Package receiving device

Abstract

To provide a package receiving device for storing a delivered package regardless of existence of a receiver when an unmanned aircraft arrives a package delivery destination in a case that the package is delivered by the unmanned aircraft.SOLUTION: A package receiving device 10 includes: a package placement surface 3 which is exposed or may be exposed to the outside so that an unmanned aircraft can place a package 1; and an internal space S for storing the package 1. The package receiving device 10 is formed with an opening 3a leading to the internal space S from the outside. The package receiving device 10 includes a package moving device 9 which moves the package 1 placed on the package placement surface 3 to a position of the opening 3a along the package placement surface 3.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a baggage receiving device for receiving baggage from an unmanned aerial vehicle. [Background technology]

[0002] It has been proposed to transport luggage to a destination by unmanned aeroplane. For example, in Patent Document 1, an unmanned aeroplane uses a global positioning system (GPS) to fly to a destination indicated by previously input location information, and while hovering at the destination, it lowers a storage case containing the transported goods, and delivers the transported goods (luggage) inside the storage case to a consignee. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 4222510 [Patent Document 2] JP 2019-019528 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in Patent Document 1, even if the unmanned aircraft arrives at the destination, if the consignee is not at the destination, the unmanned aircraft cannot hand over the package to the consignee.

[0005] Therefore, an object of the present invention is to provide a baggage receiving device for storing a delivered baggage when the baggage is delivered by an unmanned aerial vehicle and the unmanned aerial vehicle arrives at the delivery destination of the baggage, regardless of whether or not a recipient is present. [Means for solving the problem]

[0006] The baggage receiving device according to the present invention is a baggage receiving device having a baggage placement surface that is exposed or exposable to the outside so that an unmanned aerial vehicle can place baggage thereon, and an internal space for storing the baggage, A baggage receiving device having a baggage placement surface that is exposed or exposable to the outside so that an unmanned aerial vehicle can place baggage thereon, and an internal space for storing the baggage, An opening is formed that leads from the outside to the internal space, a luggage moving device that moves luggage placed on the luggage placement surface along the luggage placement surface to the position of the opening, or moves the luggage through the opening into the internal space, A conveying device that conveys luggage in the internal space; A control device for controlling the luggage moving device and the transport device, A luggage outlet is formed for taking luggage stored in the internal space out of the internal space, The control device includes: receiving authentication information from the unmanned aircraft when the unmanned aircraft places luggage on the luggage placement surface; Operate the luggage moving device to move the luggage to the location of the opening; Then, control the transport device to transport the load to a storage space in the interior space; The storage space and the authentication information are stored in association with each other; Thereafter, when authentication information is input by the consignee and the authentication information matches the authentication information held, the transport device is controlled to transport the luggage in the storage space to the luggage exit. A baggage receiving device according to the present invention is a baggage receiving device having a baggage placement surface that is exposed or exposable to the outside so that an unmanned aerial vehicle can place baggage thereon, and an internal space for storing the baggage, An opening is formed that leads from the outside to the internal space, a luggage moving device that moves luggage placed on the luggage placement surface along the luggage placement surface to the position of the opening, or moves the luggage through the opening into the internal space, A conveying device that conveys luggage in the internal space; A control device for controlling the luggage moving device and the transport device, A luggage outlet is formed for taking luggage stored in the internal space out of the internal space, The control device includes: receiving authentication information from the unmanned aircraft when the unmanned aircraft places luggage on the luggage placement surface; operating the luggage moving device to move the luggage through the opening into the interior space; Then, the transport device is controlled to transport the luggage to the luggage outlet in the internal space. Thereafter, when authentication information is input by the consignee and the authentication information matches the authentication information held, an exit door capable of opening and closing the baggage exit is operated from a position for closing the baggage exit to a position for opening the baggage exit. Effect of the Invention

[0007] According to the present invention described above, when delivering luggage by an unmanned aerial vehicle, the luggage placed by the unmanned aerial vehicle on the luggage placement surface can be stored in the internal space of the luggage receiving device by the luggage moving device. Therefore, the delivered luggage can be stored regardless of the presence or absence of a recipient. [Brief description of the drawings]

[0008] [Figure 1] 1 is a plan view showing a baggage receiving device according to an embodiment of the present invention; [Diagram 2] FIG. 2 is a cross-sectional view taken along line II-II in FIG. [Diagram 3] FIG. 3 is a cross-sectional view taken along line III-III in FIG. 2, showing an example of a storage floor. [Figure 4] This is a cross section taken along line IV-IV in FIG. [Diagram 5] 2 is a cross-sectional view taken along line VV in FIG. 1, showing the configuration of the luggage moving device. [Figure 6] FIG. 6 is a partially enlarged view of FIG. [Figure 7]FIG. 7 is a view taken along line VII-VII in FIG. [Figure 8] FIG. 2 is a cross-sectional view taken along line VIII-VIII in FIG. [Figure 9] 9 is a cross-sectional view taken along line IX-IX in FIG. 8. [Figure 10] 4 is a flowchart showing a baggage receiving method using the baggage receiving device according to the first embodiment. [Figure 11] FIG. 2 is an explanatory diagram of a baggage receiving method according to the first embodiment. [Figure 12] FIG. 4 is another explanatory diagram of the baggage receiving method according to the first embodiment. [Figure 13] FIG. 4 is another explanatory diagram of the baggage receiving method according to the first embodiment. [Figure 14] FIG. 11 is a plan view showing a baggage receiving device according to a second embodiment of the present invention; [Figure 15] 15 is a cross-sectional view taken along line XV-XV of FIG. 14. [Figure 16] FIG. 11 is an explanatory diagram of a baggage receiving method according to a second embodiment. [Figure 17] FIG. 11 is another explanatory diagram of the baggage receiving method according to the second embodiment. [Figure 18] FIG. 11 is a plan view showing a baggage receiving device according to a third embodiment of the present invention. [Figure 19] FIG. 11 is a plan view showing a baggage receiving device according to a fourth embodiment of the present invention. [Figure 20] 20 is a cross-sectional view taken along line XX-XX in FIG. 19. [Figure 21] FIG. 13 is an explanatory diagram of a baggage receiving method according to a fourth embodiment. [Figure 22] FIG. 13 is another explanatory diagram of the baggage receiving method according to the fourth embodiment. [Figure 23] FIG. 13 is a plan view showing a baggage receiving device according to a fifth embodiment of the present invention. [Figure 24] 24 is a view taken along line XXIV-XXIV in FIG. 23. [Diagram 25] FIG. 13 is an explanatory diagram of a baggage receiving method according to the fifth embodiment. [Figure 26] FIG. 13 is another explanatory diagram of the baggage receiving method according to the fifth embodiment. [Figure 27] FIG. 13 is another explanatory diagram of the baggage receiving method according to the fifth embodiment. [Figure 28] FIG. 13 is a plan view showing a baggage receiving device according to a sixth embodiment of the present invention. [Figure 29] 28 line XXIX-XXIX view [Figure 30A] FIG. 13 is a plan view showing a baggage receiving device according to a seventh embodiment of the present invention. [Figure 30B] 30B is a cross-sectional view taken along line 30B-30B in FIG. 30A. [Figure 31A] FIG. 13 is a side view showing a baggage receiving device according to an eighth embodiment of the present invention. [Figure 31B] In FIG. 31A, the load surface is shown moved from a raised height to a lowered height. [Diagram 32] This is a view taken along line XXXII-XXXII in Figure 31B. [Figure 33A] This shows configuration example 1 of a system in which a baggage claiming device communicates with an unmanned airplane or its control device based on weather values. [Figure 33B] This shows a second example configuration of a system in which a baggage claiming device communicates with an unmanned airplane or its control device based on weather values. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] An embodiment of the present invention will be described with reference to the drawings. In each drawing, the same reference numerals are used to designate common parts, and duplicated explanations will be omitted. In each drawing, components related to the description are shown, and components not related to the description are omitted.

[0010] (composition) FIG. 1 is a plan view showing a baggage receiving device 10 according to an embodiment of the present invention. FIG. 2 is a cross-sectional view taken along line II-II in FIG. 1. The baggage receiving device 10 has a baggage placement surface 3 (an area surrounded by a dashed line in FIG. 1) facing vertically upwards on which an unmanned aerial vehicle such as a drone can place baggage, and has an internal space S for storing baggage 1. In this embodiment, the baggage placement surface 3 is exposed to the outside so that the unmanned aerial vehicle can place baggage. Here, the unmanned aerial vehicle may be, for example, a small unmanned helicopter that flies autonomously or by remote control. The unmanned aerial vehicle may have vertical and horizontal dimensions of 2 meters or less and a height of 1 m or less.

