Transport device and transport method

Abstract

To provide a transport device that enables low-cost implementation of a mechanism for holding and releasing a container box during transport of the container box using a drone, and that can be used in a narrow space through miniaturization of the drone.SOLUTION: A transport device according to an embodiment is configured to transport, by flight, a container box in a standardized size. The transport device includes a flight mechanism, an arm, and a housing. The flight mechanism is capable of generating buoyant force. The arm is openable / closable and includes a claw portion. The housing supports the flight mechanism and the arm. The claw portion of the arm holds a bottom surface of the container box during flight in a state where the arm is closed, releases the container box during a landing process, and is configured such that after landing, a first space is formed between the bottom surface of the container box and the claw portion, and a second space is formed between the landing surface and the claw portion.SELECTED DRAWING: Figure 9

Description

Technical Field

[0001] Embodiments relate to a transport device and a transport method.

Background Art

[0002] A drone is an unmanned aerial vehicle capable of autonomous flight. One way of using a drone is, for example, to transport a container box stored in a warehouse. Such a drone can eliminate the work of a person walking around in the warehouse for picking. As a result, the drone can suppress the work cost required for transporting the container box.

[0003] When a drone transports a container box, for example, a person performs each of the work of attaching the container box to the drone and the work of removing the container box from the drone. On the other hand, if the drone itself can be provided with a mechanism for grasping the container box, the drone can transport the container box without going through the work of a person.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] However, providing a mechanism for the drone itself to grasp the container box can be a factor in increasing the cost of the drone. In addition, the mechanism for grasping the container box is required to be robust. As a result, the total weight of the drone increases. In order to compensate for the buoyancy of the drone with an increased total weight, the drone has to be made larger. The drone enlarged due to such a vicious cycle becomes difficult to use in a narrow space such as indoors.

[0006] Specifically, when the drone is equipped with an arm for holding the bottom of the container box, the release operation of the container box is performed with the weight of the container box applied to the arm. In this case, when the container box is released, frictional force is generated between the container box and the arm. To cancel this frictional force and release the container box, a robust arm structure and a power supply mechanism for generating sufficient release torque are required. A drone equipped with such an arm structure and a power supply mechanism becomes costly due to weight increase and enlargement, and cannot be used in narrow spaces such as indoors.

[0007] The present invention has been made to solve the above problems, and an object of the present invention is to provide a transport device and a transport method capable of implementing a mechanism for holding and releasing a container box at low cost when transporting the container box using a drone, and being usable in a narrow space due to miniaturization of the drone.

Means for Solving the Problems

[0008] The transport device according to the embodiment is configured to fly and transport a standard-sized container box. The transport device includes a flight mechanism, an arm, and a housing. The flight mechanism can generate buoyancy. The arm is openable and closable and has a claw portion. The housing supports the flight mechanism and the arm. The claw portion of the arm is configured to hold the bottom surface of the container box during flight when the arm is closed, release the container box during the landing process, form a first space between the bottom surface of the container box and the ground after landing, and form a second space between the landing surface and the ground.

Brief Description of the Drawings

[0009]

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Mode for Carrying Out the Invention

[0010] Hereinafter, each embodiment will be described with reference to the drawings. Each embodiment exemplifies an apparatus and a method for embodying the technical idea of the invention. The drawings referred to below are schematic or conceptual. Dimensions, ratios, etc. shown in each drawing are not necessarily the same as the actual ones. In this specification, components to which the same reference numerals are added indicate that they have substantially the same functions and configurations. In this specification, a drone having a function of transporting a container box is referred to as a "transport device".

[0011] <1>First Embodiment The first embodiment relates to a transport system 1 including a transport device capable of transporting a container box on a flat floor. In the transport system according to the first embodiment, the transport device is configured such that the load on the arm is eliminated when the container box is held and released. Hereinafter, the details of the transport system 1 according to the first embodiment will be described.

[0012] <1-1>Configuration First, the configuration of the transport system 1 according to the first embodiment will be described.

[0013] <1-1-1>Overall Configuration of Transport System 1 FIG. 1 is a schematic diagram showing an example of the overall configuration of the transport system 1 according to the first embodiment. As shown in FIG. 1, the transport system 1 according to the first embodiment includes, for example, a management device 10, a transport device 20, and a container box CB.

[0014] The management device 10 is a terminal such as a PC (Personal Computer) having a function of wirelessly communicating with the transport device 20. The management device 10 manages the positions of one or more container boxes CB. Then, the management device 10 can instruct the transport device 20 to transport the container box CB based on an instruction from an operator or the like. Note that the management device 10 may be a combination of a plurality of devices. For example, the transport system 1 may use, as the management device 10, a device for managing the position of the container box CB and a device for instructing the transport device 20.

[0015] The transport device 20 is a drone (unmanned aerial vehicle) having a mechanism capable of holding the container box CB. The transport device 20 can transport the container box CB based on an instruction from the management device 10. The outdoor transport device 20 has a function of autonomous flight based on, for example, GPS (Global Positioning System) information. The indoor transport device 20 has a function of autonomous flight based on, for example, information from a camera or the like.

[0016] The container box CB is a box-shaped storage item of a standard size based on the design of the transport device 20. When using the transport system 1, the upper limit of the weight of the container box CB storing parts or the like is based on the weight that can be transported by the transport device 20. That is, the upper limit of the weight of the container box CB storing parts or the like changes according to the performance of the transport device 20. Note that the material of the container box CB may be cardboard or plastic.

[0017] <1-1-2>Configuration of the container box CB FIG. 2 is a perspective view showing an example of the shape of the container box CB according to the first embodiment. As shown in FIG. 2, the container box CB according to the first embodiment is, for example, a rectangular parallelepiped box. Hereinafter, the lid portion of the container box CB is referred to as the "top surface TP". The front and back surfaces of the container box CB are referred to as the "end surfaces EP". The side surfaces of the container box CB are referred to as the "side surfaces SP". The bottom surface of the container box CB is referred to as the "bottom surface BP".

[0018] The top surface TP of the container box CB is openable and closable. The main body for loading and unloading parts or the like into and out of the container box CB when the container box CB is open is, for example, a person. The top surface TP of the container box CB may have a configuration that can be fixed by a magnet or the like. Such a magnet or the like can prevent the top surface TP of the container box CB from opening during transportation.

[0019] The container box CB according to the first embodiment has a plurality of leg portions LP on the bottom surface BP. The plurality of leg portions LP includes, for example, four leg portions LP respectively located at the four corners of the bottom surface BP. When the container box CB is placed on the floor, each leg portion LP contacts the floor. Therefore, when the container box CB is placed on the floor, the bottom surface BP of the container box CB is separated from the floor.

