the goods basket 2820 inside itself. The lifting path 2954 is an example of the first path.

[0592] In the lifting path 2954, a plurality of cargo compartments 2953 are arranged adjacent to each other. Each of the plurality of cargo compartments 2953 is provided in a housing 2951 and faces the lifting path 2954. The plurality of cargo compartments 2953 are arranged in the vertical direction along the lifting path 2954.

[0593] The second actuator 2962 can move the box structure 2952 from a standby position above the housing 2951 along the lifting path 2954. That is, the second actuator 2962 moves the box structure 2952 in the vertical direction along the lifting path 2954 from the standby position which is the current position, or stops the box structure 2952 within the lifting path 2954 so that goods can be stored in one of the plurality of cargo compartments 2953. Accordingly, goods can be stored in one of the plurality of cargo compartments 2953.

[0594] Moreover, an entrance through which the unmanned aerial vehicle 2910 can pass is formed in the box structure 2952, and it can be used to restrain the unmanned aerial vehicle 2910.

[0595] Specifically, when the unmanned transporter 2901 is above the express delivery box 2950 in order to store goods in the express delivery box 2950, the control processing unit 2933 controls the unmanned aerial vehicle 2910 to insert the unmanned aerial vehicle 2910 into the box structure 2952 with the lid in an open state.

[0596] More specifically, the control processing unit 2933 controls the wire control module 2934 to pay out the second wire 2942 by the second winch 2832 and controls the unmanned aerial vehicle 2910 to detach the cargo basket 2820 from the unmanned aerial vehicle 2910. The control processing unit 2933 controls the unmanned aerial vehicle 2910 to enter through the entrance of the box structure 2952.

[0597] As ​ 、 ​As shown in (c1) and (c2), after the unmanned transport aircraft 2901 enters the box structure 2952 through the entrance of the box structure 2952, the unmanned aerial vehicle 2910, the express delivery box 2950 obtains an entry notice from the unmanned aerial vehicle 2910. That is to say, a communication unit (not shown) is mounted on the express delivery box 2950 and the unmanned aerial vehicle 2910. The drive control unit 2957 that has obtained the entry notice controls the first actuator 2961 to close the first lid 2952a and the second lid 2952b of the box structure 2952. At this time, it is possible that when the unmanned aerial vehicle 2910 lands on the bottom of the box structure 2952, the drive control unit 2957 controls the first actuator 2961 to close the first lid 2952a and the second lid 2952b of the box structure 2952. In a state where the first lid 2952a and the second lid 2952b are closed, the second wire 2942 that connects the protective shell 2911 of the unmanned aerial vehicle 2910 and the cargo basket 2820 is in a state of passing through the hole 2952c formed by a part of the first lid 2952a and a part of the second lid 2952b, and the unmanned aerial vehicle 2910 cannot pass through the hole 2952c. The hole 2952c is smaller than the unmanned transport aircraft 2901, and the unmanned transport aircraft 2901 cannot pass through the hole 2952c. That is to say, the size (opening area) of the hole 2952c is smaller than the projected area in the case of a plan view of the unmanned aerial vehicle 2910. Accordingly, when the first lid 2952a and the second lid 2952b of the box structure 2952 are closed, the unmanned aerial vehicle 2910 is restricted by the box structure 2952.

[0598] In addition, although the first lid 2952a and the second lid 2952b are illustrated as an example in the present disclosure, it is not limited thereto. For example ​ As shown, it may also be formed by a single openable and closable lid 2952d having a slit 2952e. As the size (opening area) of the slit 2952e, it may be a size that allows the second wire 2942 to pass through without allowing the unmanned aerial vehicle 2910 to pass through.

[0599] As ​ 、 ​ As shown in (d1) and (d2), after the first lid 2952a and the second lid 2952b of the box structure 2952 are closed, the control processing unit 2933 controls the wire control module 2934 to drive the first winch 2831 and the second winch 2832, and while adjusting the lengths of the first wire 2941 and the second wire 2942, moves the cargo basket 2820 above the lid of the box structure 2952.

[0600] As ​ 、 Figure 31AAs shown in (a) to (c) thereof, in order to move the goods in the box structure 2952 to the cargo compartment 2953, after the cargo basket 2820 moves above the lid of the box structure 2952 and is placed on the lid, the drive control unit 2957 controls the second actuator 2962 to move the cargo basket 2820 on the box structure 2952 in front of one of the plurality of cargo compartments 2953. Specifically, after the unmanned aerial vehicle 2910 is constrained by the box structure 2952, the control processing unit 2933 controls the wire control module 2934 to drive the first winch 2831 and the second winch 2832, so as to adjust the lengths of the first wire 2941 and the second wire 2942, and place the cargo basket 2820 on the lid of the box structure 2952. Then, the control processing unit 2933 controls the wire control module 2934 to drive the first winch 2831 to adjust the length of the first wire 2941. At this time, the drive control unit 2957 controls the second actuator 2962 to move the cargo basket 2820 in front of one of the plurality of cargo compartments 2953 (a specified cargo compartment 2953). Thus, by moving the goods in the cargo basket 2820 into the specified cargo compartment 2953, the goods can be stored in the specified cargo compartment 2953. As a method of moving the goods in the cargo basket 2820 to the cargo compartment 2953, it can be achieved by using the method disclosed in the present disclosure or a well-known method.

[0601] As Figure 28 , Figure 31A As shown in (d) thereof, after the drive control unit 2957 moves the goods in the cargo basket 2820 to the specified cargo compartment 2953, it controls the second actuator 2962 to move the box structure 2952 carrying the cargo basket 2820 to the standby position. Accordingly, the box structure 2952 and the cargo basket 2820 placed on the lid of the box structure 2952 can be lifted along the lifting path 2954.

[0602] As Figure 28 , Figure 31B As shown in (a) to (b2) thereof, after the box structure 2952 moves to the standby position, the control processing unit 2933 controls the wire control module 2934 to drive the first winch 2831 and the second winch 2832, while adjusting the lengths of the first wire 2941 and the second wire 2942, and moves the cargo basket 2820 towards the unmanned transporter 2901. Accordingly, the cargo basket 2820 rises from the box structure 2952 to the unmanned transporter 2901.

[0603] As Figure 28 , Figure 31BAs shown in (c1) to (d2), after the cargo basket 2820 moves toward the unmanned transporter 2901, the drive control unit 2957 controls the first actuator 2961 to open the first lid 2952a and the second lid 2952b. Accordingly, the unmanned aerial vehicle 2910 is released from the box structure 2952, and thus the control processing unit 2933 controls the wire control module 2934 to drive the second winch 2832, causing the unmanned aerial vehicle 2910 to ascend.

[0604] As Figure 28 , Figure 31C As shown in (a1) to (b2), after the unmanned aerial vehicle 2910 detaches from the box structure 2952, the drive control unit 2957 controls the first actuator 2961 to close the first lid 2952a and the second lid 2952b. After that, the drive control unit 2957 controls the first actuator 2961 to also close the lid 2959 of the housing 2951. Accordingly, even when it rains or snows, by closing the first lid 2952a, the second lid 2952b, and the lid 2959 of the housing 2951, it is possible to prevent rain and snow from entering the interior of the delivery box 2950.