[0011] As shown in Fig. 1, the baggage receiving device 10 has a roof 5 and an outer wall 7. As shown in Fig. 1, a part (most part) of the upper surface of the roof 5 may serve as a baggage placement surface 3. An internal space S is formed by the roof 5 and the outer wall 7. An opening 3a that leads to the internal space S is formed in the baggage placement surface 3 (i.e., the roof 5).

[0012] According to the first embodiment, the dimensions of the luggage placement surface 3 (the dimensions in two directions parallel to the surface and perpendicular to each other) are significantly larger than the dimensions (e.g., width) of the target unmanned aerial vehicle (e.g., 3 times or more, 5 times or more, or 10 times or more of the dimensions of the unmanned aerial vehicle). For example, the luggage placement surface 3 is 25 m 2 or more. In this case, the luggage placed by the unmanned aerial vehicle on the luggage placement surface 3 may be a box containing deliveries such as goods and documents inside. In one example, this box may be a rectangular box with a length, width, and height of 40 cm, 60 cm, and 40 cm, respectively. The luggage placement surface 3 may be, for example, a square, rectangular, circular, or elliptical shape, but is not limited to these shapes.

[0013] Each component of the baggage receiving apparatus 10 described below may be attached to the roof 5, the outer wall 7, or another structure (not shown) provided on the baggage receiving apparatus 10.

[0014] The luggage receiving device 10 includes a luggage moving device 9 and a luggage receiving unit 11. The luggage moving device 9 moves the luggage 1 placed on the luggage placing surface 3 along the luggage placing surface 3 to the position of the opening 3a. The luggage receiving unit 11 is raised and lowered between an elevated height corresponding to the height of the opening 3a and a lowered height lower than the elevated height. The luggage receiving unit 11 has an upper surface 11a that receives the luggage 1 moved to the position of the opening 3a by the luggage moving device 9 while positioned at the elevated height. In this embodiment, the luggage receiving device 10 further includes a lift 8 that is driven to be raised and lowered, and the luggage receiving unit 11 is a pallet placed on the lift 8.

[0015] The luggage receiver 11, while placed on the lift 8, is raised and lowered between the above-mentioned raised height and the above-mentioned lowered height by raising and lowering the lift 8. In Fig. 2, the luggage receiver 11 is located at the raised height. The luggage receiver 11 is located at the raised height when it receives the luggage 1 that has been moved to the position of the opening 3a. The lift 8 may be provided with a plurality of rollers 8a that support the pallet 11 from below and are driven to rotate.

[0016] In this embodiment, the above-mentioned lowering height includes the height of the storage floor and the height of the baggage removal floor. When the pallet 11 is located at the height of the storage floor by the lift 8 rising and falling, the pallet 11 on the lift 8 is moved horizontally between the lift 8 and the storage space of the storage floor (for example, by the roller 8a being rotated). FIG. 3 is a view taken along the line III-III in FIG. 2, and shows an example of a storage floor. In the example of FIG. 3, a plurality (a large number) of storage spaces P (areas surrounded by dashed lines) are adjacent to each other in the horizontal and vertical directions on the storage floor. A pallet 11 can be located in each storage space P. A number of pallets 11 less than the number of storage spaces P are provided. This allows the pallet to be moved horizontally in sequence from one of the adjacent storage spaces P to the other storage space P where no pallet 11 is present. In the example of FIG. 2, the pallet 11 can be moved between the adjacent storage spaces P at the locations and in the directions indicated by the arrows.

[0017] An empty pallet 11 without any loads 1 thereon may be positioned at the above-mentioned raised height to receive the loads 1, after which the loaded pallet 11 at the raised height may be moved to the storage space P. Then another empty pallet 11 may be positioned at the raised height and the above-mentioned operations may be repeated.

[0018] The device for horizontally moving the pallet 11 between the lift 8 and the storage space P, and the device for horizontally moving the pallet between adjacent storage spaces P may be similar to the configuration described in Patent Document 2. That is, the space above each "drive cell 4," the "pallet 2," and the "lift 3" in Patent Document 2 correspond to the storage space P, the pallet 11, and the lift 8 in this embodiment, respectively. In Patent Document 2, a car is placed on the pallet, but in this embodiment, a baggage 1 is placed on the pallet 11 instead of a car.

[0019] The lift 8 may also be raised and lowered to the height of the baggage removal floor. When the pallet is located at the height of the baggage removal floor by raising and lowering the lift 8, the pallet on the lift 8 is moved horizontally to a removal position (for example, the position of the pallet depicted by the dashed line in FIG. 2) in front of the baggage exit 7a formed in the outer wall 7, for example, by rotating the rollers 8a of the lift 8 and the multiple rollers 12 on the baggage removal floor. Next, a person (for example, a baggage recipient) removes the baggage 1 on the pallet 11 at the removal position to the outside of the baggage receiving device 10 (internal space S) through the baggage exit 7a.

[0020] The baggage receiving device 10 includes a lifting drive mechanism 13 for lifting and lowering the lift 8. In the example of FIG. 2, the lifting drive mechanism 13 includes a chain 13a, a pair of sprockets 13b and 13c, and a guide portion 13d (e.g., a guide rail). Both ends of the chain 13a are connected to the lift 8, and the middle portion is hung on the pair of sprockets 13b and 13c. The pair of sprockets 13b and 13c are arranged at intervals in the vertical direction. The guide portion 13d extends in the vertical direction and contacts the lift 8 in the horizontal direction (e.g., at multiple points in the vertical direction) to guide the lift 8 as it rises and falls while keeping the posture of the lift 8 constant. A plurality of such guide portions 13d may be provided at intervals in the horizontal direction. The sprockets 13b and 13c are driven to rotate by a drive device (e.g., a motor) not shown, so that the lift 8 rises and falls while keeping its posture constant by the guide portion 13d.

[0021] FIG. 4 is a cross section taken along line IV-IV in FIG. 1. As shown in FIG. 4, the baggage receiving device 10 includes a door 15 and a door drive mechanism 17. The door 15 is driven between a closed position for closing the opening 3a and an open position for opening the opening 3a. The door drive mechanism 17 drives the door 15 between the closed position and the open position. When the door 15 is in the closed position, the door 15 receives the baggage 1 that has been moved by the baggage moving device 9 to the position of the opening 3a (i.e., the door 15 in the closed position), and then delivers the baggage 1 to the baggage receiving section 11 directly below by being driven to the open position. When the baggage receiving section 11 is at the raised height, the door 15 can be driven by the door drive mechanism 17 from the closed position to the open position so as not to interfere with the baggage receiving section 11.

[0022] The door drive mechanism 17 has a chain 17a, a pair of sprockets 17b and 17c, and a support rail 17d, as shown in FIG. 4. Both ends of the chain 17a are connected to the door 15, and the middle part is hung on the pair of sprockets 17b and 17c. The pair of sprockets 17b and 17c are arranged at intervals in the driving direction of the door 15 (left and right direction in FIG. 4) within the movement range of the door 15. The support rail 17d extends in the driving direction of the door 15 and supports the door 15 from below. By rotating the sprockets 17b and 17c, the door 15 moves on the support rail 17d in the left and right direction in FIG. 4 between the closed position and the open position. Such a door drive mechanism 17 is arranged at a position offset from the opening 3a and the baggage receiving portion 11 when viewed vertically. For example, two door drive mechanisms 17 may be provided at two positions sandwiching the opening 3a in the vertical direction in FIG. 1. In this case, one sprocket 17b of one door drive mechanism 17 and one sprocket 17b of the other door drive mechanism 17 are connected by one rotating shaft, and this rotating shaft may be rotated by a rotation drive device (e.g., a motor) not shown.

[0023] In the first embodiment, two luggage moving devices 9 are provided. One of them (the luggage moving device 9 on the left in FIG. 1) will be described below, but the configuration and operation of the other luggage moving device 9 are similar to that of the other luggage moving device 9. FIG. 5 is a cross-sectional view taken along line VV in FIG. 1, and shows the configuration of the luggage moving device 9. As shown in FIG. 3 and FIGS. 8 and 9 described below, the luggage moving device 9 includes a first arm 19, a second arm 21, a first arm drive mechanism 23, and a second arm drive mechanism 31.

[0024] The first arm 19 is configured to be capable of reciprocating in a first direction along the luggage placement surface 3. This reciprocating motion is a translational motion in the first embodiment. In the example of FIG. 1, the first direction is the left-right direction (horizontal direction) in FIG. 1. Hereinafter, the left-right direction, right direction, and left direction in FIG. 1 will be simply referred to as the left-right direction, right direction, and left direction, respectively. The first arm 19 enters the luggage placement surface 3 from a position on one side of the luggage placement surface 3 in the left-right direction (the left side in FIG. 1), and while moving rightward, pushes the luggage 1 on the luggage placement surface 3 to the right, thereby moving the luggage 1 to the center of the luggage placement surface 3 in the left-right direction.