[0020] In this specification, each of the front view, side view, perspective view, and plan view shows an orthogonal coordinate system based on the container box CB. The X direction corresponds to the direction parallel to each of the side surface SP and the bottom surface BP of the container box CB. The Y direction corresponds to the direction parallel to each of the end surface EP and the bottom surface BP of the container box CB. The Z direction corresponds to the direction parallel to each of the end surface EP and the side surface SP of the container box CB (height direction).

[0021] <1-1-3>Configuration of the management device 10 FIG. 3 is a block diagram showing an example of the hardware configuration of the management device 10 according to the first embodiment. As shown in FIG. 3, the management device 10 according to the first embodiment includes, for example, a CPU (Central Processing Unit) 11, a ROM (Read Only Memory) 12, a RAM (Random Access Memory) 13, a communication device 14, a storage 15, a display 16, and an input interface 17.

[0022] The CPU 11 is an integrated circuit capable of executing various programs. The CPU 11 controls the overall operation of the management device 10. The ROM 12 is, for example, a non-volatile semiconductor memory. The ROM 12 stores programs, control data, etc. for controlling the management device 10. The RAM 13 is, for example, a volatile semiconductor memory. The RAM 13 functions as a work area for programs executed by the CPU 11, for example. The communication device 14 is a circuit having a function of transmitting and receiving data, etc. to and from external devices. The communication device 14 can perform wireless communication with the transport device 20 by transmitting and receiving wireless signals via an antenna.

[0023] Storage 15 is a non-volatile memory device. Storage 15 stores, for example, the application software of management device 10, application data, system software, etc. Display 16 can display characters, images, etc. Display 16 displays, for example, a GUI (Graphical User Interface) corresponding to the application software. Input interface 17 is a device for operating management device 10 and inputting information into management device 10. Input interface 17 is, for example, a keyboard, a mouse, a barcode reader, etc.

[0024] <1-1-4>Configuration of transport device 20 FIG. 4 is a block diagram showing an example of the hardware configuration of transport device 20 according to the first embodiment. As shown in FIG. 4, transport device 20 according to the first embodiment includes, for example, CPU 21, ROM 22, RAM 23, communication device 24, flight mechanism 25, landing gear 26, hold jig 27, sensor 28, and camera 29.

[0025] CPU 21 is an integrated circuit capable of executing various programs. CPU 21 controls the overall operation of transport device 20. ROM 22 is, for example, a non-volatile semiconductor memory. ROM 22 stores programs and control data for controlling transport device 20. RAM 23 is, for example, a volatile semiconductor memory. RAM 23 functions, for example, as a work area for the programs executed by CPU 21. Communication device 24 is a circuit having a function of transmitting and receiving data, etc. between external devices. Communication device 24 can perform wireless communication with management device 10 by transmitting and receiving wireless signals via an antenna.

[0026] The flight mechanism 25 is a propulsion device that can generate buoyancy to fly the total weight of the container box CB for storing parts and the like and the transport device 20. The flight mechanism 25 has, for example, a plurality of rotary wings and a motor for driving the plurality of rotary wings. The landing gear 26 is a mechanism for supporting the fuselage of the transport device 20 that has landed on the floor. The hold jig 27 is a mechanism for holding the container box CB. The sensor 28 has a function of acquiring the state and position information of the transport device 20. The sensor 28 is, for example, a motion sensor, a GPS receiver, a laser sensor, or the like. The transport device 20 may be provided with a plurality of sensors 28 according to the information to be acquired. The camera 29 has a function of acquiring an image around the transport device 20. The transport device 20 may be provided with a plurality of cameras 29 according to the shooting direction, the angle of view, and the like.

[0027] (Appearance of the transport device 20) FIG. 5 is a front view showing an example of the appearance of the transport device 20 according to the first embodiment. As shown in FIG. 5, the transport device 20 according to the first embodiment includes, for example, a housing HO, a plurality of legs 261, and a plurality of arms 271. The plurality of legs 261 correspond to the landing gear 26. The plurality of arms 271 correspond to the hold jig 27. Hereinafter, the state in which the hold jig 27 is open is referred to as the "open state". The state in which the hold jig 27 is closed is referred to as the "closed state". The height of the floor is referred to as the "floor level FL". The surface (portion) on which the landing gear 26 lands may be referred to as the "landing surface".

[0028] The housing HO houses a control board on which the CPU 21, the ROM 22, and the RAM 23 are mounted, a communication device 24, a sensor 28, a battery, and the like. The housing HO supports the flight mechanism 25, the plurality of legs 261, and the plurality of arms 271. The flight mechanism 25 is located, for example, above the housing HO. The camera 29 is located so as to be able to photograph, for example, the front of the housing HO or below the housing HO. The shape of the housing HO can be changed according to the shapes of the flight mechanism 25, the landing gear 26, the hold jig 27, and the like.

[0029] When the conveying device 20 is grounded on the floor, the plurality of legs 261 are in contact with the floor. In this specification, the portion where each leg 261 contacts the floor is shown as the grounding portion GP. The shape and number of the legs 261 and the grounding portion GP that constitute the landing gear 26 can be changed. For example, the grounding portion GP in contact with the leg 261 may be plate-shaped. Also, a plurality of legs 261 may share one grounding portion GP.

[0030] The plurality of arms 271 can be opened and closed so as to hold and release the container box CB below the housing HO. Each of the plurality of arms 271 has a claw portion NP. The position of each claw portion NP is higher than the lowermost portion of the landing gear 26 in any state of the holding jig 27 being in the open state or the closed state. That is, the position of each claw portion NP is higher than the floor level FL when the conveying device 20 has landed. And each claw portion NP supports the bottom surface BP of the container box CB when the holding jig 27 is in the closed state and the conveying device 20 is flying.

[0031] Note that the housing HO further houses a mechanism for opening and closing the plurality of arms 271. The mechanism for opening and closing the plurality of arms 271 includes, for example, a servo motor and gears. Specifically, first, the servo motor receives an opening / closing instruction for the holding jig 27 from the CPU 21. Then, the servo motor rotates by a predetermined rotation angle based on the opening / closing instruction. And the gears convert the rotation of the servo motor into the opening / closing movement of the arm 271. Thereby, the holding jig 27 can transition between the open state and the closed state. It is not limited to this, and the mechanism for opening and closing the plurality of arms 271 may be other mechanisms.

[0032] <1-2>The relationship between the conveying device 20 and the container box CB Next, the relationship between the conveying device 20 and the container box CB in the first embodiment will be described in conjunction with the operation when the conveying device 20 conveys the container box CB. Hereinafter, the state where the conveying device 20 has landed is referred to as the "landing state". The state where the conveying device 20 is flying is referred to as the "flying state".