[0605] The configuration of the sensor 2958 is the same as that of the sensor mounted in the delivery box of the above-described embodiment. For example, when the unmanned aerial vehicle 2910 descends, the drive control unit 2957 controls the first actuator 2961 based on the sensing result of the sensor 2958 to drive the lid 2959 of the housing 2951 or drive the first lid 2952a and the second lid 2952b.

[0606] Next, the unmanned aerial vehicle 2910 moves to the lower surface side of the cargo basket 2820, and the unmanned aerial vehicle 2910 and the cargo basket 2820 are loaded onto the unmanned transporter 2901. Then, the unmanned transporter 2901 moves to the next destination.

[0607] Here, Figure 28 , Figures 32A to 32C is used to illustrate the case where the unmanned aerial vehicle 2910 autonomously flies.

[0608] As Figure 28 , Figure 32AAs shown in (a) to (c2), when the unmanned transporter 2901 moves to the vicinity of the air above the express box 2950, ​​the unmanned aerial vehicle 2910 moves toward the box structure 2952 of the express box 2950 before the unmanned transporter 2901 lowers the cargo basket 2820. Specifically, when the control processing unit 2933 determines that it has moved to the vicinity of the air above the express box 2950 based on the sensor 2936, etc., it controls the wire control module 2934 to drive the second hoist 2832 to release the second wire 2942, and controls the unmanned aerial vehicle 2910 to move to the entrance of the box structure 2952 of the express box 2950. At this time, the control processing unit 2933 controls the wire control module 2934 in a manner that the second wire 2942 is loosened, and drives the second hoist 2832 to release the second wire 2942. According to this, it is possible to suppress an increase in the tension applied to the second conductive wire 2942 due to the flight of the unmanned aerial vehicle 2910 .

[0609] like Figure 28 , Figure 32A As shown in (c1), when the unmanned aerial vehicle 2910 enters the entrance of the box structure 2952 of the express box 2950, ​​the control processing unit 2933 controls the wire control module 2934 in a manner that the second wire 2942 does not loosen, and drives the second hoist 2832 to reel in and recover the second wire 2942. Accordingly, when the unmanned aerial vehicle 2910 enters the entrance of the box structure 2952 of the express box 2950, ​​the tension applied to the second wire 2942 can be increased.

[0610] like Figure 28 , Figure 32A As shown in (d1) and (d2), when the unmanned aerial vehicle 2910 lands at the bottom of the box structure 2952, the driving control unit 2957 controls the first actuator 2961 to close the first cover 2952a and the second cover 2952b. When the first cover 2952a and the second cover 2952b of the box structure 2952 are closed, the unmanned aerial vehicle 2910 is restrained by the box structure 2952. Here, the landing of the unmanned aerial vehicle 2910 to the bottom of the box structure 2952 can be detected by the sensor 2936 mounted on the unmanned aerial vehicle 2910, so that the control processing unit 2933 can determine that the unmanned aerial vehicle 2910 has landed at the bottom of the box structure 2952.

[0611] After the first lid 2952a and the second lid 2952b of the box structure 2952 are closed, the control processing unit 2933 controls the wire control module 2934 to drive the second winch 2832, thereby winding and recovering the second wire 2942. Accordingly, the unmanned aerial vehicle 2910 is lifted within the box structure 2952 and is caught by the lid of the box structure 2952. At this time, the tension of the second wire 2942 increases and it becomes a stretched state.

[0612] As Figure 28 , Figure 32B shown in (a) and (b) of, the control processing unit 2933 controls the wire control module 2934 to drive the first winch 2831 and the second winch 2832, thereby adjusting the lengths of the first wire 2941 and the second wire 2942 while moving the cargo basket 2820 above the lid of the box structure 2952. Then, the cargo basket 2820 is placed on the lid of the box structure 2952.

[0613] As Figure 28 , Figure 32B shown in (c) and (d) of, after the cargo basket 2820 moves above the lid of the box structure 2952 and is placed on the lid, the drive control unit 2957 controls the second actuator 2962 to drive-control the box structure 2952, so that the cargo basket 2820 on the box structure 2952 moves in front of one of the plurality of cargo compartments 2953. At this time, since the cargo basket 2820 is placed on the lid, the control processing unit 2933 controls the wire control module 2934 to drive the first winch 2831 to adjust the length of the first wire 2941. Then, by moving the cargo in the cargo basket 2820 into the specified cargo compartment 2953, the cargo can be stored in the specified cargo compartment 2953.

[0614] As Figure 28 , Figure 32C shown in (a) of, after moving the cargo in the cargo basket 2820 into the specified cargo compartment 2953, the drive control unit 2957 controls the second actuator 2962 to move the box structure 2952 with the cargo basket 2820 placed thereon to the standby position. Accordingly, the box structure 2952 and the cargo basket 2820 placed on the lid of the box structure 2952 rise along the lifting path 2954, and the box structure 2952 moves to the standby position.

[0615] As Figure 28 , Figure 32CAs shown in (b), after the box structure 2952 moves to the standby position, the control processing unit 2933 controls the wire control module 2934 to drive the first hoist 2831 and the second hoist 2832, so as to adjust the lengths of the first wire 2941 and the second wire 2942 while tilting the posture of the cargo basket 2820. For example, the posture of the cargo basket 2820 is tilted so that the angle between the first wire 2941 and the horizontal plane becomes α. Accordingly, the tension of the first wire 2941 increases, and the top surface of the cargo basket 2820 faces the unmanned transporter 2901.

[0616] As Figure 28 , Figure 32C shown in (c), after tilting the unmanned transporter 2901, the control processing unit 2933 controls the wire control module 2934 to drive the first hoist 2831 and the second hoist 2832, so as to adjust the lengths of the first wire 2941 and the second wire 2942 while moving the cargo basket 2820 toward the unmanned transporter 2901. Accordingly, the cargo basket 2820 rises from the box structure 2952 to the unmanned transporter 2901.

[0617] As Figure 28 , Figure 32C shown in (d), when the cargo basket 2820 moves toward the unmanned transporter 2901 and is loaded onto the unmanned transporter 2901, the drive control unit 2957 controls the first actuator 2961 to open the first lid 2952a and the second lid 2952b. Accordingly, the unmanned aerial vehicle 2910 is released from the box structure 2952. Then, the control processing unit 2933 controls the wire control module 2934 to drive the second hoist 2832 and controls the unmanned aerial vehicle 2910 to rise. Then, when the unmanned aerial vehicle 2910 detaches from the box structure 2952, the drive control unit 2957 controls the first actuator 2961 to close the first lid 2952a and the second lid 2952b. Then, the unmanned aerial vehicle 2910 moves to the lower surface side of the cargo basket 2820, and the unmanned aerial vehicle 2910 and the cargo basket 2820 are loaded onto the unmanned transporter 2901. Then, the unmanned transporter 2901 moves to the next destination.