[0025] The second arm 21 is provided on the first arm 19, and configured to be movable back and forth relative to the first arm 19 along the first arm 19 in a second direction intersecting (e.g., perpendicular to) the first direction. In the example of Fig. 1, the second direction is the vertical direction (horizontal direction) in Fig. 1. The second arm 21 enters the luggage placement surface 3 from a position on one side of the luggage placement surface 3 in the second direction (upper side in Fig. 1), and while moving in the second direction (to the other side in the second direction), pushes the luggage 1 on the luggage placement surface 3 in the second direction, thereby moving the luggage 1 to the center of the luggage placement surface 3 in the second direction.

[0026] The first arm driving mechanism 23 moves the first arm 19 in a first direction. As shown in FIG. 5, the first arm driving mechanism 23 includes an endless chain 23a, a pair of sprockets 23b, 23c, and a connecting mechanism 23d. The endless chain 23a is hung on the pair of sprockets 23b, 23c that are spaced apart in the first direction. The connecting mechanism 23d connects the endless chain 23a to the first arm 19. The sprocket 23b is rotated by a driving device (e.g., a motor) not shown in the figure, thereby moving the first arm 19 in the first direction via the endless chain 23a and the connecting mechanism 23d.

[0027] FIG. 6 is a partially enlarged view of FIG. 5, showing the configuration of the connecting mechanism 23d. FIG. 7 is a view taken along the line VII-VII in FIG. 6. In this embodiment, the connecting mechanism 23d has a first connecting portion 23d1, a second connecting portion 23d2, and a guided portion 23d3. One end of the first connecting portion 23d1 is connected (fixed) to a predetermined position of the endless chain 23a. For example, one end of the first connecting portion 23d1 is fixed to one of the multiple links constituting the endless chain 23a. The second connecting portion 23d2 is connected to the other end of the first connecting portion 23d1 so as to be rotatable around an axis C2 parallel to the rotation axis C1 of the sprocket 23b. In addition, the second connecting portion 23d2 is integrally connected (fixed) to the first arm 19. The guided portion 23d3 is integrally joined (fixed) to the second connecting portion 23d2 and extends in a direction parallel to the rotation axis C1 of the sprocket 23b. The guided portion 23d3 is attached to the second connecting portion 23d2 at a position away from the connecting point (axis C2) between the second connecting portion 23d2 and the first connecting portion 23d1 in a direction perpendicular to the rotation axis C1. The guided portion 23d3 may be, for example, a pin.

[0028] In the example of FIG. 7, the second connecting portion 23d2 has a shaft portion 24, a first portion 25, and a second portion 26. The shaft portion 24 is rotatably connected to the first connecting portion 23d1 as described above by penetrating a through hole formed in the other end of the first connecting portion 23d1 in a direction parallel to the rotation axis C1. One end of the first portion 25 is connected to one end of the shaft portion 24, and the guided portion 23d3 is connected to the other end of the first portion 25. One end of the second portion 26 is connected to the other end of the shaft portion 24, and extends upward from the other end and is connected to the first arm 19. When the first arm 19 is located on the upper surface of the roof 5, the second portion 26 passes through a slit 27 (see also FIG. 1) formed so as to penetrate the roof 5 vertically.

[0029] In this embodiment, the first arm drive mechanism 23 further includes a guide portion 23e that guides the guided portion 23d3 along a predetermined track as the endless chain 23a is driven to rotate by the sprocket 23b and moves. The predetermined track is determined so that the second connecting portion 23d2 moves while the posture of the second connecting portion 23d2 is kept constant. When the first connecting portion 23d1 rotates around the endless chain 23a, the posture of the first connecting portion 23d1 changes with the movement of the endless chain 23a. The posture of the second connecting portion 23d2 is determined by the relationship between the posture of the first connecting portion 23d1 (i.e., the position of the shaft in the first connecting portion 23d1) and the position of the guided portion 23d3. The posture of the first arm 19 becomes the same as the posture of the second connecting portion 23d2. Therefore, in this embodiment, the shape of the predetermined track (i.e., the guide portion 23e) is determined so that the posture of the second connecting portion 23d2 is constant regardless of the movement of the endless chain 23a. That is, the predetermined track is determined so that the second connecting portion 23d2 moves while the posture of the second connecting portion 23d2 is kept constant. The guide portion 23e may be, for example, two rails arranged at a constant interval (corresponding to the dimension of the pin 23d3) from each other.

[0030] Therefore, the first arm 19 can move from a position below the roof 5 shown by the dashed line in FIG. 5 to the upper surface of the roof 5 through an opening 28 (see FIG. 1) formed in the roof 5 by the rotation of the sprocket 23b, and then move in the first direction along the luggage placement surface 3 to the center of the luggage placement surface 3 in the first direction. The first arm 19 can also move in the reverse direction by the reverse rotation of the sprocket 23b. When the first arm 19 moves in the first direction along the upper surface of the roof 5 (luggage placement surface 3) in this way, the above-mentioned second connecting portion 23d2 (second portion 26) moves in the first direction within a slit 27 (see FIG. 1) extending in the first direction. An appropriate door (not shown) for opening and closing the opening 28 may be provided. The slit 27 and the opening 28 are in communication with each other.

[0031] The first arm drive mechanisms 23 having the above-mentioned configuration may be provided at two locations on either side of the luggage placement surface 3 in the vertical direction in Fig. 1. That is, two first arm drive mechanisms 23 may be provided on one luggage moving device 9. In this case, one sprocket 23b of one first arm drive mechanism 23 and one sprocket 23b of the other first arm drive mechanism 23 are connected by one rotating shaft, and this rotating shaft may be rotated by a rotating drive device (e.g., a motor) not shown.

[0032] FIG. 8 is a cross-sectional view taken along line VIII-VIII in FIG. 1. FIG. 9 is a view taken along line IX-IX in FIG. 8. The second arm driving mechanism 31 is provided inside the first arm 19. The second arm driving mechanism 31 includes an endless chain 31a, a pair of sprockets 31b, 31c, and a connecting mechanism 31d. The endless chain 31a is hung on a pair of sprockets 31b, 31c arranged at an interval in the second direction. The connecting mechanism 31d connects the endless chain 31a to the second arm 21. The sprockets 31b, 31c are rotated by a driving device (e.g., a motor) not shown in the figure, thereby moving the second arm 21 in the second direction via the endless chain 31a and the connecting mechanism 31d.

[0033] In this embodiment, the connecting mechanism 31d has a first connecting portion 31d1, a second connecting portion 31d2, and two guided portions 31d3. One end of the first connecting portion 31d1 is connected (fixed) to a predetermined position of the endless chain 31a. For example, one end of the first connecting portion 31d1 is connected to one of the multiple links constituting the endless chain 31a. The second connecting portion 31d2 is connected to the other end of the first connecting portion 31d1 so as to be rotatable around an axis C4 perpendicular to both the rotation axis C3 of the sprockets 31b and 31c and the second direction. In addition, the second connecting portion 31d2 is connected to the second arm 21. The two guided portions 31d3 are attached to the second connecting portion 31d2 at different positions from each other. Each guided portion 31d3 is attached to the second connecting portion 31d2 at a position away from the connecting portion (axis C4) between the second connecting portion 31d2 and the first connecting portion 31d1 in a direction perpendicular to the axis C4. Each guided portion 31d3 may be, for example, a roller rotatable about an axis parallel to the rotation axis C4.

[0034] In this embodiment, the second arm drive mechanism 31 further includes a guide portion 31e that guides the guided portion 31d3 along a predetermined track as the endless chain 31a is rotated and driven by the sprockets 31b and 31c to move. Since the endless chain 31a moves within a range in which the posture of the first connecting portion 31d1 is constant, the posture of the second connecting portion 31d2 is determined by the position of the guided portion 31d3 and the positional relationship between the connecting portion (axis C4) of the first connecting portion 31d1 and the second connecting portion 31d2. The position of the guided portion 31d3 is determined by the shape of the guide portion 31e. Therefore, when the second arm 21 is in the standby position, the second arm 21 faces the second direction as shown by the dotted line in Figures 1 and 9, and a predetermined trajectory is set so that from this state, the second arm 21 moves in the second direction toward the center of the luggage placement surface 3 in the second direction, while the orientation of the second arm 21 gradually changes to the first direction.

[0035] Therefore, when the first arm 19 is located on the upper surface of the roof 5 (for example, the luggage placement surface 3), the second arm 21 can rotate from the position shown by the dashed line in Figs. 1 and 9 by the rotation of the sprockets 31b and 31c to face from the second direction to the first direction, and then move in the second direction along the luggage placement surface 3 to the center of the luggage placement surface 3 in the second direction while facing the first direction. The second arm 21 can also move in the opposite direction by the reverse rotation of the sprockets 31b and 31c. As shown in Fig. 9, a slit 19b through which the second arm 21 passes is formed in the wall portion 19a that divides the inside and outside of the first arm 19. This slit 19b may extend in an elongated manner in the second direction over the movement range of the second arm 21. When the first arm 19 moves from below the roof 5 to the upper surface of the roof 5, the second arm 21 passes through the opening 28 while facing the second direction.