[0033] <1-2-1>Sequence for holding the container box CB First, the transport device 20 according to the first embodiment flies above the container box CB. Then, the transport device 20 opens the holding jig 27. Then, the transport device 20 lands so that the container box CB is positioned below the housing HO. At this time, the transport device 20 that has landed on the floor is supported by its landing gear 26. Also, the container box CB placed on the floor is supported by its legs LP.

[0034] FIG. 6 is a front view showing the relationship between the open holding jig 27 and the container box CB in the landed state of the transport device 20 according to the first embodiment. As shown in FIG. 6, the container box CB is sized to fit inside the plurality of arms 271 of the holding jig 27 controlled to the open state with an appropriate margin. At this time, the claw portions NP of the respective arms 271 are located outside the container box CB in a top view.

[0035] Next, the transport device 20 transitions the holding jig 27 from the open state to the closed state.

[0036] FIG. 7 is a front view showing the relationship between the closed holding jig 27 and the container box CB in the landed state of the transport device 20 according to the first embodiment. As shown in FIG. 7, when the holding jig 27 transitions from the open state to the closed state, the claw portions NP of the respective arms 271 are inserted into the space between the bottom surface BP of the container box CB and the floor. The height of this space is based on the height of the legs LP of the container box CB. For this reason, the height of the legs LP of the container box CB is greater than the thickness of the claw portions NP. At this time, the claw portions NP of the respective arms 271 overlap with any of the plurality of legs LP of the container box CB, for example, when the transport device 20 is viewed from the pinch surface EP side.

[0037] FIG. 8 is a side view showing the relationship between the hold jig 27 in the closed state and the container box CB in the landing state of the transport device 20 according to the first embodiment. As shown in FIG. 8, in the hold jig 27 in the closed state, the claw portions NP of the plurality of arms 271 are located in the space between two leg portions LP adjacent to each other in the X direction. Further, the claw portions NP of the plurality of arms 271 are adjacent to any one of the plurality of leg portions LP in the X direction. The distance between the adjacent claw portion NP and the leg portion LP is preferably made closer within a range that does not hinder the opening and closing of the hold jig 27 according to the landing positioning accuracy of the transport device 20.

[0038] FIG. 9 is a front view showing the detailed positional relationship between the hold jig 27 in the closed state and the container box CB in the landing state of the transport device 20 according to the first embodiment. As shown in FIG. 9, before takeoff of the transport device 20 according to the first embodiment, a space LS is formed between the lower end portion of the claw portion NP of the arm 271 and the lower end portion of the leg portion LP of the container box CB. Further, before takeoff of the transport device 20 according to the first embodiment, a space US is formed between the upper end portion 272 of the claw portion NP and the bottom surface BP of the container box CB. Therefore, the container box CB is supported by its own weight by the leg portions LP. That is, the weight of the container box CB is not applied to the claw portions NP of the arms 271. Therefore, the transport device 20 according to the first embodiment can easily transition the hold jig 27 from the open state to the closed state. Note that the upper end portion 272 of the claw portion NP may have a function as an anti-slip. The upper end portion 272 of the claw portion NP may have a configuration different from that of the claw portion NP.

[0039] Next, the transport device 20 takes off by generating buoyancy in the flight mechanism 25.

[0040] FIG. 10 is a front view showing the detailed positional relationship between the holding jig 27 in the closed state and the container box CB in the flight state of the transport device 20 according to the first embodiment. As shown in FIG. 10, when the transport device 20 flies, the upper end portion 272 of the claw portion NP of the arm 271 contacts the bottom surface BP of the container box CB. Then, the weight of the container box CB is applied to the claw portion NP of the arm 271 of the transport device 20 in the flight state. And the transport device 20 generates buoyancy with respect to the sum of the weight of the transport device 20 and the weight of the container box CB. Thereby, the transport device 20 can fly in a state where the claw portion NP holds the container box CB due to the self-weight of the container box CB.

[0041] <1-2-2>Sequence for releasing the container box CB First, the transport device 20 according to the first embodiment flies to the destination of the transported container box CB. The relationship between the transport device 20 and the container box CB at this time is the same as the state described with reference to FIG. 10. And in the landing sequence of the transport device 20 according to the first embodiment, the leg portion LP of the container box CB lands on the floor before the landing gear 26 of the transport device 20. Thereby, the claw portion NP of the arm 271 and the bottom surface BP of the container box CB are separated. That is, the transport device 20 releases the container box CB in the process of landing.

[0042] Then, when the landing gear 26 lands on the floor, the relationship between the transport device 20 and the container box CB according to the first embodiment becomes the same as the state described with reference to FIGS. 7 to 9. That is, the container box CB supports its own weight by the leg portion LP. And the weight of the container box CB is not applied to the claw portion NP of the arm 271. Therefore, the transport device 20 according to the first embodiment can easily transition the holding jig 27 from the closed state to the open state. After that, the transport device 20 according to the first embodiment completes the transportation of the container box CB by taking off while maintaining the holding jig 27 in the open state.

[0043] <1-3>Effects of the first embodiment According to the transportation system 1 according to the first embodiment described above, when transporting the container box CB using the drone, a mechanism for holding and releasing the container box CB can be implemented at low cost. Hereinafter, the details of the effects of the first embodiment will be described.

[0044] In the transportation system 1 according to the first embodiment, a standard-sized container box CB is provided with leg portions LP of a predetermined length. The transportation device 20 includes an openable and closable holding jig 27 having claw portions NP that can sandwich the leg portions LP of the container box CB. When landing, the transportation device 20 can easily insert the claw portions NP of the holding jig 27 between the floor and the bottom surface BP of the container box CB, that is, into the space secured by the length of the leg portions LP attached to the container box CB. Then, when the transportation device 20 is flying, the claw portions NP of the holding jig 27 support the weight of the container box CB. When the transportation device 20 lands, the leg portions LP of the container box CB touch the ground before the landing gear 26, so that the container box CB naturally separates from the claw portions NP of the holding jig 27.

[0045] As described above, the transportation system 1 according to the first embodiment has a configuration in which no friction occurs between the claw portions NP and the container box CB when the claw portions NP separate from the container box CB. Therefore, the holding jig 27 of the transportation device 20 can be opened without friction when holding the container box CB and when releasing the container box CB. That is, the transportation device 20 can easily hold the container box CB with a small torque. Similarly, the transportation device 20 can easily release the container box CB with a small torque.

[0046] Thereby, the transportation system 1 according to the first embodiment can reduce the strength of the structure of the arm 271 of the holding jig 27. Further, the transportation system 1 according to the first embodiment can minimize the power supply mechanism that generates the release torque. That is, in the transportation system 1 according to the first embodiment, since a strong opening and closing torque is not required, the opening and closing mechanism of the arm 271 of the transportation device 20 can be composed of a lightweight motor and lightweight mechanical parts.