[0618] Here, Figure 28 , Figure 32D the case where the uppermost cargo compartment 2953 among the multiple cargo compartments 2953 of the express delivery box 2950 is set as the temporary placement place will be described.

[0619] As Figure 28 , Figure 32DAs shown in (a) of FIG. , the goods loaded in the goods basket 2820 are temporarily stored in the uppermost goods compartment 2953. The goods basket 2820 and the unmanned aerial vehicle 2910 are loaded onto the unmanned transporter 2901. When the unmanned aerial vehicle 2910 starts moving to the next destination, the express delivery box 2950 re-stores the goods in the uppermost goods compartment 2953 into the goods compartment 2953 to which they should be delivered.

[0620] Specifically, as shown in (a) to (c) of FIG. Figure 28 and Figure 32D , the drive control unit 2957 of the express delivery box 2950 moves the goods in the uppermost goods compartment 2953 to the box structure 2952, controls the second actuator 2962, and moves the box structure 2952 in front of the goods compartment 2953 to which it should be delivered.

[0621] Next, as shown in (d) and (e) of FIG. Figure 28 and Figure 32D , the drive control unit 2957 can store the goods in the goods compartment 2953 to which they should be delivered by moving the goods in the box structure 2952 to the goods compartment 2953 to which they should be delivered. The method of moving the goods in the uppermost goods compartment 2953 to the box structure 2952 and the method of moving the goods in the goods basket 2820 to the goods compartment 2953 can be implemented by using the method disclosed in the present disclosure or a well-known method.

[0622] Here, the case where the express delivery box 2950 collects goods is described by using Figures 33A to 33C .

[0623] As shown in (a) of FIG. Figure 28 and Figure 33A , when the user stores goods in the specified goods compartment 2953 of the express delivery box 2950, the drive control unit 2957 of the express delivery box 2950 can move the box structure 2952 in front of the goods compartment 2953 where the goods are to be collected by controlling the second actuator 2962.

[0624] Next, as shown in (b) to (e) of FIG. Figure 28 and Figure 33A , after the drive control unit 2957 moves the goods in the goods compartment 2953 where the goods are to be collected into the box structure 2952, it controls the second actuator 2962 to move the box structure 2952 in front of the uppermost goods compartment 2953 which becomes the temporary storage place. Then, the drive control unit 2957 can store the goods in the uppermost goods compartment 2953 by moving the goods in the box structure 2952 into the uppermost goods compartment 2953.

[0625] Next, as shown in FIG. Figure 28 andFigure 33B As shown in (a), when the unmanned transporter 2901 arrives near the air above the express box 2950 to collect the goods, the unmanned aerial vehicle 2910 moves toward the box structure 2952 of the express box 2950. Specifically, when the control processing unit 2933 determines that it has moved to the air above the express box 2950 based on the sensor 2936, etc., it controls the wire control module 2934 to drive the second hoist 2832 to release the second wire 2942, and controls the unmanned aerial vehicle 2910 to move to the entrance of the box structure 2952 of the express box 2950. When the unmanned aerial vehicle 2910 lands at the bottom of the box structure 2952, the drive control unit 2957 controls the first actuator 2961 to close the first cover 2952a and the second cover 2952b. When the first cover 2952 a and the second cover 2952 b of the box structure 2952 are closed, the unmanned aerial vehicle 2910 is restrained by the box structure 2952 .

[0626] like Figure 28 , Figure 33B As shown in (b), the control processing unit 2933 controls the wire control module 2934 to drive the first hoist 2831 and the second hoist 2832, thereby adjusting the lengths of the first wire 2941 and the second wire 2942 and moving the cargo basket 2820 above the lid of the box structure 2952. As a result, the cargo basket 2820 is placed on the lid of the box structure 2952.

[0627] like Figure 28 , Figure 33B As shown in (c) and (d), after the cargo basket 2820 moves to the upper part of the lid of the box structure 2952 and is placed on the lid, the drive control unit 2957 controls the second actuator 2962 to move the cargo basket 2820 on the box structure 2952 to the front of the uppermost cargo chamber 2953. At this time, since the cargo basket 2820 is placed on the lid, the control processing unit 2933 controls the wire control module 2934 to drive the first hoist 2831, thereby adjusting the length of the first wire 2941. Thus, by moving the cargo in the uppermost cargo chamber 2953 to the cargo basket 2820, the cargo can be stored in the cargo basket 2820. The method of moving the cargo in the uppermost cargo chamber 2953 to the cargo basket 2820 can be realized by adopting the present disclosure or a well-known method.

[0628] like Figure 28 , Figure 33CAs shown in (a) thereof, after moving the goods in the uppermost cargo compartment 2953 to the cargo basket 2820, the drive control unit 2957 controls the second actuator 2962 to move the box structure 2952 carrying the cargo basket 2820 to the standby position. Accordingly, the box structure 2952 and the cargo basket 2820 placed on the lid of the box structure 2952 rise along the lifting path 2954, and the box structure 2952 moves to the standby position.

[0629] As Figure 28 , Figure 33C shown in (b) thereof, after the box structure 2952 moves to the standby position, the control processing unit 2933 controls the wire control module 2934 to drive the first winch 2831 and the second winch 2832, so as to tilt the posture of the cargo basket 2820 while adjusting the lengths of the first wire 2941 and the second wire 2942. For example, the posture of the cargo basket 2820 is tilted such that the angle between the first wire 2941 and the horizontal plane becomes α. Accordingly, the tension of the first wire 2941 is increased, and the top surface of the cargo basket 2820 faces the unmanned transporter 2901.

[0630] As Figure 28 , Figure 33C shown in (c) and (d) thereof, after tilting the unmanned transporter 2901, the control processing unit 2933 controls the wire control module 2934 to drive the first winch 2831 and the second winch 2832, so as to move the cargo basket 2820 toward the unmanned transporter 2901 while adjusting the lengths of the first wire 2941 and the second wire 2942. Accordingly, the cargo basket 2820 containing the goods rises from the box structure 2952 to the unmanned transporter 2901.

[0631] As Figure 28 , Figure 33C shown in (d) and (e) thereof, when the cargo basket 2820 moves toward the unmanned transporter 2901 and the cargo basket 2820 is loaded onto the unmanned transporter 2901, the drive control unit 2957 controls the first actuator 2961 to open the first lid 2952a and the second lid 2952b. Accordingly, the unmanned aerial vehicle 2910 is released from the box structure 2952. Then, the control processing unit 2933 controls the wire control module 2934 to drive the second winch 2832, and controls the unmanned aerial vehicle 2910 to rise. After the goods are collected and the unmanned aerial vehicle 2910 detaches from the box structure 2952, the drive control unit 2957 controls the first actuator 2961 to close the first lid 2952a and the second lid 2952b. After that, the drive control unit 2957 controls the first actuator 2961 to also close the lid 2959 of the frame 2951.