[0036] 8 and 9, the guiding portion 31e is two rails 31e1 and 31e2 that are arranged at a certain interval from each other and engage with the guided portion 31d3. When the second arm 21 faces a direction intersecting the first direction, a gap G is present in one rail 31e2 (the lower rail in FIG. 9) so that one guided portion 31d3 (the guided portion 31d3 on the left side in FIG. 9) is removed from between the two rails 31e1 and 31e2. However, the length of the gap G may be set so that at least one of the two guided portions 31d3 is located between the two rails 31e1 and 31e2, regardless of the position of the second arm 21 in the second direction.

[0037] 10 is a flowchart showing a baggage receiving method using the baggage receiving device 10 according to the first embodiment. This baggage receiving method includes steps S1 to S10.

[0038] In step S1, the baggage receiving device 10 is placed in a standby state. In the standby state, the first arm 19 is located below the roof as shown by the dashed line in Fig. 6 or in the outer area of ​​the baggage placement surface 3 on the upper surface of the roof 5 as shown in Fig. 1, and the second arm 21 faces in the second direction, for example as shown by the dashed line in Fig. 1. Also, in the standby state, the baggage receiving section 11 is located at the raised height described above, and the door 15 is in the closed position described above.

[0039] In step S2, the unmanned aerial vehicle flies above the luggage placement surface 3 while holding the luggage 1 based on the position information of the luggage placement surface 3, and places the luggage 1 at an arbitrary position on the luggage placement surface 3. At this time, if the unmanned aerial vehicle recognizes a mark drawn on the luggage placement surface 3 using a camera or other means provided on the unmanned aerial vehicle, it may release the luggage 1 that it is holding and place it on the luggage placement surface 3.

[0040] When the unmanned airplane places the baggage 1 on the baggage placement surface 3, it wirelessly transmits a baggage signal to that effect to the control device 33 of the baggage receiving device 10. Alternatively, when an appropriate sensor provided in the baggage receiving device 10 detects the baggage 1 placed on the baggage placement surface 3, it transmits a baggage signal to that effect to the control device 33. Upon receiving the baggage signal, the control device 33 is notified of the presence of the baggage 1 on the baggage placement surface 3, and controls the operation of each part of the baggage receiving device 10 to perform steps S3 to S7 described below. Note that the unmanned airplane may perform step S2 after confirming that the baggage receiving device 10 is in a standby state through wireless communication with the control device 33.

[0041] Furthermore, in step S2, when the unmanned airplane places the luggage 1 on the luggage placement surface 3 (for example, at the time when the luggage 1 is placed on the luggage placement surface 3 or immediately after that time), it transmits authentication information corresponding to the luggage 1 stored in its own memory to the control device 33. As a result, the control device 33 receives the authentication information and stores it in its own memory. Note that step S2 may be performed upon reception of the authentication information. In this case, the process of inputting the above-mentioned luggage signal to the control device 33 does not need to be performed.

[0042] In step S3, the first arms 19 of the two luggage moving devices 9 move from the standby positions below the roof 5 to the upper surface of the roof 5 and move from both sides of the luggage placement surface 3 in the first direction to the center of the luggage placement surface 3 in the first direction, as shown in FIG. 11. In FIG. 10, the dashed dotted lines indicate the various parts at the start of step S3, and the solid lines indicate the various parts at the end of step S3. Regardless of the position of the luggage on the luggage placement surface 3, in step S3, the luggage on the luggage placement surface 3 is pushed in the first direction by one of the first arms 19 and moved to the center of the luggage placement surface 3 in the first direction. Step S3 may be performed by rotating the sprocket 23b.

[0043] Next, step S4 is performed. From step S1 until step S4 is started, each second arm 21 faces the second direction. In step S4, the second arm 21 provided on each first arm 19 moves from the standby position in the second direction, and its orientation gradually changes from the second direction to the first direction. In FIG. 12, the second arm 21 at the start of step S4 (the standby position) is shown by a dashed line, and the second arm 21 at the end of step S4 is shown by a solid line. At the end of step S4, each second arm 21 faces the first direction and is located at the end of the luggage placement surface 3 in the second direction (or in the vicinity of the end). That is, the two second arms 21 are located on both sides of the luggage placement surface 3 in the second direction.

[0044] In step S5, each second arm 21, facing the first direction, moves to the center of the luggage placement surface 3 in the second direction. In the area on the luggage placement surface 3 between the two first arms 19 (i.e., the center of the luggage placement surface 3 in the first direction), the luggage 1 is pushed in the second direction by any one of the second arms 21 in step S5 and moved to the center of the luggage placement surface 3 in the second direction, regardless of the position in the first direction and the second direction. As a result, the luggage 1 enters the opening 3a in the center and is placed on the upper surface of the door 15. In FIG. 13, the second arm 21 and the luggage 1 at the start of step S5 are shown by dashed lines, and the second arm 21 and the luggage 1 at the end of step S5 are shown by solid lines. Steps S4 and S5 may be performed by rotating the sprocket 31b.

[0045] In step S6, the door 15 is moved from the closed position to the open position. As a result, the luggage 1 on the door 15 is transferred to the upper surface 11a of the luggage receiving section 11. In step S6, since the luggage 1 is surrounded by the first arms 19 and the second arms 21, it cannot move horizontally from the area surrounded by these first arms 19 and second arms 21 (i.e., the position of the opening 3a).

[0046] In step S7, the control device 33 controls the transport device 20 to transport the baggage 1 on the baggage receptacle 11 to one of the storage spaces P. At this time, the control device 33 stores in its own memory the position information indicating the position of the storage space P and the authentication information received from the unmanned airplane in step S2, in association with each other.

[0047] In the example of FIG. 2, the transport of the luggage 1 to the storage space P in step S7 may be performed as follows. The control device 33 controls the lifting drive mechanism 13 and the like to lower the lift 8, so that the luggage receiver 11 on the lift 8 is moved to a storage floor in the internal space S of the luggage receiving device 10, and the luggage on the luggage receiver 11 is stored on the storage floor. For example, the luggage receiver 11 on the lift 8 is located at the height of the storage floor, and a pallet as the luggage receiver 11 is moved from the lift 8 to the storage space P. At this time, in the example of FIG. 2 and FIG. 3, the control device 33 controls the operation of a device (a component of the transport device 20) that horizontally moves the pallet 11 between the lift 8 and the storage space P, and a device (a component of the transport device 20) that horizontally moves the pallet between adjacent storage spaces P, so that the pallet 11 is moved to one of the multiple storage spaces P and stored.

[0048] After that, the process returns to step S1, and steps S1 to S7 are repeated as described above. When the process returns to step S1 and the baggage receiving device 10 is placed in the standby state as described above, an empty pallet among the pallets in the storage spaces P on the storage floor is placed on the lift 8 and positioned at the raised height as described above.

[0049] On the other hand, when authentication information is input into the control device 33 by the consignee, if the authentication information matches the authentication information held by the control device 33, the control device 33 controls the conveying device 20 to convey the luggage 1 in the storage space P at the position indicated by the above-mentioned position information associated with the authentication information to the luggage exit 7a, and controls the drive device (not shown) of the exit door 7b to operate the exit door 7b to a position to open the luggage exit 7a.

[0050] The input of such authentication information and the control of the control device 33 based on this input may be performed, for example, as in the following steps S8 and S9. The recipient (consignee) of the baggage 1 stored on the storage floor inputs authentication information such as a PIN number into the control device 33 provided in the baggage receiving device 10. The authentication number is notified to the consignee, for example, by a company that transports the baggage 1 by unmanned aerial vehicle. The consignee inputs the authentication information into the control device 33 wirelessly by operating a mobile terminal, by operating an appropriate input device provided outside the baggage receiving device 10 (for example, the exterior wall 7), or by other methods.

[0051] In step S9, if the control device 33 holds authentication information that matches the authentication information input in step S8, it moves the pallet 11 in the storage space P at the position associated with the authentication information to the removal position on the baggage removal floor (FIG. 2) as described above. For example, the control device 33 performs step S9 by controlling the operation of a device (a component of the conveying device 20) that horizontally moves the pallet 11 between the lift 8 and the storage space P, a device (a component of the conveying device 20) that horizontally moves the pallet between adjacent storage spaces P, and the rollers 12. Next, the control device 33 controls a drive device (not shown) of the exit door 7b that closes the baggage exit 7a to move it to a position that opens the baggage exit 7a.