[0047] Therefore, the transportation system 1 according to the first embodiment can suppress the total weight of the transportation device 20 and reduce the size of the transportation device 20. As a result, when transporting the container box CB using a drone, the transportation system 1 according to the first embodiment can implement a mechanism for holding and releasing the container box CB at low cost. In addition, the transportation system 1 according to the first embodiment can miniaturize the drone used for transporting the container box CB and provide a transportation device 20 that can be used in a narrow space such as indoors.

[0048] In addition, the transportation system 1 according to the first embodiment can hold the container box CB on the transportation device 20 without human intervention by the transportation device 20. Similarly, the transportation device 20 can release the container box CB from the transportation device 20 without human intervention. Therefore, the transportation system 1 can automate and labor-save the holding and releasing of the container box CB.

[0049] Further, in the transportation system 1 according to the first embodiment, even if the balance of the transportation device 20 is lost during flight, the leg portions LP located at the four corners of the container box CB function as stoppers. Thereby, the transportation system 1 according to the first embodiment can suppress the risk that the container box CB comes off from the holding jig 27 of the transportation device 20 during the transportation of the container box CB. Furthermore, when the upper end portion 272 of the claw portion NP of the arm 271 has an anti-slip function, the transportation device 20 can hold the container box CB more reliably.

[0050] <2>Second Embodiment The second embodiment relates to a transportation system 1 including a transportation device 20 capable of transporting a container box CB on a non-planar structure. In the transportation system 1 according to the second embodiment, the transportation device 20 has a configuration such that the load on the arm 271 is eliminated when holding and releasing the container box, similar to the first embodiment. Hereinafter, the details of the transportation system 1 according to the second embodiment will be mainly described with differences from the first embodiment.

[0051] <2-1>Configuration The configuration of the transport device 20 according to the second embodiment and the relationship between the transport device 20 and the container box CB will be described in order below. In the second embodiment, the hardware configurations of the management device 10 and the transport device 20 are the same as those in the first embodiment. Also, the container box CB in the second embodiment is assumed to have the same shape as that in the first embodiment.

[0052] <2-1-1>Configuration of the transport device 20 In the transport device 20 according to the second embodiment, the landing gear 26 has a shape that can land on a non-planar structure. Also, in the transport device 20 according to the second embodiment, the hold jig 27 has a mechanism that can hold and release the container box CB on a non-planar structure.

[0053] FIG. 11 is a front view showing an example of the appearance of the transport device 20 according to the second embodiment. As shown in FIG. 11, the transport device 20 according to the second embodiment lands on a structure (landing platform) having regular block-shaped unevenness. Specifically, the floor in the second embodiment has a plurality of convex portions CP. The plurality of convex portions CP correspond to the landing portions of the landing gear 26 when the transport device 20 lands. Hereinafter, the position of the upper portion of the plurality of convex portions CP is shown as the grounding level GL. The position of the grounding level GL is higher than the floor level FL.

[0054] In the landed state of the transport device 20 according to the second embodiment, the claw portion NP of the arm 271 is located between the grounding level GL and the floor level FL. That is, in the second embodiment, the height of the lower end portion of the closed hold jig 27 is lower than the height of the lower end portion of the landing gear 26. In other words, the claw portion NP of the arm 271 is configured such that the position of the claw portion NP is lower than the position of the landing surface after the transport device 20 lands. Other configurations of the transport device 20 according to the second embodiment are the same as those in the first embodiment.

[0055] <2-1-2>Relationship between the transport device 20 and the container box CB Next, the relationship between the transport device 20 and the container box CB in the second embodiment will be described in conjunction with the operation when the transport device 20 transports the container box CB. In the second embodiment, before the container box CB is transported, the bottom surface BP of the container box CB is in contact with the convex portion CP of the floor. Therefore, the container box CB before transportation is supporting its own weight by the bottom surface BP.

[0056] <2-2-1>Sequence for holding the container box CB First, the transport device 20 according to the second embodiment flies above the container box CB. Then, the transport device 20 opens the holding jig 27. After that, the transport device 20 lands so that the container box CB is positioned below the housing HO. At this time, the landing gear 26 of the transport device 20 contacts the convex portion CP of the floor.

[0057] FIG. 12 is a front view showing the relationship between the open holding jig 27 and the container box CB in the landing state of the transport device 20 according to the second embodiment. As shown in FIG. 12, in the transport system 1 according to the second embodiment, for example, the height of the lowermost part of the landing gear 26 is made the same as the height of the bottom surface BP of the container box CB. The leg portions LP of the container box CB are located between the grounding level GL and the floor level FL. Each claw portion NP of the plurality of arms 271 of the holding jig 27 controlled to be in the open state is located outside the container box CB in a top view.

[0058] Next, the transport device 20 transitions the holding jig 27 from the open state to the closed state.

[0059] FIG. 13 is a front view showing the relationship between the closed holding jig 27 and the container box CB in the landing state of the transport device 20 according to the second embodiment. As shown in FIG. 13, when the holding jig 27 transitions from the open state to the closed state, each claw portion NP of the plurality of arms 271 is inserted into the space between the bottom surface BP of the container box CB and the floor. The height of this space is based on the difference between the floor level FL and the grounding level GL.

[0060] FIG. 14 is a front view showing the detailed positional relationship between the closed hold jig 27 and the container box CB in the landing state of the transport device 20 according to the second embodiment. As shown in FIG. 14, before takeoff of the transport device 20 according to the second embodiment, a space LS is formed between the lower end of the claw portion NP of the arm 271 and the lower end of the leg portion LP of the container box CB. Also, before takeoff of the transport device 20 according to the second embodiment, a space US is formed between the upper end portion 272 of the claw portion NP and the bottom surface BP of the container box CB. Therefore, the container box CB is supported by its own weight by the bottom surface BP. That is, the weight of the container box CB is not applied to the claw portion NP of the arm 271. Therefore, the transport device 20 according to the second embodiment can easily transition the hold jig 27 from the open state to the closed state.

[0061] Next, the transport device 20 takes off by generating buoyancy in the flight mechanism 25.

[0062] FIG. 15 is a front view showing the detailed positional relationship between the closed hold jig 27 and the container box CB in the flight state of the transport device 20 according to the second embodiment. As shown in FIG. 15, when the transport device 20 flies, the upper end portion 272 of the claw portion NP of the arm 271 contacts the bottom surface BP of the container box CB. Then, the weight of the container box CB is applied to the claw portion NP of the arm 271 of the transport device 20 in the flight state. And the transport device 20 generates buoyancy with respect to the sum of the weight of the transport device 20 and the weight of the container box CB. Thereby, the transport device 20 can fly in a state where the claw portion NP holds the container box CB by the self-weight of the container box CB.