[0632] Next, the unmanned aerial vehicle 2910 moves to the lower surface side of the cargo basket 2820, and the unmanned aerial vehicle 2910 and the cargo basket 2820 are loaded onto the unmanned transporter 2901. Then, the unmanned transporter 2901 moves to the next destination.

[0633] Here, using Figure 28 , Figure 32B , Figures 34A to 34C The following describes a situation in which there is an obstacle such as a house eaves vertically above the express box 2950 when the express box 2950 is delivering goods. Figure 32B Since it is the same as this work, it is used Figure 34A and Figure 34B Description between.

[0634] like Figure 28 , Figure 34A As shown in (a) to (d2), when the unmanned transporter 2901 moves to the vicinity of the air above the express box 2950, ​​before the unmanned transporter 2901 lowers the cargo basket 2820, the unmanned aerial vehicle 2910 moves toward the box structure 2952 of the express box 2950. At this time, the unmanned transporter 2901 is located at a position far above the express box 2950 without contacting obstacles.

[0635] Specifically, when the control processing unit 2933 determines that the delivery box 2950 has moved to the vicinity of the air above the delivery box 2950 according to the sensor 2936, etc., the control processing unit 2933 controls the wire control module 2934 to drive the second hoist 2832 to release the second wire 2942, and controls the unmanned aerial vehicle 2910 to move toward the entrance of the box structure 2952 of the delivery box 2950. At this time, the control processing unit 2933 controls the wire control module 2934 to drive the second hoist 2832 to release the second wire 2942. Then, when the unmanned aerial vehicle 2910 enters the entrance of the box structure 2952 of the delivery box 2950, ​​the control processing unit 2933 controls the wire control module 2934 to drive the second hoist 2832 so that the second wire 2942 does not loosen, thereby winding and recovering the second wire 2942. According to this, when the unmanned aerial vehicle 2910 enters the entrance of the box structure 2952 of the express box 2950, ​​it is possible to increase the tension applied to the second conductive wire 2942.

[0636] like Figure 28 , Figure 34AAs shown in (d1) and (d2), when the unmanned aerial vehicle 2910 lands on the bottom of the box structure 2952, the drive control unit 2957 controls the first actuator 2961 to close the first lid 2952a and the second lid 2952b. After the first lid 2952a and the second lid 2952b of the box structure 2952 are closed, the unmanned aerial vehicle 2910 is constrained by the box structure 2952. Then, use Figure 28 and Figure 32B to illustrate.

[0637] As Figure 28 , Figure 32B shown in (a), after the first lid 2952a and the second lid 2952b of the box structure 2952 are closed, the control processing unit 2933 controls the wire control module 2934 to drive the second winch 2832, so as to wind and recover the second wire 2942. Accordingly, the unmanned aerial vehicle 2910 is lifted inside the box structure 2952 and caught on the lid of the box structure 2952. At this time, the tension of the second wire 2942 increases and becomes a stretched state.

[0638] As Figure 28 , Figure 32B shown in (b), the control processing unit 2933 controls the wire control module 2934 to drive the first winch 2831 and the second winch 2832, so as to adjust the lengths of the first wire 2941 and the second wire 2942 while moving the cargo basket 2820 towards the lid of the box structure 2952. Then, the cargo basket 2820 is placed on the lid of the box structure 2952.

[0639] As Figure 28 , Figure 32B shown in (c) and (d), after the cargo basket 2820 moves above the lid of the box structure 2952 and is placed on the lid, the drive control unit 2957 controls the second actuator 2962 to move the cargo basket 2820 on the box structure 2952 in front of one of the multiple cargo compartments 2953. At this time, since the cargo basket 2820 is placed on the lid, the control processing unit 2933 controls the wire control module 2934 to drive the first winch 2831 to adjust the length of the first wire 2941. Then, by moving the cargo in the cargo basket 2820 into the specified cargo compartment 2953, the cargo can be stored in the specified cargo compartment 2953. Then, use Figure 28 and Figure 34B to illustrate.

[0640] As Figure 28 , Figure 34BAs shown in (a) thereof, after moving the goods in the goods basket 2820 to the specified goods compartment 2953, the drive control unit 2957 controls the second actuator 2962 to move the box structure 2952 carrying the goods basket 2820 to the standby position. Accordingly, the box structure 2952 and the goods basket 2820 placed on the lid of the box structure 2952 rise along the lifting path 2954, and the box structure 2952 moves to the standby position.

[0641] As Figure 28 , Figure 34B shown in (b) thereof, after the box structure 2952 moves to the standby position, the control processing unit 2933 controls the wire control module 2934 to drive the first winch 2831 and the second winch 2832, so as to adjust the lengths of the first wire 2941 and the second wire 2942 while tilting the posture of the goods basket 2820.

[0642] As Figure 28 , Figure 34B shown in (c) and (d) thereof, after tilting the unmanned transporter 2901, the control processing unit 2933 controls the wire control module 2934 to drive the first winch 2831 and the second winch 2832, so as to adjust the lengths of the first wire 2941 and the second wire 2942 while moving the goods basket 2820 towards the unmanned transporter 2901. Accordingly, the goods basket 2820 rises from the box structure 2952 to the unmanned transporter 2901.

[0643] As Figure 28 , Figure 34C shown in (a) thereof, when the goods basket 2820 moves towards the unmanned transporter 2901 and the goods basket 2820 is loaded onto the unmanned transporter 2901, the drive control unit 2957 controls the first actuator 2961 to make the lid on the goods basket 2820 side of the first lid 2952a and the second lid 2952b in a closed state and open the other lid. At this time, the drive control unit 2957 controls the first actuator 2961 to gradually open the lid on the goods basket 2820 side while controlling the wire control module 2934 to drive the second winch 2832. The unmanned aerial vehicle 2910 gradually disengages from the box structure 2952. Accordingly, while the length of the second wire 2942 is adjusted, the unmanned transporter 2901 gradually moves towards the unmanned aerial vehicle 2910.

[0644] As Figure 28 , Figure 34CAs shown in (b) thereof, the drive control unit 2957 can maintain the posture of the lid on the side of the cargo basket 2820 by controlling the first actuator 2961 in such a way as to guide the unmanned aerial vehicle 2910 toward the unmanned transporter 2901. The posture of the lid on the side of the cargo basket 2820 can also be maintained such that the lid on the side of the cargo basket 2820 forms a specified angle with the horizontal plane. By driving the second winch 2832, the unmanned aerial vehicle 2910 is guided by the lid on the side of the cargo basket 2820. In this way, the unmanned aerial vehicle 2910 moves to the lower surface side of the cargo basket 2820, and the unmanned aerial vehicle 2910 and the cargo basket 2820 are loaded onto the unmanned transporter 2901.