[0052] Thereafter, in step S10, the consignee removes and receives the package 1 on the pallet 11 at the removal position from the removal position 7a. Steps S8 to S10 may be performed each time the above-mentioned steps S1 to S7 are performed.

[0053] In step S9, the control device 33 may operate the exit door 7b (FIG. 2) to a position that opens the baggage exit 7a, and transport the pallet 11 through the baggage exit 7a to the outside of the internal space S. In this case, the rollers 12 may also be disposed outside the baggage exit 7a, and in step S10, the consignee receives the baggage 1 on the pallet 11 that has come out from the baggage exit 7a. In addition, in step S10, the consignee may manually move the exit door 7b from a position for closing the baggage exit 7a to a position for opening the baggage exit 7a. In this case, in step S9, the control device 33 unlocks the exit door 7b from the position for closing the baggage exit 7a.

[0054] (Effects of the first embodiment) According to the first embodiment described above, when the unmanned airplane places the luggage 1 on the luggage placement surface 3 of the luggage receiving device 10, the luggage 1 is moved by the luggage moving device 9 to the position of the opening 3a of the luggage placement surface 3. Therefore, the luggage 1 can be stored in the internal space S through the opening 3a. In this way, when the unmanned airplane places the luggage 1 on the luggage placement surface 3, the luggage 1 is stored in the internal space S of the luggage receiving device 10, so there is no need for a consignee to be present at the delivery destination of the unmanned airplane. Therefore, when the unmanned airplane arrives at the delivery destination (luggage placement surface 3) of the luggage 1, the delivered luggage 1 can be automatically stored in the internal space S of the luggage receiving device 10, regardless of the presence or absence of a consignee.

[0055] Furthermore, no matter where the unmanned airplane places the luggage 1 on the luggage placement surface 3, the luggage 1 is moved to the position of the opening 3a by the luggage moving device 9. Therefore, the unmanned airplane can place the luggage 1 at any position on the luggage placement surface 3, which makes it easy to control the unmanned airplane to place the luggage 1.

[0056] Furthermore, if the baggage receiving device 10 is a baggage warehouse having a height of, for example, 2 m or more, the baggage placement surface 3 is located on a safe roof 5 where no one comes. Therefore, the unmanned aerial vehicle can place the baggage 1 on the baggage placement surface 3, which is a safe place.

[0057] When the unmanned airplane arrives at the luggage placement surface 3, it can immediately place the luggage 1 it has been holding on the luggage placement surface 3, and then immediately fly to the next destination. Therefore, the flight time of the unmanned airplane can be reduced.

[0058] Furthermore, the luggage 1 stored in the internal space S (storage floor) of the luggage receiving device 10 cannot be taken out from the luggage receiving device 10 unless the authentication information is input. Therefore, theft of the luggage 1 is prevented.

[0059] Note that two second arms 21 may be provided on only one of the two first arms 19. In this case, the two second arms 21 may be provided so as to move from both ends of one of the first arms 19 to the center. Also, the orientation of the second arms 21 does not need to change. In this case, the second arms 21 may be reciprocated in the second direction within a range in which the second arms 21 are kept facing the first direction.

[0060] [Second embodiment] 14 is a plan view showing a baggage receiving apparatus 10 according to a second embodiment of the present invention. Points of the second embodiment that will not be described below may be the same as those of the first embodiment.

[0061] In the second embodiment, one luggage moving device 9 is provided. The luggage moving device 9 includes a first arm 19, a second arm 21, a first arm driving mechanism 23, and a second arm driving mechanism 31.

[0062] The first arm 19 is configured to be capable of reciprocating in a first direction along the luggage placement surface 3. In the second embodiment, this reciprocating motion is a rotational motion about an axis C5, and the first direction is a circumferential direction about an axis C2. The axis C2 faces a direction perpendicular to the luggage placement surface 3 (for example, a vertical direction). The luggage placement surface 3 is the area surrounded by a dashed line in FIG. 14.

[0063] Similarly to the first embodiment, the second arm 21 is provided on the first arm 19 and configured to be reciprocable relative to the first arm 19 along the first arm 19 in a second direction intersecting the first direction.

[0064] Fig. 15 is a cross-sectional view taken along line XV-XV in Fig. 14. The first arm driving mechanism 23 rotates the first arm 19 in a first direction around axis C5. The first arm driving mechanism 23 may be, for example, a motor that rotates the first arm 19 around axis C5 located at its end. The second arm driving mechanism 31 may have the same configuration as in the first embodiment. The orientation of the second arm 21 relative to the first arm 19 does not need to change. That is, the second arm 21 may reciprocate (translate) within a range in which it is kept facing the first direction.

[0065] The baggage receiving method according to the second embodiment has the above-mentioned steps S1 to S3 and S5 to S10, and differs from the first embodiment in the points described below, but is the same as the first embodiment in the points not described below.

[0066] In step S1, the baggage receiving device 10 is placed in a standby state. In the standby state, the first arm 19 is located in an outer area of ​​the baggage placement surface 3 on the upper surface of the roof 5 as shown in Fig. 16. Alternatively, in the standby state, the first arm 19 may be located lower than the roof 5 in Fig. 16 by a device not shown.

[0067] In step S3, the first arm 19 rotates around axis C5 from the outside of the luggage placement surface 3, as shown in Fig. 16. In Fig. 16, the first arm 19 and the luggage 1 at the start of step S3 are shown by dashed lines, and the first arm 19 and the luggage 1 at the end of step S3 are shown by solid lines. Regardless of the position of the luggage 1 on the luggage placement surface 3, in step S3, the luggage 1 is pushed in the first direction along the luggage placement surface 3 by the first arm 19 and moved to an end region of the luggage placement surface 3 in the first direction.

[0068] Step S5 is performed after step S3. In step S5, each second arm 21, facing in the first direction, moves in the second direction relative to the first arm 19 from one end side (outside of the luggage placement surface 3) of the luggage placement surface 3 to the other end side (position of the opening) of the luggage placement surface 3. Regardless of the position of the luggage 1 in the first direction or the second direction in the end area of ​​the luggage placement surface 3, in step S5, the luggage 1 is pushed in the second direction by the second arm 21 and moved to the position of the opening 3a in the second direction. As a result, the luggage 1 enters the opening 3a and is placed on the upper surface of the door 15. In FIG. 17, the second arm 21 and the luggage 1 at the start of step S5 are indicated by dashed lines, and the second arm 21 and the luggage 1 at the end of step S5 are indicated by solid lines.

[0069] A wall 35 (FIG. 15) rising from the upper surface of the roof 5 may be provided at a position adjacent to the luggage placement surface 3 in the first direction and the second direction. The wall 23 prevents the luggage 1 from falling off the luggage placement surface 3.

[0070] [Third embodiment] 18 is a plan view showing a baggage receiving apparatus 10 according to a third embodiment of the present invention. Points of the third embodiment that will not be described below may be the same as those of the first embodiment.

[0071] In the third embodiment, the luggage moving device 9 is a small automated guided vehicle (AGV) that autonomously moves on the upper surface of the roof 5 and moves the luggage 1 placed on the luggage placement surface 3 to the position of the opening 3a. The automated guided vehicle 9 is equipped with a sensor (camera or laser scanner) that recognizes the luggage 1 on the luggage placement surface 3, and moves the luggage 1 recognized by the sensor to the position of the opening 3a (the upper surface of the door 15). The automated guided vehicle 9 determines its own position and the position of the opening 3a by an appropriate means. For example, the automated guided vehicle 9 may determine its own position by recognizing the positions of multiple marks provided on the upper surface of the roof 5 with the above sensor, and may determine the position of the opening 3a based on a known positional relationship between the positions of the multiple marks and the position of the opening 3a. The automated guided vehicle 9 may also be equipped with drive wheels 37 for moving on the upper surface of the roof 5, and a part 39 (e.g., an arm part) that pushes and moves the luggage 1 to move it to the position of the opening 3a.

[0072] The baggage receiving method according to the third embodiment has the above-mentioned steps S1, S2 and S6 to S10, and differs from the first embodiment in the points described below, but is the same as the first embodiment in the points not described below.

[0073] In step S2, when the control device 33 receives the baggage signal from the unmanned airplane, it wirelessly transmits a command signal to the automated guided vehicle 9 to move the baggage 1 on the baggage placement surface 3 to the position of the opening 3a. As a result, the control device 33 operates the automated guided vehicle 9 to move the baggage 1 on the baggage placement surface 3 to the position of the opening 3a.

[0074] That is, in the third embodiment, instead of the above-mentioned steps S3 to S5, the automated guided vehicle 9 responds to the above-mentioned command signal by moving the luggage 1 on the luggage placement surface 3 along the luggage placement surface 3 to the position of the opening 3a (the upper surface of the door 15).