[0063] <2-2-2>Sequence for releasing the container box CB First, the transport device 20 according to the second embodiment flies to the destination of the held container box CB. The relationship between the transport device 20 and the container box CB at this time is the same as the state described with reference to FIG. 15. In the landing sequence of the transport device 20 according to the second embodiment, the bottom surface BP of the container box CB lands on the convex portion CP of the floor before the landing gear 26 of the transport device 20. As a result, the claw portion NP of the arm 271 and the bottom surface BP of the container box CB are separated. That is, the transport device 20 releases the container box CB.

[0064] Then, when the landing gear 26 lands on the convex portion CP of the floor, the relationship between the transport device 20 and the container box CB according to the second embodiment becomes the same as the state described with reference to FIGS. 12 to 14. That is, the container box CB supports its own weight by the bottom surface BP. And the weight of the container box CB is not applied to the claw portion NP of the arm 271. Therefore, the transport device 20 according to the second embodiment can easily transition the holding jig 27 from the closed state to the open state. After that, the transport device 20 according to the second embodiment completes the transportation of the container box CB by taking off while maintaining the holding jig 27 in the open state.

[0065] <2-2>Effects of the Second Embodiment In the transport system 1 according to the second embodiment, when the transport device 20 is flying, the claw portion NP of the holding jig 27 supports the weight of the container box CB. When the transport device 20 lands, the bottom surface BP of the container box CB touches the convex portion CP of the floor before the landing gear 26, so that the container box CB naturally separates from the claw portion NP of the holding jig 27.

[0066] As a result, the holding jig 27 of the transport device 20 can be opened without friction when holding the container box CB and when releasing the container box CB, similar to the first embodiment. Therefore, similar to the first embodiment, the transport system 1 according to the second embodiment can implement a mechanism for holding and releasing the container box CB at low cost when transporting the container box CB using a drone.

[0067] In the second embodiment, a floor having a convex portion CP is exemplified as a non-planar structure, but the present invention is not limited thereto. The transportation system 1 according to the second embodiment may use a mesh-like landing platform. In this case, in the container box CB on the landing platform, the leg portions LP are located in the mesh portions, and the bottom surface BP is located in the mesh portions. Further, the landing gear 26 of the transportation device 20 lands on the mesh portion. Even in such a case, the transportation device 20 according to the second embodiment can transport the container box CB in the same manner as in the second embodiment.

[0068] Also, in the second embodiment, the leg portions LP of the container box CB do not contribute to the transportation device 20 holding and releasing the container box CB. Therefore, the transportation system 1 according to the second embodiment may use a container box CB that does not have leg portions LP. The transportation system 1 according to the second embodiment can use the leg portions LP of the container box CB as stoppers to prevent the container box CB from slipping sideways and falling during flight of the transportation device 20.

[0069] <3>Third Embodiment The third embodiment relates to a specific example of the configuration and operation of the transportation system 1 described in the first embodiment or the second embodiment. Hereinafter, the transportation system 1 according to the third embodiment will be mainly described with respect to the points different from the first and second embodiments.

[0070] <3-1>Usage Method of Transportation System 1 First, an example of the usage method of the transportation system 1 according to the third embodiment will be described. Hereinafter, it is assumed that the container box CB is configured to be able to store the parts PA. The transportation device 20 according to the third embodiment can hold and fly with the container box CB in which the parts PA are stored.

[0071] FIG. 16 is a schematic diagram showing an example of the usage method of the transportation system 1 according to the third embodiment. As shown in FIG. 16, a facility such as a factory that uses the transportation system 1 according to the third embodiment has, for example, a drone waiting area ARa, a drone dedicated warehouse area ARb, a drone departure / arrival area ARc, an operator work area ARd, and a consolidation area ARe.

[0072] The drone waiting area ARa includes a floor, a landing pad, etc. where one or more transportation devices 20 can wait. In the drone waiting area ARa, the structure of the location where the transportation device 20 waits is adapted to the configuration of the transportation device 20. That is, in the drone waiting area ARa, the transportation device 20 may be placed on a flat floor as in the first embodiment, or may be placed on a non-flat structure (landing pad) as in the second embodiment. The drone waiting area ARa may have a port for charging the waiting transportation device 20. The transportation device 20 waiting in the drone waiting area ARa can transport the container box CB between the drone dedicated warehouse area ARb and the drone departure / arrival area ARc based on the instruction of the management device 10. After finishing the operation based on the instruction of the management device 10, the transportation device 20 returns to, for example, the drone waiting area ARa and waits.

[0073] The drone dedicated warehouse area ARb includes a floor, a landing pad, etc. where one or more container boxes CB can be placed. In the drone dedicated warehouse area ARb, the structure of the location where the container box CB is placed is adapted to the combination of the configurations of the transportation device 20 and the container box CB. That is, in the drone dedicated warehouse area ARb, the container box CB may be placed on a flat floor as in the first embodiment, or may be placed on a non-flat structure (landing pad) as in the second embodiment. Also, in the drone dedicated warehouse area ARb, entry by people is prohibited. The transportation device 20 flying in the drone dedicated warehouse area ARb may operate to make an emergency landing when a person enters the drone dedicated warehouse area ARb. Thereby, the transportation system 1 according to the third embodiment can ensure the safety of people.

[0074] The drone take-off and landing area ARc includes the take-off and landing port DAP. The take-off and landing port DAP is the destination for the take-off and landing of the transport device 20 in the drone take-off and landing area ARc. The structure of the take-off and landing port DAP is adapted to the combination of the configurations of the transport device 20 and the container box CB. That is, in the take-off and landing port DAP, the container box CB may be placed on a flat floor as in the first embodiment, or may be placed on a non-flat structure (landing platform) as in the second embodiment. The transport device 20 holds the container box CB on the take-off and landing port LM in response to the component storage instruction and transports it to the destination within the drone dedicated warehouse area ARb. Also, the transport device 20 holds the target container box CB in the drone dedicated warehouse area ARb in response to the component extraction instruction and transports it to the take-off and landing port DAP within the drone take-off and landing area ARc.

[0075] The operator work area ARd is the area where the operator OP works. The operator OP operates the management device 10 to manage the parts PA stored in the container box CB. The operator OP can identify the parts PA, for example, by part codes. The management device 10 can determine the part codes of the parts PA by reading the barcodes of the parts PA with a barcode reader. The management device 10 can automatically manage the storage location and remaining quantity of the container box CB storing the parts PA. The operator OP transports the container box CB transported to the take-off and landing port DAP in the drone take-off and landing area ARc to the operator work area ARd based on the part extraction instruction. Before executing the component storage instruction, the operator OP transports the container box CB storing the parts PA to the take-off and landing port DAP in the drone take-off and landing area ARc. Also, the operator OP can take parts PA in and out of the container box CB. The operator OP can have the automated guided vehicle AGV transport the parts PA between the operator work area ARd and the goods collection area ARe.