[0645] In addition, the cargo basket 2820 of the present embodiment can also be assembled to the slider unit (for example, Figure 2 slider units 2310 such as Figure 54 guide rail slider units 2510 such as Figure 2 of the present disclosure). That is, the first winch 2831, the first wire 2941, the cargo basket 2820, the second winch 2832, and the unmanned aerial vehicle 2910 can be installed on the slider unit of the present disclosure. At this time, for example Figure 54 the cargo holding part 2315 of

[0646] [Operation and Effect]

[0647] Next, the operation and effect of the unmanned transportation system 2900 in the present embodiment will be described.

[0648] For example, in a scene where the cargo basket transported by the unmanned transporter is lowered to a delivery box vertically below the unmanned transporter, the cargo basket will shake due to the influence of wind or the like. Therefore, it is difficult to lower the cargo basket to the entrance of the delivery box as the destination. And when the delivery box is located at a position other than vertically below the unmanned transporter, it is difficult to lower the cargo basket from the unmanned transporter to the entrance of the delivery box.

[0649] Thus, as described above, the unmanned transportation system 2900 according to the present embodiment further includes a second winch 2832 and an unmanned aerial vehicle 2910. The second winch 2832 is connected to the cargo basket 2820 and can pay out and wind up the second wire 2942. The unmanned aerial vehicle 2910 is connected to the second wire 2942.

[0650] Accordingly, before inserting the cargo basket 2820 into the express delivery box 2950, by releasing the second wire 2942 from the cargo basket 2820, the unmanned aerial vehicle 2910 can be inserted into the express delivery box 2950. Therefore, the cargo basket 2820 can be guided to the entrance of the express delivery box 2950. In this way, compared with the prior art, the cargo basket 2820 can be easily lowered to the entrance of the express delivery box 2950.

[0651] Moreover, the unmanned transportation system 2900 according to the present embodiment further includes an unmanned aerial vehicle 2910 connected to the second wire 2942 and a receiving box (express delivery box 2950). The receiving box includes: a housing 2951; a box structure 2952 formed with an entrance through which the unmanned aerial vehicle 2910 can pass, for restricting the unmanned aerial vehicle 2910; a first actuator 2961 for opening and closing the lid of the box structure 2952; and a second actuator 2962 for moving the box structure 2952 from a standby position above the housing 2951 along a first path. The box structure 2952 includes a lid capable of opening and closing the entrance. The lid includes a first lid 2952a and a second lid 2952b. When the first lid 2952a and the second lid 2952b are closed, a part of the first lid 2952a and a part of the second lid 2952b form a hole 2952c. Then, the controller controls the unmanned aerial vehicle 2910 to insert the unmanned transporter 2901 into the box structure 2952 with the lid in the open state. After the unmanned transporter 2901 enters the box structure 2952, the first actuator 2961 is controlled to close the first lid 2952a and the second lid 2952b. In the state where the first lid 2952a and the second lid 2952b are closed, the second wire 2942 passes through the hole 2952c. The hole 2952c is smaller than the unmanned transporter 2901, so the unmanned transporter 2901 cannot pass through the hole 2952c and is restricted by the box structure 2952. After the first lid 2952a and the second lid 2952b are closed, the first winch 2831 and the second winch 2832 connected to the cargo basket 2820 and capable of releasing and winding the second wire 2942 are driven, so as to move the cargo basket 2820 above the lid of the box structure 2952 while adjusting the lengths of the first wire 2941 and the second wire 2942.

[0652] Accordingly, before inserting the goods basket 2820 into the express delivery box 2950, by releasing the second wire 2942 from the goods basket 2820, the unmanned aerial vehicle 2910 can be inserted into the express delivery box 2950. The unmanned aerial vehicle 2910 inserted into the express delivery box 2950 is constrained by the box structure 2952 and thus is in a state fixed to the box structure 2952. That is, the unmanned aerial vehicle 2910 is caught by the lid of the box structure 2952, and the unmanned aerial vehicle 2910 and the second wire 2942 can function as a hook for guiding the goods basket 2820. Therefore, the goods basket 2820 can be guided to the entrance of the express delivery box 2950. In this way, compared with the prior art, the goods basket 2820 can be easily lowered to the entrance of the express delivery box 2950.

[0653] (Embodiment 6)

[0654] Hereinafter, the express delivery box 3001 of the unmanned delivery system 3000 in this embodiment is different from that in Embodiment 5 in that it has a guiding structure 3030. Since the basic configuration of the unmanned delivery system 3000 in this embodiment is the same as the basic configurations of the above-described embodiments, the same reference numerals are given to the basic configuration of the unmanned delivery system 3000 in this embodiment and the description is appropriately omitted. Also, in this embodiment, the respective configurations of the embodiments can be applied to this embodiment.

[0655] [Function and Configuration]

[0656] First, use Figures 35 to 40D to describe the unmanned delivery system 3000 in this embodiment.

[0657] Figure 35 is a schematic diagram showing the unmanned delivery aircraft 3002, the goods basket 3005, and the express delivery box 3001. Figure 36 is a schematic diagram showing the internal structure of the express delivery box 3001 in the unmanned delivery system. Figure 37 is a block diagram showing the unmanned delivery system. Figure 38 is a side view showing the goods basket 3005. Figure 39 In (a), it is a top view when looking down on the guiding structure 3030 and the goods basket 3005. Figure 39 In (b), it is a schematic diagram showing the appearance of the goods basket 3005 entering the guiding structure 3030. Figure 40A shows the appearance of the carrier 3040 in the express delivery box 3001 moving in the lifting path 3013 and the goods basket 3005 being placed on the carrier 3040. Figure 40B shows the appearance of the goods being placed on the carrier 3040 in the express delivery box 3001, the goods basket 3005 rising, and the carrier 3040 returning to the goods chamber 3011. Figure 40CIt shows the state where the carrier 3040 carrying the goods for collection moves in the lifting path 3013 and the goods basket 3005 descends toward the carrier 3040. Figure 40D It shows the state where the goods basket 3005 collecting the goods ascends and the carrier 3040 returns into the goods chamber 3011.

[0658] As Figures 35 to 37 As shown, the express delivery box 3001 of the unmanned delivery system 3000 is a receiving box for collecting goods from the unmanned delivery aircraft 3002 and collecting goods. An ordering screen 3064 for ordering goods that can be delivered to the express delivery box 3001 and for entrusting the collection of goods is provided in the express delivery box 3001.

[0659] The express delivery box 3001 includes a frame body 3010, a guiding structure 3030, a plurality of carriers 3040, a door 3050, a first actuator 3061, and a drive control unit 3063.

[0660] The frame body 3010 is in the shape of a rectangular parallelepiped or a cylinder and is a container capable of storing a plurality of goods. A power distribution room is provided in the frame body 3010. In the frame body 3010, there are formed: a plurality of goods chambers 3011 arranged in the vertical direction, a top opening 3012 formed in the top surface portion vertically above the frame body 3010, and a lifting path 3013 for delivering the collected goods to a specified goods chamber 3011 among the plurality of goods chambers 3011 provided in the frame body 3010. The top opening 3012 is an opening for receiving the goods transported by the unmanned delivery aircraft 3002. The top opening 3012 is an example of an opening. And the goods are an example of transported objects.