[0075] [Fourth embodiment] Fig. 19 is a plan view showing a baggage receiving apparatus 10 according to a fourth embodiment of the present invention. Fig. 20 is a view taken along line XX-XX in Fig. 19. Fig. 19 is a view taken along line XIX-XIX in Fig. 20.

[0076] In the fourth embodiment, the baggage receiving device 10 has an external baggage placement surface 3 (an area surrounded by a dashed line in FIG. 19) facing vertically upwards on which an unmanned aerial vehicle such as a drone can place baggage 1, and also has an internal space S for storing the baggage 1. The internal space S is formed by a structure 41 having an outer wall 41a and a roof 41b. A floor surface F of the internal space S and the baggage placement surface 3 are on the same plane.

[0077] The baggage receiving device 10 includes a baggage moving device 9. The baggage moving device 9 includes an arm 45 extending horizontally, and a rotation drive device 47 that rotates the arm 45 around an axis C6 facing vertically. An opening 41c is formed in an outer wall 41a of the structure 41 to allow the baggage 1 on the baggage placement surface 3 to pass through the internal space S. A door 42 that opens and closes the opening 41c may be provided. The door 42 may be driven vertically to open and close the opening 41c.

[0078] A baggage receiving method using the baggage receiving device 10 according to the fourth embodiment will be described with reference to Figs. 21 and 22. Figs. 21 and 22 are plan views showing the baggage receiving device 10. First, in Fig. 21, the baggage receiving device 10 is in a standby state. In this standby state, an unmanned airplane places a baggage 1 on the baggage placement surface 3 exposed to the outside. Next, when the control device 33 is notified of the presence of the baggage 1 on the baggage placement surface 3 by the same means as in the first embodiment, the arm 45 is rotated in the direction indicated by the arrow A in Fig. 22 under the control of the control device 33, and the arm 45 moves the baggage 1 along the baggage placement surface 3 to the position of the opening 41c by pushing it, and further moves it together with the arm 45 to a predetermined position in the internal space S. Then, the control device 33 closes the opening 41c with the door 42. Then, the consignee enters the internal space S from an appropriate entrance provided in the outer wall 41a of the structure 41, receives the baggage 1, and exits to the outside from the entrance together with the baggage 1. Thereafter, the baggage receiving device 10 goes into a standby state again, and the above-mentioned procedure is repeated. The entrance and exit are provided with appropriate doors, which can be locked and unlocked with a key or the like.

[0079] The arm 45 may have an engagement portion 49 at its tip end, which protrudes in the direction of rotation of the arm 45. When the luggage 1 is being pushed and moved by the arm 45 and attempts to shift in a direction away from the axis C6 (radial direction relative to the axis C), this engagement portion 49 engages with the luggage 1 in that direction. This makes it possible to prevent the luggage 1 from shifting from the arm 45 in that direction.

[0080] [Fifth embodiment] Fig. 23 is a plan view showing a baggage receiving device 10 according to a fifth embodiment of the present invention. Fig. 24 is a view taken along line XXIV-XXIV in Fig. 23. Fig. 23 is a view taken along line XXIII-XXIII in Fig. 24. Points about the fifth embodiment that are not described below may be the same as those in the fourth embodiment.

[0081] In the fifth embodiment, the first arm 19 of the second embodiment is provided instead of the arm 45 of the fourth embodiment. Furthermore, the first arm 19 is provided with two second arms 21 of the second embodiment. The first arm 19 is rotationally driven about an axis C6 by a rotation drive device 47. The second arms 21 are driven (translated) along the first arm 19 by a device having the same configuration as the second arm drive mechanism 31 of the first embodiment.

[0082] In the fifth embodiment, a plurality of sorting holes 53 are formed at intervals in the radial direction (hereinafter simply referred to as the radial direction) relative to the axis C6 on the floor surface F of the internal space S. Each sorting hole 53 opens on the floor surface F and extends downward from the opening. A door (not shown) for opening and closing the opening of each sorting hole 53 may be provided. The upper surface of each door is on the same plane as the floor surface F and is part of the floor surface F, and the sorting holes 53 may be opened and closed by moving along the floor surface F (for example, in a direction perpendicular to the paper surface of FIG. 24). The operation of each door may be controlled by the control device 33 so that when the first arm 19 puts the luggage 1 into the sorting hole 53 as described below, the door is in a position to open the opening of the sorting hole 53, and after the first arm 19 puts the luggage 1 into the sorting hole 53, the door is in a position to close the opening of the sorting hole 53.

[0083] A baggage receiving method using the baggage receiving device 10 according to the fifth embodiment will be described with reference to Figs. 25 to 27. Figs. 25 to 27 are plan views showing the baggage receiving device 10. First, in Fig. 25, the baggage receiving device 10 is in a standby state. In this standby state, the two second arms 21 are located at both ends of the first arm 19, respectively. In this standby state, the unmanned airplane places the baggage 1 on the baggage placement surface 3 and transmits the identification information of the baggage to the control device 33 wirelessly. Next, upon being notified by the same means as in the first embodiment that the baggage 1 is present on the baggage placement surface 3, the control device 33 controls the rotation drive device 47 to rotate the first arm 19 around the axis C6 in Fig. 25 (clockwise in Fig. 25), so that the first arm 19 pushes the baggage 1 around the axis C6 along the baggage placement surface 3 and moves it to the vicinity of the end of the baggage placement surface 3, resulting in the state shown in Fig. 26.

[0084] Thereafter, the control device 33 moves the two second arms 21 along the first arm 19 (for example, with the first arm 19 stopped) based on the above-mentioned identification information in order to position the luggage 1 at the radial position of the sorting hole 53 corresponding to the identification information. As a result, the two second arms 21 are positioned at two set positions sandwiching the radial position. For example, when the sorting hole 53 corresponding to the identification information is the middle sorting hole 53 in the radial direction, the two second arms 21 are positioned as shown in FIG. 27. Thereafter, the control device 33 further rotates the first arm 19 around the axis C6 with the two second arms 21 positioned at the set positions. As a result, the first arm 19 pushes the luggage 1 to move it to the sorting hole 53 corresponding to the above-mentioned identification information, and the luggage 1 enters the sorting hole 53. Next, the control device 33 stops the first arm 19 at a position where it has passed through the sorting hole 53 (for example, the position in the standby state in Figure 25), and moves the door of the sorting hole 53 to a position that closes the opening of the sorting hole 53.

[0085] Thereafter, the consignee enters the internal space S through the entrance of the structure 41, removes the package 1 into the sorting hole 53, and exits the internal space S through the entrance together with the package 1. At this time, the consignee may open the door of the sorting hole 53 as follows. The consignee has been notified in advance of the authentication information corresponding to the above-mentioned identification information by the delivery company of the package 1. The consignee inputs the authentication information into the control device 33 wirelessly by operating a mobile terminal, or by operating an appropriate input device in the internal space S, or by other methods. As a result, the control device 33 moves the door of the corresponding sorting hole 53 to a position where the opening of the sorting hole 53 is opened.

[0086] [Sixth embodiment] Fig. 28 is a plan view showing a baggage receiving apparatus 10 according to a sixth embodiment of the present invention. Fig. 29 is a view taken along line XXIX-XXIX in Fig. 28. Fig. 29 is a view taken along line XXVIII-XXVIII in Fig. 20.

[0087] In the sixth embodiment, the baggage receiving device 10 has an external baggage placement surface 3 (an area surrounded by a dashed line in FIG. 28) facing vertically upwards on which the unmanned aerial vehicle can place the baggage 1, and also has an internal space S for storing the baggage 1. The internal space S is formed by a structure 41 having an outer wall 41a and a roof 41b. The baggage placement surface 3 is exposed to the outside of the structure 41 so that the unmanned aerial vehicle can place the baggage 1 thereon.

[0088] In the sixth embodiment, the luggage receiving device 10 includes a luggage moving device 9. The luggage moving device 9 includes a turntable 55 that is driven to rotate about an axis C7 facing the vertical direction, and a rotation drive device 57 that drives the turntable 55 to rotate about the axis C7. A part of the upper surface of the turntable 55 serves as the luggage placement surface 3. The part is moved from the outside of the luggage receiving device 10 into the internal space S and from the internal space S to the outside of the luggage receiving device 10 by the rotation of the turntable 55 about the axis C7.

[0089] The upper surface of the turntable 55 is divided by the outer wall 41a of the structure 41 into the outside of the baggage receiving device 10 (structure) and the internal space S. This outer wall 41a extends vertically upward from the upper surface of the turntable 55. There may be a small gap between the outer wall 41a and the upper surface of the turntable 55. Due to the outer wall 41a, a part of the upper surface of the turntable 55 is located outside (i.e., it is the baggage placement surface 3), and the remaining part is located in the internal space S (i.e., it is a part of the floor surface F of the internal space S). In addition, openings 41c and 41d are formed in the outer wall 41a, and the baggage 1 placed on the baggage placement surface 3 passes through the opening 41c by the rotation of the turntable 55. In addition, a door 42 that opens and closes the opening 41c may be provided. The door 42 may be driven vertically to open and close the opening 41c.