[0076] The parts collection area ARe is the destination for collecting the parts PA. There may be a plurality of parts collection areas ARe. In this case, the operator OP instructs the automated guided vehicle AGV to carry the parts PA to the parts collection area ARe corresponding to the destination. Note that in the third embodiment, the entity that transports the container box CB between the drone departure / arrival area ARc and the operator work area ARd may be other than a human. Similarly, in the third embodiment, the entity that transports the parts PA between the operator work area ARd and the parts collection area ARe may be other than the automated guided vehicle AGV.

[0077] <3-2> Configuration Next, as the configuration of the transportation system 1 according to the third embodiment, the detailed configurations of the container box CB, the management device 10, and the transportation device 20 will be described in order.

[0078] <3-2-1> Configuration of the Container Box CB FIG. 17 is a plan view showing an example of the configuration of the top surface TP of the container box CB according to the third embodiment. As shown in FIG. 17, the top surface TP of the container box CB according to the third embodiment shows, for example, a first position symbol PSa, a second position symbol PSb, a barcode 320, and a serial number 330. The first position symbol PSa includes, for example, position symbols 301 to 304. The second position symbol PSb includes, for example, position symbols 311 to 316.

[0079] Each of the first position symbol PSa and the second position symbol PSb is an identification symbol for recognizing the container box CB from above. The distance at which the transportation device 20 can recognize the first position symbol PSa is farther than the distance at which the transportation device 20 can recognize the second position symbol PSb. And the accuracy of determining the descent position of the transportation device 20 is higher for the second position symbol PSb than for the first position symbol PSa. For this reason, as the transportation device 20 approaches the container box CB, the position symbol used for adjusting the landing position is changed from the first position symbol PSa to the second position symbol PSb.

[0080] The position symbols 301 to 304 of the first position symbol PSa are respectively located at the four corners of the top surface TP of the container box CB, for example. The shape of each of the position symbols 301 to 304 is, for example, a rectangular shape. The shape of the position symbols constituting the first position symbol PSa may be other shapes. In the first position symbol PSa, in order for the transport device 20 to specify the orientation of the container box CB, the position symbols 301 to 304 include position symbols (for example, the position symbol 304) with colors, shapes, etc. different from other position symbols.

[0081] The position symbols 311 to 316 of the second position symbol PSb are located inside the first position symbol PSa, for example. Each of the position symbols 311 to 314 is, for example, an L-shaped. Each of the position symbols 315 and 316 is, for example, a T-shaped. The shape of the position symbols constituting the second position symbol PSb may be other shapes. The position symbols 311 to 314 surround the central portion of the top surface TP of the container box CB inside the first position symbol PSa. The position symbol 315 is located between the position symbols 311 and 314. The position symbol 316 is located between the position symbols 312 and 313. In the second position symbol PSb, in order for the transport device 20 to specify the orientation of the container box CB, the position symbols 311 to 316 include position symbols (for example, the position symbol 314) with colors, shapes, etc. different from other position symbols.

[0082] The barcode 320 and the serial number 330 are located near the second-position symbol PSb. The positions of the barcode 320 and the serial number 330 are preferably at positions that fall within the viewing angle of the camera 29 when an image of the second-position symbol PSb is acquired by the camera 29. For example, the serial number that can be obtained by reading the barcode 320 is the same as the serial number 330. Note that a barcode with a case number described near the second-position symbol PSb may be attached. Each of the first-position symbol PSa and the second-position symbol PSb may be called a "landing marker". The first-position symbol PSa may be called an "outer symbol". The second-position symbol PSb may be called an "inner symbol". The portion of the serial number 330 may indicate other information. Other configurations of the container box CB according to the third embodiment are the same as those of the first embodiment or the second embodiment.

[0083] <3-2-2>Configuration of the management device 10 FIG. 18 is a block diagram showing an example of a program stored in the ROM 12 provided in the management device 10 according to the third embodiment. As shown in FIG. 18, the ROM 12 stores, for example, a box position management program 121, a conveyance instruction program 122, and an emergency response program 123.

[0084] The box position management program 121 is a program for managing the position coordinates of the container box CB in the drone-exclusive warehouse area ARb. The box position management program 121 can manage by associating the component PA and the container box CB. The conveyance instruction program 122 is a program for executing a conveyance instruction for the container box CB to the conveyance device 20. The conveyance instruction for the container box CB includes, for example, information on the conveyance source of the container box CB and information on the conveyance destination of the container box CB. The emergency response program 123 is a program for determining processing in the case of an abnormality occurring during the conveyance by the conveyance device 20. The detection of the abnormality may be performed by either the management device 10 or the conveyance device 20.

[0085] FIG. 19 is a block diagram showing an example of the functional configuration of the management device 10 according to the third embodiment. As shown in FIG. 19, the management device 10 according to the third embodiment includes, for example, a transportation management unit 101, a box position management unit, box position information 103, a transportation instruction unit 104, a communication unit 105, and an emergency response unit 106.

[0086] The transportation management unit 101 manages the transportation of the container box CB in the transportation system 1. In response to a component extraction instruction from the operator OP, the transportation management unit 101 requests the box position management unit 102 for the serial number and position information (position coordinates) of the container box CB storing the target component PA. Also, in response to a component storage instruction from the operator OP, the transportation management unit 101 requests the box position management unit 102 for the serial number and position information of the container box CB that is the storage destination of the component PA. Then, the transportation management unit 101 outputs the serial number and position information of the container box CB acquired from the box position management unit 102 to the transportation instruction unit 104. Further, based on a request from the emergency response unit 106, the transportation management unit 101 may instruct the transportation instruction unit 104 to interrupt the transportation of the container box CB.

[0087] The box position management unit 102 is a functional block based on the box position management program 121. In response to a request from the transportation management unit 101, the box position management unit 102 accesses the box position information 103. Then, the box position management unit 102 identifies, for example, the container box CB storing the component PA based on the component code of the component PA. The box position management unit 102 may determine the container box CB that is the storage destination of the component PA based on the component code of the component PA. Then, the box position management unit 102 outputs the information based on the request read from the box position information 103 to the transportation management unit 101. The box position information 103 is a database including the position information of the container box CB.

[0088] The transport instruction unit 104 is a functional block based on the transport instruction program 122. Based on the serial number and position information of the container box CB acquired from the transport management unit 101, it generates a transport instruction for the container box CB for the transport device 20. Then, the transport instruction unit 104 transmits the generated transport instruction to the transport device 20 via the communication unit 105. Also, the transport instruction unit 104 receives the processing status of the transport of the container box CB via the communication unit 105. Thereby, the transport instruction unit 104 can notify the transport management unit 101 that the transport of the container box CB based on the component extraction instruction or the component storage instruction has been completed.