[0661] The guiding structure 3030 is a tube in the shape of a trapezoid, specifically in the shape of a funnel. The guiding structure 3030 is located above the top opening 3012 and is provided to be connected to and communicate with the top opening 3012 of the frame body 3010. Therefore, the guiding structure 3030 can guide the goods toward the top opening 3012. The guiding structure 3030 can be composed of a net-like or plate-like structure. By making the guiding structure 3030 a net-like structure, the tipping of the express delivery box 3001 can be suppressed even when it is blown by strong wind.

[0662] A lifting path 3013 is provided inside the express delivery box 3001. The lifting path 3013 extends vertically downward from the top opening 3012 in such a way as to penetrate the frame body 3010 from the guiding structure 3030, and the goods can move up and down in the lifting path 3013 via a wire 3003 extending from the unmanned delivery aircraft 3002.

[0663] The lifting path 3013 is a path extending vertically from the top opening 3012 of the housing 3010 to the bottom of the housing 3010. The top opening 3012 is the top surface portion above the lifting path 3013 vertically, through which the cargo basket 3005 passes. The lifting path 3013 can accommodate the cargo basket 3005 inside.

[0664] A plurality of adjacent cargo compartments 3011 are arranged in the lifting path 3013. Each of the plurality of cargo compartments 3011 is provided in the housing 3010 and faces the lifting path 3013. The plurality of cargo compartments 3011 are arranged vertically along the lifting path 3013. The lifting path 3013 is an example of a transport space.

[0665] When viewing the express box 3001 from a direction perpendicular to the vertical direction, the guiding structure 3030 occupies a first region and a second region in the express box 3001. The first region is a region having a trapezoidal shape that gradually narrows from vertically upward to vertically downward. The second region is a region connected to the first region and located vertically below the first region, and has a curved surface shape that bulges toward the lifting path 3013. That is, the guiding structure 3030 has a first guiding portion 3031 and a second guiding portion 3032. The first guiding portion 3031 can guide the goods carried in from the unmanned transporter 3002. The first guiding portion 3031 has a trapezoidal shape. The first guiding portion 3031 corresponds to the first region of the guiding structure 3030. The second guiding portion 3032 is connected to the guiding portion vertically below the guiding portion and can guide the goods guided by the guiding portion to the carrier 3040 provided in the lifting path 3013. The second guiding portion 3032 has a curved surface shape that bulges toward the lifting path 3013. The curved surface shape is an arc shape that bulges toward the lifting path 3013. That is, the second guiding portion 3032 has an arc shape that bulges toward the lifting path 3013 and narrows the lifting path 3013. The second guiding portion 3032 corresponds to the second region of the guiding structure 3030.

[0666] As Figure 39 shown, when viewing the express box 3001 from a direction perpendicular to the vertical direction, the side surface of the first region of the guiding structure 3030 is 45° or more with respect to the horizontal plane. That is, the first guiding portion 3031 corresponding to the first region of the guiding structure 3030 is set to a posture of 45° or more with respect to the horizontal plane.

[0667] The carrier 3040 can move between a first position facing the lifting path 3013 and a second position included in the lifting path 3013 by the drive of the first actuator 3061. That is, the carrier 3040 can move horizontally from the lifting path 3013 (the second position) to the specified cargo compartment 3011 (the first position) in a state of carrying goods by being driven by the first actuator 3061, and can also move horizontally from the specified cargo compartment 3011 (the first position) to the lifting path 3013 (the second position).

[0668] The carrier 3040 constitutes the cargo compartment 3011 at the first position. That is, the carrier 3040 constitutes the cargo compartment 3011 by being received in the specified cargo compartment 3011 among the plurality of cargo compartments 3011. A plurality of such carriers 3040 are provided in the frame 3010. The plurality of carriers 3040 are provided in the frame 3010 in a one-to-one correspondence with the plurality of cargo compartments 3011. Therefore, it can also be said that the plurality of carriers 3040 constitute the plurality of cargo compartments 3011 at the first position.

[0669] The door 3050 is provided in the frame 3010 of the express delivery box 3001 and communicates with the cargo compartment 3011. An access opening for taking out and putting in goods is formed in the frame 3010. The actuator of the door 3050 is controlled by the drive control unit 3063, so that the door 3050 automatically opens and closes the access opening. Also, the actuator of the door 3050 is controlled by the drive control unit 3063, so that the door 3050 automatically locks and unlocks.

[0670] Moreover, a plurality of doors 3050 are provided in the frame 3010. Therefore, the plurality of doors 3050 are provided in the frame 3010 in a one-to-one correspondence with the plurality of cargo compartments 3011. Accordingly, the plurality of doors 3050 communicate with the plurality of cargo compartments 3011 in a one-to-one correspondence.

[0671] The first actuator 3061 can move the carrier 3040 horizontally between the first position and the second position. In addition, the first actuator 3061 can also move the carrier 3040 vertically in the lifting path 3013.

[0672] Specifically, the first actuator 3061 can move the carrier 3040 between the cargo compartment 3011 including the first position facing the lifting path 3013 and the lifting path 3013 including the second position therein. That is, the first actuator 3061 can move the carrier 3040 between the first position constituting the cargo compartment 3011 and the second position included in the lifting path 3013. Accordingly, the carrier 3040 can store goods in one of the plurality of cargo compartments 3011 and can collect the goods stored in the cargo compartment 3011.

[0673] The drive control unit 3063 controls the first actuator 3061 to move the carrier 3040. Specifically, when collecting goods from the unmanned transporter 3002, the drive control unit 3063 controls the first actuator 3061 to move the carrier 3040 from the first position to the second position. And after collecting the goods, the drive control unit 3063 controls the first actuator 3061 to move the carrier 3040 from the second position to the first position. The drive control unit 3063 is an example of a control unit.

[0674] After detecting that the goods are placed via the door 3050, the drive control unit 3063 controls the first actuator 3061. After moving the carrier 3040 from the first position to the second position, the unmanned transporter 3002 retrieves the goods.

[0675] Here, Figure 40A and Figure 40B are used to illustrate the case of delivering goods to the express box 3001.

[0676] As Figure 37 , Figure 40A shown in (a) and (b), when the unmanned transporter 3002 moves above the express box 3001, the express box 3001 obtains a arrival notice from the unmanned transporter 3002 and moves the carrier 3040, which is the recipient of the goods to be delivered by the unmanned transporter 3002, from the first position to the second position.

[0677] When the unmanned transporter 3002 receives a collectable notice indicating that the carrier 3040 has moved from the first position to the second position from the express box 3001, it lowers the cargo basket 3005. Specifically, when the control processing unit 3002a of the unmanned transporter 3002 receives the collectable notice from the express box 3001, it controls the wire control module 3002b to drive the winch 3002c of the unmanned transporter 3002 to pay out the wire 3003. Accordingly, the cargo basket 3005 descends.