[0090] A baggage receiving method using the baggage receiving device 10 according to the sixth embodiment will be described with reference to Figs. 28 and 29. An unmanned airplane places a baggage 1 on the baggage placement surface 3 on the turntable 55. Next, the presence of the baggage 1 on the baggage placement surface 3 is notified to the control device 33 by the same means as in the first embodiment, and the control device 33 controls the turntable 55 to rotate in the direction indicated by the arrow A in Fig. 28. The baggage 1 on the turntable 55 moves in the direction along the baggage placement surface 3 (the direction indicated by the arrow A) to the position of the opening 41c, and further passes through the opening 41c to a predetermined position in the internal space S (for example, the position of the baggage depicted by the dashed line in Figs. 28 and 29). Then, the door 42 closes the opening 41c. Then, the consignee enters the internal space S through an appropriate entrance provided in the outer wall 41a of the structure, receives the baggage 1, and exits to the outside through the entrance together with the baggage 1. Then, the baggage receiving device 10 goes into a standby state again, and the above-mentioned procedure is repeated. The entrances and exits are provided with appropriate doors, which can be locked and unlocked with a key or the like.

[0091] [Seventh embodiment] Fig. 30A is a plan view showing the baggage receiving apparatus 10 according to the seventh embodiment of the present invention. Fig. 30B is a view taken along the line 30B-30B in Fig. 30A. Fig. 30A is a view taken along the line 30A-30A in Fig. 30B.

[0092] In the seventh embodiment, the baggage receiving device 10 has an external baggage placement surface 3 (an area surrounded by a dashed line in FIG. 30) facing vertically upwards on which the unmanned aerial vehicle can place the baggage 1, and also has an internal space S for storing the baggage 1. The internal space S is formed by a structure 41 having an outer wall 41a and a roof 41b. The baggage placement surface 3 is exposed to the outside of the structure 41 so that the unmanned aerial vehicle can place the baggage 1 thereon.

[0093] In the seventh embodiment, the luggage receiving device 10 includes a luggage moving device 9. The luggage moving device 9 is a belt conveyor, and includes a pair of rotating wheels 59 (e.g., rollers or belt pulleys) that are spaced apart and driven to rotate about a horizontal axis, and an endless belt 61 that is looped around the pair of rotating wheels 59. A predetermined area on the upper surface of the endless belt 61 serves as the luggage placement surface 3.

[0094] Further, a conveying device 63 is disposed in the internal space S for receiving luggage conveyed from the belt conveyor 9. The conveying device 63 may be, for example, a roller conveyor having a plurality of rollers 63a that are rotationally driven.

[0095] An opening 41c for passing the luggage 1 is provided in a portion of the outer wall 41a located between the belt conveyor 9 and the transport device 63. A door 42 for opening and closing the opening 41c may be provided. The door 42 may be driven in the vertical direction to open and close the opening 41c.

[0096] Furthermore, the conveying device 63 conveys the luggage 1 from the internal space S to an external position different from the belt conveyor 9. In the example of FIG. 30A, the conveying device 63 conveys the luggage 1 from the internal space S to another conveying device 65 (e.g., a belt conveyor) arranged outside the structure 41. In addition, an opening 41d for passing the luggage 1 is provided in a portion of the outer wall 41a located between the conveying device 63 and the other conveying device 65. In addition, a door 67 for opening and closing the opening 41d may be provided. The door 67 may be driven in the vertical direction to open and close the opening 41d.

[0097] A baggage receiving method using the baggage receiving device 10 according to the seventh embodiment will be described with reference to Figs. 30A and 30B. An unmanned airplane places a baggage 1 on the baggage placement surface 3 on the upper surface of the endless belt. Next, when the presence of the baggage 1 on the baggage placement surface 3 is notified to the control device 33 by the same means as in the first embodiment, the control device 33 controls the rotating wheel 59 to rotate, so that the baggage 1 moves to the position of the opening 41c, and then passes through the opening 41c and is moved to the internal space S as indicated by the arrow A in Fig. 30B. In the example of Fig. 30B, the baggage is moved to a position on the conveying device (roller conveyor) in the internal space S (the position of the baggage depicted by the dashed line in this figure). After that, the opening 41c is closed by the door 42 under the control of the control device 33. Note that the opening 41d is closed.

[0098] Thereafter, when the consignee approaches the opening 41d outside the structure 41 and inputs authentication information, etc., for example, into an input device (not shown), the door 67 opens the opening 41d, and the two conveying devices 63, 65 operate, so that the baggage 1 in the internal space S is delivered to the conveying device 65. The consignee receives the baggage 1 on the conveying device 65.

[0099] [Eighth embodiment] FIG. 31A is a side view showing a baggage receiving apparatus 10 according to an eighth embodiment of the present invention. In the eighth embodiment, the baggage receiving apparatus 10 has a baggage placement surface 3 facing vertically upward on which an unmanned aerial vehicle can place baggage 1, and an internal space S for storing the baggage 1. The internal space S is formed by a structure 41 having an outer wall 41a and a roof 41b. An opening 41c (see FIG. 31B described later) is formed in the roof 41b through which a belt conveyor 69 described later can pass in the vertical direction. The opening 41c may be opened and closed by a door (not shown) like the door 15 in the first embodiment.

[0100] In the eighth embodiment, the luggage receiving device 10 includes a luggage moving device 9. The luggage moving device 9 includes a belt conveyor 69 and a lifting section 71 to which the belt conveyor 69 is attached and which is driven to move up and down. The lifting section 71 is raised and lowered by an appropriate drive device 73 (a device using a jack in the example of FIG. 32). The belt conveyor 69 includes a pair of rotating wheels 69a (e.g., rollers or belt pulleys) that are spaced apart and driven to rotate about a horizontal axis, and an endless belt 69b that is looped around the pair of rotating wheels 69a. A predetermined area on the upper surface of the endless belt 69b forms the luggage placement surface 3.

[0101] By raising and lowering the lifting section 71, the luggage placement surface 3 (i.e., the belt conveyor) is raised and lowered between an elevated height at which the unmanned aerial vehicle can place the luggage 1 and a descended height that is lower than the elevated height in the internal space S. That is, by positioning the luggage placement surface 3 at the elevated height, it is exposed to the outside so that the unmanned aerial vehicle can place the luggage 1 on the luggage placement surface 3. In FIG. 31A, the luggage placement surface 3 is at the elevated height, and FIG. 31B shows a state in which the luggage placement surface 3 in FIG. 31A has been moved from the elevated height to the descended height. The luggage placement surface 3 at the elevated height may be at the same height as the upper surface of the roof 41b or may be higher than the upper surface of the roof 41b (or may be lower than the upper surface of the roof 41b in some cases).

[0102] Further, a conveying device 75 that receives luggage conveyed from the belt conveyor 69 located at the lowered height is disposed in the region including the internal space S. The conveying device 75 may be, for example, a belt conveyor or a roller conveyor (a belt conveyor in the example of FIG. 31B).

[0103] The conveying device 75 conveys the luggage 1 received from the belt conveyor 69 in a horizontal direction, passing it from the internal space S through the opening 41d in the outer wall, and conveying it to the outside of the structure 41. A door 67 for opening and closing the opening 41d may also be provided. The door 67 may be driven in a vertical direction to open and close the opening 41d.

[0104] FIG. 32 is a view taken along the line XXXII-XXXII in FIG. 31B. As shown in FIG. 32, when the conveying device 75 conveys the luggage 1 from the internal space S to the opening 41d, a guide member 77 may be provided to guide the luggage 1 to the position of the opening 41d. The guide members 77 are provided on both sides of the opening 41d in a horizontal direction (hereinafter referred to as an orthogonal direction) perpendicular to the conveying direction (rightward in FIG. 32) by the conveying device 75, and extend in the orthogonal direction so as to approach the opening 41d as the luggage 1 moves from the belt conveyor 69 side to the conveying direction. As a result, when the luggage 1 is conveyed in the conveying direction by the conveying device 75, the guide member 77 guides the luggage 1 to the position of the opening 41d in the orthogonal direction. Therefore, even if the luggage 1 is deviated from the opening 41d in the orthogonal direction, the luggage 1 automatically passes through the opening 41d when conveyed by the conveying device 75.