[0089] The emergency response unit 106 is a functional block based on the emergency response program 123. The emergency response unit 106 detects, for example, an abnormality that has occurred during the transport of the container box CB based on the information acquired via the communication unit 105. Then, the emergency response unit 106 notifies the detected abnormality to the transport management unit 101. Other configurations of the management device 10 according to the third embodiment are the same as those of the first embodiment.

[0090] <3-2-3>Configuration of the transport device 20 FIG. 20 is a block diagram showing an example of a program stored in the ROM 22 provided in the transport device 20 according to the third embodiment. As shown in FIG. 20, the ROM 22 stores, for example, an autonomous flight control program 221, a flight route determination program 222, and a barcode reading program 223.

[0091] The autonomous flight control program 221 is a program for controlling the autonomous flight of the transport device 20. The transport device 20 can fly by controlling the flight mechanism 25 based on the autonomous flight control program 221. The flight route determination program 222 is a program for determining the flight route of the transport device 20. The flight route determination program 222 can determine the flight route of the transport device 20 based on the transport instruction received from the management device 10 and information such as the sensor 28. For example, the flight route is determined so as to avoid obstacles and ensure safety in the vicinity. The barcode reading program 223 is a program for reading barcodes. The barcode to be read is, for example, a one-dimensional barcode, a two-dimensional barcode, or the like.

[0092] Figure 21 is a block diagram showing an example of the functional configuration of the transport device 20 according to the third embodiment. As shown in Figure 21, the transport device 20 includes, for example, a communication unit 201, a management unit 202, a flight route determination unit 203, a position information acquisition unit 204, a flight control unit 205, an arm control unit 206, a balance confirmation unit 207, a barcode reading unit 208, and an image acquisition unit 209.

[0093] The communication unit 201 receives a transport instruction from the management device 10. Then, the communication unit 201 transfers the received transport instruction to the management unit 202. Also, the communication unit 201 notifies the management device 10 of the transport processing status received from the management unit 202. The management unit 202 manages the operation of the transport device 20 regarding the transport of the container box CB. The management unit 202 acquires the position coordinates of the destination from the transport instruction transferred from the communication unit 201. Then, the management unit 202 transfers the position coordinates of the destination to the flight route determination unit 203.

[0094] The flight route determination unit 203 is a functional block based on the flight route determination program 222. The flight route determination unit 203 determines a flight route based on the current position information of the transport device 20 acquired from the position information acquisition unit 204 and the position coordinates of the destination. The position information acquisition unit 204 can acquire the position information of the transport device 20 by, for example, the sensor 28 or the camera 29. The management unit 202 transfers the information of the flight route received from the flight route determination unit 203 to the flight control unit 205. The flight control unit 205 is a functional block based on the autonomous flight control program 221. The flight control unit 205 controls the flight mechanism 25 so as to be able to fly along the flight route based on the information acquired by the sensor 28 or the camera 29. The flight control unit 205 can also execute control related to the takeoff and landing of the transport device 20.

[0095] Furthermore, when the transport device 20 holds or releases the container box CB, the management unit 202 controls the arm control unit 206. For example, when the arm control unit 206 receives an instruction from the management unit 202 to open the holding jig 27, it controls each arm 271 to open. Also, when the arm control unit 206 receives an instruction from the management unit 202 to close the holding jig 27, it controls each arm 271 to close.

[0096] The balance confirmation unit 207 confirms the body balance of the transport device 20. Then, the balance confirmation unit 207 notifies the management unit 202 of the confirmation result. The balance confirmation unit 207 can detect an abnormal balance of the container box CB to be held by confirming the body balance. The barcode reading unit 208 reads the barcode from the barcode image acquired from the image acquisition unit 209. Then, the barcode reading unit 208 notifies the management unit 202 of the information of the read barcode. The image acquisition unit 209 acquires the barcode image of the container box CB from the image of the camera 29.

[0097] Further, the transport device 20 according to the third embodiment is configured to adjust the landing position based on the first position symbol PSa when, for example, recognizing the first position symbol PSa from an image captured by the camera 29 during the landing process. And the transport device 20 according to the third embodiment is configured to adjust the landing position based on the second position symbol PSb when, for example, recognizing the second position symbol PSb in a state where the first position symbol PSa is recognized or lost. Other configurations of the transport device 20 according to the third embodiment are the same as those of the first embodiment or the second embodiment.

[0098] <3-3>Operation Next, as the operation of the transport system 1 according to the third embodiment, the landing sequence of the transport device 20, the takeoff sequence of the transport device 20, and the emergency response sequence of the transport device 20 will be described in order.

[0099] <3-3-1>Landing sequence FIG. 22 is a flowchart showing an example of the landing sequence of the transport device 20 according to the third embodiment. When the transport device 20 according to the third embodiment receives, for example, an instruction to transport the container box CB from the management device 10, it starts a series of processes in FIG. 22 (start).

[0100] First, the transport device 20 acquires box information (step ACT11). The box information includes the position coordinates and serial number of the target container box CB.

[0101] Next, the transport device 20 autonomously flies above the box position (step ACT12). That is, the transport device 20 flies above the target container box CB. The transport device 20 determines the flight route based on the flight route determination program 222 and the position coordinates of the target container box. When the transport device 20 detects an obstacle in the flight route by means of the camera 29 or the like, it can change the flight route to avoid the obstacle.

[0102] Next, the transport device 20 opens the hold jig 27 (step ACT13). Specifically, the arm control unit 206 causes the hold jig 27 to transition from the closed state to the open state by controlling, for example, a servo motor.

[0103] Next, the transport device 20 descends relying on the first position symbol PSa (step ACT14). At this time, the transport device 20 recognizes the first position symbol PSa with the camera 29 to determine the descending position. Further, the transport device 20 can correct the orientation (direction) of the transport device 20 by detecting a specific position symbol (for example, the position symbol 304) among the first position symbols PSa.

[0104] Next, the transport device 20 reads the barcode (step ACT15). Specifically, the camera 29 (image acquisition unit 209) reads the barcode 320 on the top surface TP of the container box CB. Then, the barcode reading unit 208 obtains the serial number of the container box CB based on the read barcode 320.

[0105] Next, the transport device 20 checks whether the serial number of the box information matches the serial number of the barcode (step ACT16). Specifically, the management unit 202 compares the serial number read by the barcode reading unit 208 with the serial number received from the management device 10.

[0106] In the process of step ACT16, when the specified serial number does not match the serial number of the barcode (step ACT16: NO), the transport device 20 executes an interruption process (step ACT17). In the interruption process of step ACT17, the transport device 20 notifies the management device 10 that the serial number of the box information does not match the serial number of the container box CB at the position coordinates of the box information. Then, the transport device 20 returns to, for example, the drone standby area ARa and ends the series of processes in FIG. 22 (ends).