[0678] At this time, as Figure 39As shown, even when the goods basket 3005 descends to a position deviated from the top opening 3012 of the express delivery box 3001, the goods basket 3005 can contact the guiding structure 3030 and slide on the first guiding portion 3031 of the guiding structure 3030, and thus be guided by the first guiding portion 3031 to the top opening 3012 of the express delivery box 3001. After the goods basket 3005 is inserted into the lifting path 3013 from the top opening 3012, it reaches the second guiding portion 3032 via the first guiding portion 3031 and is guided by the second guiding portion 3032, so that the goods basket 3005 is placed on the carrier 3040 in a state where its posture is adjusted. That is, when looking at the express delivery box 3001 from vertically above, the goods basket 3005 is guided by the guiding structure 3030 and adjusted to a posture completely overlapping the top opening 3012 of the express delivery box 3001.

[0679] In addition, regarding the method for detecting the placement of the goods basket 3005 on the carrier 3040, for example, sensors such as a tension sensor for detecting the tension of the wire 3003, an image sensor for photographing the lower part of the goods basket 3005, a gravity sensor for detecting the gravity applied to the carrier 3040, and a pressure sensor for detecting the pressure generated by the goods basket 3005 can be used to detect the placement of the goods basket 3005 on the carrier 3040. Moreover, well-known sensors can also be used to detect the placement of the goods basket 3005 on the carrier 3040.

[0680] And, as Figure 37 and Figure 38 shown, a lighting module 3005a such as an LED element or a piezoelectric buzzer 3005b can also be mounted on the goods basket 3005. The lighting module 3005a can also be arranged on the side surface of the goods basket 3005 (the upper side surface in Figure 38 ). Also, the piezoelectric buzzer 3005b can be arranged on the lower side surface or the lower surface of the goods basket 3005. That is, the piezoelectric buzzer 3005b is arranged on the goods basket 3005 in such a way that the directivity direction of the sound emitted by the piezoelectric buzzer 3005b faces the lower side of the goods basket 3005. In this case, when the control processing unit 3002a lowers or raises the goods basket 3005, the lighting module 3005a can be controlled to turn on or blink the lighting module 3005a. In order to notify the surroundings that the goods basket 3005 is descending, the lighting module 3005a can be lit in a conspicuous color such as red. Also, when the goods basket 3005 is lowered or raised, the piezoelectric buzzer 3005b can output sound.

[0681] Further, when a person is detected in the vicinity, alarm means such as a light-emitting module 3005a and a piezoelectric buzzer 3005b can be used in the cargo basket 3005 to output an alarm to the surrounding people by sound and / or light. Additionally, when the surrounding people do not avoid even after the alarm is output, the control processing unit 3002a can also stop the descent of the cargo basket 3005.

[0682] As Figure 37 , Figure 40A shown in (c) of, when the cargo basket 3005 is placed on the carrier 3040, the cargo basket 3005 places the cargo loaded inside on the carrier 3040. For example, the control processing unit 3002a controls the cargo basket 3005 to place the cargo on the carrier 3040.

[0683] As Figure 37 , Figure 40B shown in (a) and (b) of, after the cargo is placed on the carrier 3040, the control processing unit 3002a controls the wire control module 3002b to drive the winch 3002c to wind up and recover the wire 3003. Accordingly, the cargo basket 3005 rises to the unmanned transporter 3002.

[0684] As Figure 37 , Figure 40B shown in (c) of, after the cargo basket 3005 rises to the unmanned transporter 3002, the express box 3001 moves the carrier 3040 from the second position to the first position. For example, when the express box 3001 receives a loading completion notice indicating that the cargo basket 3005 has been loaded on the unmanned transporter 3002 from the unmanned transporter 3002, the drive control unit 3063 controls the first actuator 3061 to move the carrier 3040 from the second position to the first position. Accordingly, the cargo placed on the carrier 3040 is stored in the specified cargo compartment 3011.

[0685] When the user picks up the cargo from the express box 3001, the user can display an identification code such as a QR code (registered trademark) on the held terminal device to allow the camera sensor 3065 provided on the express box 3001 to read the identification code of the terminal device. The identification code is a code used by the user who has ordered the commodity to pick up the commodity (cargo). As described above, when the user orders a commodity and sets it to be delivered to the express box 3001, the identification code is sent to the user's terminal device.

[0686] The drive control unit 3063 of the express delivery box 3001 controls the actuator of the door 3050 by reading the identification code of the terminal device through the camera sensor 3065, unlocking the door 3050 of the cargo compartment 3011 corresponding to the identification code (the cargo compartment 3011 storing the goods ordered by the user), so that the door 3050 automatically opens. Accordingly, the locked door 3050 automatically opens, and the user can take out the goods from the specified cargo compartment 3011. Then, after the user takes out the goods from the cargo compartment 3011, the drive control unit 3063 of the express delivery box 3001 controls the actuator of the door 3050 to automatically close and lock the door 3050.

[0687] Here, the use of Figure 40C and Figure 40D is used to illustrate the situation of the express delivery box 3001 collecting goods.

[0688] As Figure 37 and Figure 40C shown in (a) and (b), after the user stores the goods in the specified cargo compartment 3011 of the express delivery box 3001, the goods are placed on the carrier 3040. After that, when the unmanned transporter 3002 arrives above the express delivery box 3001, the drive control unit 3063 of the express delivery box 3001 controls the first actuator 3061 to move the carrier 3040 from the first position to the second position.

[0689] As Figure 37 and Figure 40C shown in (c), when the unmanned transporter 3002 obtains the collectable goods notice indicating that the carrier 3040 has moved from the first position to the second position from the express delivery box 3001, the cargo basket 3005 is lowered. Specifically, when the control processing unit 3002a of the unmanned transporter 3002 obtains the collectable goods notice from the express delivery box 3001, it controls the wire control module 3002b to drive the winch 3002c of the unmanned transporter 3002 to release the wire 3003. Accordingly, the cargo basket 3005 is lowered. At this time, even if the cargo basket 3005 is lowered to a position deviated from the top opening 3012 of the express delivery box 3001, the cargo basket 3005 can contact the guiding structure 3030 and slide on the first guiding portion 3031 of the guiding structure 3030, and thus is guided by the first guiding portion 3031 to the top opening 3012 of the express delivery box 3001. Then, the cargo basket 3005 is inserted into the lifting path 3013 from the top opening 3012, reaches the second guiding portion 3032 via the first guiding portion 3031, and is guided by the second guiding portion 3032 to be placed on the carrier 3040 in a state where the posture of the cargo basket 3005 is adjusted.

[0690] As Figure 37 and Figure 40DAs shown in (a) of [figure reference], when the cargo basket 3005 is placed on the transporter 3040, the cargo basket 3005 places the cargo placed on the recovery transporter 3040 while being placed on the transporter 3040. After the cargo basket 3005 has recovered the cargo placed on the transporter 3040, the unmanned transporter 3002 obtains a recovery completion notice from the cargo basket 3005 indicating that the cargo basket 3005 has recovered the cargo.