[0105] A baggage receiving method using the baggage receiving device 10 according to the eighth embodiment will be described. First, when the baggage placement surface 3 is at the above-mentioned raised height as shown in FIG. 32, the unmanned airplane is placed on the baggage placement surface 3 (on the top surface of the endless belt 69b). Next, when the presence of the baggage 1 on the baggage placement surface 3 is notified to the control device 33 by the same means as in the first embodiment, the lifting unit 71 is lowered to the above-mentioned lowered height under the control of the control device 33. As a result, the baggage 1 on the baggage placement surface 3 moves (lowers) through the opening 41c into the internal space S. Next, under the control of the control device 33, when the baggage placement surface 3 is located at the above-mentioned lowered height, the rotating wheel 69a is rotationally driven, and the baggage 1 is delivered to the conveying device 75 as shown by the arrow A in FIG. 31B and FIG. 32. At this time, the conveying device 75 may operate to receive the baggage 1 (for example, if the conveying device 75 is a belt conveyor, the endless belt is rotationally driven). Note that the opening 41d is closed.

[0106] Thereafter, when the consignee approaches the opening 41d of the structure 41 outside the structure 41 and inputs authentication information, for example, into an input device (not shown), the door 67 moves to a position to open the opening 41d, and the conveying device 75 conveys the package 1 through the opening 41d to the outside of the structure 41 as indicated by the arrow B in Figures 31B and 32. The consignee receives the package 1.

[0107] [Configuration for prohibiting landings based on weather values] 33A shows a first configuration example of a system in which the baggage receiving device 10 communicates with the unmanned airplane 2 or a control device 85 of the unmanned airplane 2 based on weather values. Here, the baggage receiving device 10 may be any of the baggage receiving devices 10 of the first to eighth embodiments described above.

[0108] The baggage receiving device 10 further includes a weather value acquisition device 81 and a determination device 83. The weather value acquisition device 81 measures weather values ​​related to the location of the baggage receiving device 10. The weather values ​​may be weather values ​​for a local area including the location of the baggage receiving device 10.

[0109] The weather value acquisition device 81 is, for example, an anemometer. The anemometer 18 may be provided on the upper surface (corner of the upper surface) of the roof 5 or 41b described above in the baggage receiving device 10, or may be provided in another position. The anemometer 81 repeatedly measures wind speed as a weather value.

[0110] The determination device 83 determines whether the weather values ​​(e.g., the wind speed described above) acquired by measurement by the weather value acquisition device 81 are within an acceptable range. This determination may be made each time a weather value is measured. If the result of this determination is negative, the determination device 83 transmits a prohibition signal that prohibits the unmanned airplane 2 from landing on the luggage placement surface 3. At this time, the determination device 83 transmits the prohibition signal to the unmanned airplane 2 or to the control device 85 of the unmanned airplane 2, for example, by wireless communication.

[0111] For example, when the unmanned airplane 2 starts flying to place the luggage 1 on the luggage loading surface 3, or during this flight, it transmits a signal to that effect to the determination device 83, for example, by wireless communication. When the determination device 83 receives this signal, if the result of the latest determination is negative (for example, if the wind speed exceeds 10 m / s), it transmits a prohibition signal to the unmanned airplane 2 in response to this signal. This causes the unmanned airplane 2 to abort the mission of placing the luggage 1 on the luggage loading surface 3.

[0112] In another example, if the result of the above determination is negative, the determination device 83 transmits a prohibition signal to the control device 85. When the control device 85 receives the prohibition signal, it transmits a signal to the corresponding unmanned airplane 2 via wireless communication to suspend the mission of placing the baggage 1 on the baggage loading surface 3. This causes the unmanned airplane 2 to suspend the mission of placing the baggage 1 on the baggage loading surface 3.

[0113] The above-mentioned weather value is not limited to wind speed, and may be other weather values ​​(for example, rainfall amount, snowfall amount, etc.). In this case, a weather value acquisition device 81 for measuring the other weather value is provided, and other points may be the same as those described above.

[0114] FIG. 33B shows configuration example 2 of a system in which the baggage receiving device 10 communicates with the unmanned airplane 2 or the control device 85 of the unmanned airplane 2 based on weather values. In configuration example 2, a weather value acquisition device 81 repeatedly receives the latest weather values ​​from a weather data source 87 (e.g., a meteorological observation agency or a meteorological data management agency) by, for example, wireless communication. A determination device 83 determines whether the weather values ​​acquired by the weather value acquisition device 81 through reception are within an acceptable range. This determination may be made each time a weather value is received. If the result of this determination is negative, the determination device 83 transmits the prohibition signal described above. Other points are the same as those in configuration example 1 described above, and therefore description thereof will be omitted.

[0115] The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the technical concept of the present invention. For example, the luggage receiving portion 11 may be omitted, and a portion for receiving luggage 1 moved to the position of the opening 3a by the luggage moving device 9 may be provided in the internal space S below the opening 3a. In this case, when the luggage moving device 9 moves the luggage 1 to the position of the opening 3a, the door 15 may be in the closed position as in the first embodiment, or in the open position. [Explanation of symbols]

[0116] 1 luggage, 2 unmanned aerial vehicle, 3 luggage placement surface, 3a opening, 5 roof, 7 exterior wall, 7a luggage exit, 7b exit door, 8 lift, 8a roller, 9 luggage moving device, 10 luggage receiving device, 11 luggage receiving portion (pallet), 11a upper surface, 12 roller, 13 lifting drive mechanism, 13a chain, 13b, 13c sprocket, 13d guide portion, 15 door, 17 door drive mechanism, 17a chain, 17b, 17c sprocket, 17d support rail, 19 first arm, 21 second arm, 23 first arm drive mechanism, 23a endless chain, 23b, 23c sprocket, 23d connection mechanism, 23d1 first connection portion, 23d2 second connection portion, 23d3 guided portion, 23e guide portion, 24 shaft portion, 25 First portion, 26, second portion, 27, slit, 28, opening, 31, second arm drive mechanism, 31a, endless chain, 31b, 31c, sprocket, 31d, connecting mechanism, 31d1, first connecting portion, 31d2, second connecting portion, 31d3, guided portion, 31e, guide portion, 31e1, 31e2, rail, 33, control device, 35, wall, 37, drive ring, 39, arm portion, 41, structure, 41a, outer wall, 41b, roof, 41c, opening, 41d, opening, 42, door, 43, luggage moving device, 45, arm, 47, rotation drive device, 49, engagement portion, 53, partition hole, 55, rotating table, 57, rotation drive device, 59, rotating wheel, 61, endless belt, 63, conveying device, 63a, roller, 65, conveying device, 67, door, 69 Belt conveyor, 69a rotating wheel, 69b endless belt, 71 lifting section, 73 driving device, 75 conveying device, 77 guide member, 81 weather value acquisition device, 83 determination device, 85 control device, 87 weather data source, S internal space, P storage space, F floor surface

Claims

1. A baggage receiving device having a baggage placement surface that is exposed or exposable to the outside so that an unmanned aerial vehicle can place baggage thereon, and an internal space for storing the baggage, An opening is formed that leads from the outside to the internal space, a luggage moving device that moves luggage placed on the luggage placement surface along the luggage placement surface to the position of the opening, or moves the luggage through the opening into the internal space, A conveying device that conveys luggage in the internal space; A control device for controlling the luggage moving device and the transport device, A luggage exit is formed for taking luggage stored in the internal space out of the internal space, The control device includes: receiving authentication information from the unmanned aircraft when the unmanned aircraft places luggage on the luggage placement surface; Operate the luggage moving device to move the luggage to the location of the opening; Then, control the transport device to transport the load to a storage space in the interior space; The storage space and the authentication information are stored in association with each other; Thereafter, when authentication information is input by the consignee and the authentication information matches the authentication information held by the consignee, the baggage receiving device controls the transport device to transport the baggage in the storage space to the baggage exit.

2. A baggage receiving device having a baggage placement surface that is exposed or exposable to the outside so that an unmanned aerial vehicle can place baggage thereon, and an internal space for storing the baggage, An opening is formed that leads from the outside to the internal space, a luggage moving device that moves luggage placed on the luggage placement surface along the luggage placement surface to the position of the opening, or moves the luggage through the opening into the internal space, A conveying device that conveys luggage in the internal space; A control device for controlling the luggage moving device and the transport device, A luggage outlet is formed for taking luggage stored in the internal space out of the internal space, The control device includes: receiving authentication information from the unmanned aircraft when the unmanned aircraft places luggage on the luggage placement surface; operating the luggage moving device to move the luggage through the opening into the interior space; Then, the transport device is controlled to transport the baggage to the baggage outlet in the internal space. Thereafter, when authentication information is input by the consignee and the authentication information matches the authentication information held by the baggage receiving device, the baggage receiving device operates an exit door capable of opening and closing the baggage exit from a position that closes the baggage exit to a position that opens the baggage exit.

3. The baggage exit is opened and closed by an exit door, The baggage receiving device according to claim 1 , wherein the control device operates the exit door to a position for opening the baggage exit when the baggage in the storage space is to be transported to the baggage exit.

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