[0691] As Figure 37 、 Figure 40D shown in (b) of [figure reference], the control processing unit 3002a of the unmanned transporter 3002 controls the wire control module 3002b to drive the winch 3002c to wind up the recovery wire 3003. Accordingly, the cargo basket 3005 rises to the unmanned transporter 3002.

[0692] As Figure 37 、 Figure 40D shown in (c) of [figure reference], after the cargo basket 3005 has risen to the unmanned transporter 3002, the express box 3001 moves the transporter 3040 from the second position to the first position. For example, when the express box 3001 obtains a loading completion notice indicating that the cargo basket 3005 has been loaded onto the unmanned transporter 3002, the drive control unit 3063 controls the first actuator 3061 to move the transporter 3040 from the second position to the first position. Accordingly, the cargo placed on the transporter 3040 is stored in the specified cargo compartment 3011.

[0693] [Function and Effect]

[0694] Next, the function and effect of the unmanned transportation system 3000 in this embodiment will be described.

[0695] As described above, the unmanned transportation system 3000 according to this embodiment further includes a receiving box (express box 3001). The receiving box includes: a frame 3010 having an opening for receiving a transported object transported by the unmanned transporter 3002; and a guiding structure 3030 located above the opening for guiding the transported object toward the opening. And, a transportation space (lifting path 3013) extending vertically downward from the opening is provided in the receiving box, and the transported object can move up and down in the transportation space via a wire 3003 extending from the unmanned transporter 3002. Thus, when the receiving box is viewed from a direction perpendicular to the vertical direction, the guiding structure 3030 occupies a first region and a second region in the receiving box. The first region is a trapezoidal region that gradually narrows from the vertical upward direction to the vertical downward direction, and the second region is connected to the first region and is located vertically below the first region and has an arc shape that bulges toward the transportation space.

[0696] Accordingly, when the unmanned transporter 3002 unloads the goods, even if the goods basket 3005 deviates from the opening under the influence of the wind, since the guiding structure 3030 can guide the goods basket 3005, the goods basket 3005 can enter the opening of the express delivery box 3001.

[0697] Moreover, when the goods basket 3005 enters the lifting path 3013, the wire 3003 may come into contact with the guiding structure 3030. In this case, the wire 3003 will rub against the guiding structure 3030 and the wire 3003 will be damaged. However, in the present embodiment, since the guiding structure 3030 is provided with a second region having an arc shape bulging toward the transportation space, when the goods basket 3005 enters the lifting path 3013, it is possible to suppress the wire 3003 from coming into contact with the second region of the guiding structure 3030 and being damaged. Therefore, both the damage of the wire 3003 and the dropping of the goods basket 3005 are suppressed.

[0698] (Embodiment 7)

[0699] Hereinafter, the unmanned transportation system 3100 in the present embodiment is different from Embodiment 6 and the like in that it has an extendable first slider 3121 and a second slider 3122. Since the basic configuration of the unmanned transportation system 3100 in the present embodiment is the same as the basic configurations of the above-described embodiments, the same reference numerals are given to the basic configuration of the unmanned transportation system 3100 in the present embodiment and the description is appropriately omitted. Moreover, in the present embodiment, the respective configurations of the respective embodiments can also be applied to the present embodiment.

[0700] [Function and Configuration]

[0701] First, Figures 41A to 41D the unmanned transportation system 3100 in the present embodiment will be described.

[0702] Figure 41A is a schematic diagram showing the first body main body 3101 and the second body main body 3110. Figure 41B shows a state in which the first slider 3121 and the second slider 3122 are slid to lower the goods basket 3132a. Figure 41C shows the state of the first slider 3121 and the second slider 3122 after unloading the goods. Figure 41D shows the...

Claims

1. A conveyor for transporting goods, The conveyor includes: A first arm; A second arm; A first wheel connected to the first arm; A second wheel connected to the second arm; At least one actuator for driving the first wheel, the second wheel, the first arm, and the second arm; and A controller, When the conveyor is freely slidably suspended from a first guide rail by the first wheel and the second wheel, the controller controls the at least one actuator to disengage the first wheel from the first guide rail and place it on a second guide rail, and to disengage the second wheel from the first guide rail and place it on the second guide rail.

2. The conveyor according to claim 1, The first arm can be moved in the vertical direction by the drive of the at least one actuator and can rotate about an axis along the length direction of the first arm. The second arm can be moved in the vertical direction by the drive of the at least one actuator and can rotate about an axis along the length direction of the second arm.

3. The conveyor according to claim 1 or 2, The first guide rail extends horizontally along the outer wall of the facility. The second guide rail extends along the ceiling of the balcony of the facility in a direction perpendicular to the length direction of the first guide rail.

4. The conveyor according to claim 1 or 2, When the conveyor is freely slidably suspended from the first guide rail by the first wheel and the second wheel, the controller controls the at least one actuator. After the second wheel disengages from the first guide rail, by rotating the first wheel on the first guide rail, the second wheel is brought closer to the second guide rail, so that the second wheel is placed on the second guide rail.

5. The conveyor according to claim 1 or 2, The conveyor further includes: A first cargo basket connected to a first wire; A second cargo basket connected to a second wire; A first winch capable of paying out and winding back the first wire; and A second winch capable of paying out and winding back the second wire. The controller performs the following control: When the conveyor moves along the second guide rail and reaches a first location, the first winch is controlled to pay out the first wire, so that the first cargo in the first cargo basket is unloaded and delivered into the express box, or the first cargo in the express box is recovered into the first cargo basket. The first winch is controlled to wind back the first wire, so that the first cargo basket returns to the first location, and the first cargo basket is located above the express box. After the first goods have been delivered or retrieved, and after the conveyor has moved along the second guide rail and reached the second location, the second winch is controlled to pay out the second wire, so that the second goods are unloaded and delivered into the express box, or the second goods in the express box are retrieved into the second goods basket. The second winch is controlled to wind up and retrieve the second wire, so that the second goods basket returns to the second location, and the second goods basket is located above the express box.

6. The conveyor according to claim 1 or 2, The conveyor further comprises: A body main body; A first goods basket connected to the body main body via a first wire; A second goods basket connected to the body main body via a second wire; A rotating body for rotating the body main body; A first winch capable of paying out and winding up and retrieving the first wire; and A second winch capable of paying out and winding up and retrieving the second wire, The controller performs the following control, After the conveyor has moved along the second guide rail and reached the first location, the first winch is controlled to pay out the first wire, so that the first goods in the first goods basket are unloaded and delivered into the express box, or the first goods in the express box are retrieved into the first goods basket. The first winch is controlled to wind up and retrieve the first wire, so that the first goods basket returns to the first location, and the first goods basket is located above the express box. After the first goods have been delivered or retrieved, the rotating body is controlled to rotate the body main body. After rotating the body main body and when the second goods basket is located above the express box, the second winch is controlled to pay out the second wire, so that the second goods are unloaded and delivered into the express box, or the second goods in the express box are retrieved into the second goods basket.

7. The conveyor according to claim 5, The express box is arranged at a location in the balcony of the facility other than the emergency space in front of the security door.

Images