[0107] In the process of step ACT16, when the specified serial number matches the serial number of the barcode (step ACT16: YES), the transport device 20 lands relying on the second position symbol (step ACT18). Specifically, the transport device 20 recognizes the second position symbol PSb with the camera 29 and determines the descent position with higher accuracy than when referring to the first position symbol PSa. When using the second position symbol PSb, the field of view of the camera 29 is narrower. For this reason, the first position symbol PSa may be out of the field of view of the camera 29. Also, the transport device 20 finely adjusts the orientation (direction) of the transport device 20 by detecting a specific position symbol (for example, position symbol 314) among the second position symbols PSb. After that, the transport device 20 lands in a state where it can hold the target container box CB and ends the series of processes in FIG. 22 (end).

[0108] <3-3-2>Take-off sequence FIG. 23 is a flowchart showing an example of the take-off sequence of the transport device 20 according to the third embodiment. When the series of processes in FIG. 22 end via the process of step ACT18, for example, the transport device 20 according to the third embodiment starts a series of processes in FIG. 23 (start).

[0109] First, the transport device 20 acquires destination information from the management device 10 (step ACT21). The destination information includes the position coordinates of the destination of the container box CB. The transport device 20 determines the flight route from the received destination information.

[0110] Next, the transport device 20 closes the holding jig 27 (step ACT22).

[0111] Next, the transport device 20 checks whether the holding jig 27 is closed normally (step ACT23).

[0112] In the process of step ACT23, if it is confirmed that the hold jig 27 is not closed properly (step ACT23: NO), the transport device 20 executes an interruption process (step ACT24). In the interruption process of step ACT24, the transport device 20 notifies the management device 10 that the hold jig 27 has not been closed properly. Then, the transport device 20 enters a standby state for the next instruction of the management device 10, for example, and ends the series of processes in FIG. 23.

[0113] In the process of step ACT23, if it is confirmed that the hold jig 27 is closed properly (step ACT23: YES), the transport device 20 increases the buoyancy (step ACT25). Specifically, the flight control unit 205 increases the thrust of the propeller or the like of the flight mechanism 25. Then, the transport device 20 checks whether there is any abnormality in the aircraft balance (step ACT26). Specifically, the balance confirmation unit 207 checks the presence or absence of an abnormality in the aircraft balance based on the numerical values of the sensor 28.

[0114] In the process of step ACT26, if it is confirmed that there is an abnormality in the aircraft balance (step ACT26: NO), the transport device 20 executes an interruption process (step ACT27). In the interruption process of step ACT27, the transport device 20 notifies the management device 10 that there is an abnormality in the balance of the aircraft (transport device 20) holding the container box CB. Then, the transport device 20 descends directly below and enters a standby state for the next instruction of the management device 10, for example, and ends the series of processes in FIG. 23.

[0115] In the process of step ACT26, if it is confirmed that there is no abnormality in the aircraft balance (step ACT26: YES), the transport device 20 starts autonomous flight toward the destination (step ACT28). Then, the transport device 20 ends the series of processes in FIG. 23.

[0116] <3-3-3>Abnormality handling sequence FIG. 24 is a flowchart showing an example of an abnormality handling sequence of the transport device 20 according to the third embodiment. The transport device 20 according to the third embodiment executes a series of processes in FIG. 24 at predetermined intervals during flight of the transport device 20 (start).

[0117] First, the transport device 20 checks whether an abnormality has been detected (step ACT31). The abnormality is, for example, that a person has entered the drone dedicated warehouse area ARb, a system error has occurred in the transport device 20 itself, or a balance abnormality of the container box CB held by the transport device 20 has been detected. The transport device 20 may detect that a person has entered the drone dedicated warehouse area ARb based on a notification from the management device 10, or may detect it based on an image acquired by the camera 29 of the transport device 20. The transport device 20 can detect a balance abnormality of the container box CB based on the fact that the numerical value of the sensor 28 exceeds a predetermined threshold value.

[0118] In the process of step ACT31, if no abnormality is detected (step ACT31: NO), the transport device 20 ends the series of processes in FIG. 24.

[0119] In the process of step ACT31, if an abnormality is detected (step ACT31: YES), the transport device 20 descends directly below the current flight route (step ACT32). Then, the transport device 20 lands while autonomously avoiding obstacles (step ACT33). Then, the transport device 20 waits until the next instruction is received (step ACT34) and ends the series of processes in FIG. 24.

[0120] <3-4>Effects of the Third Embodiment As described above, in the transport system 1 according to the third embodiment, when the transport device 20 lands to hold the container box CB, two types of position symbols (the first position symbol PSa and the second position symbol PSb) on the top surface TP of the container box CB are used. As a result, the transport device 20 can perform alignment with high precision at the time of landing.

[0121] Also, in the transportation system 1 according to the third embodiment, the transportation device 20 detects that various abnormalities have occurred through the sensors 28 and the camera 29, or notifications from the management device 10. As a result, the transportation system 1 according to the third embodiment can quickly perform recovery work when an abnormality occurs, and can shorten the period during which the transportation system 1 is not functioning.

[0122] Further, in the transportation system 1 according to the third embodiment, when the transportation device 20 detects an abnormality, it enters a state of waiting for instructions after ensuring safety. As a result, the transportation system 1 according to the third embodiment can reduce the occurrence of accidents during the transportation of the container box CB.

[0123] Also, the transportation system 1 according to the third embodiment can eliminate the need for people to patrol inside the warehouse for picking parts and the like. That is, it is only necessary for people to know the code (serial number) of the required parts and the like. That is, there is no need to look at the map of the parts storage area (drone - dedicated warehouse area ARb). That is, the transportation system 1 according to the third embodiment makes it unnecessary for people to manage the location of the container box CB. Further, in the transportation system 1 according to the third embodiment, parts are managed by barcodes, and the storage locations inside the warehouse are automatically registered in the system. As a result, the transportation system 1 according to the third embodiment can eliminate the complexity of manual work.

[0124] <4>Modifications and the like Each of the embodiments described above can be variously modified. Hereinafter, modifications and the like of each embodiment will be described.

[0125] <4 - 1>The first modification The position of the leg part LP of the container box CB according to the first embodiment may be away from the four corners of the bottom surface BP. Further, depending on the position of the leg part LP of the container box CB, the position where the arm 271 is inserted may not be between two adjacent leg parts LP. Taking such a case as the first modification, the differences from the first embodiment will be described below.

[0126] FIG. 25 is a perspective view showing an example of the shape of the container box CB according to the first modification. As shown in FIG. 25, each leg portion LP of the container box CB according to the first modification is arranged away from the corner portion CO of the bottom surface of the container box CB. Specifically, each of the four leg portions LP of the container box CB according to the first modification is arranged so as to be away from the foot surface EP.

[0127] FIG. 26 is a side view showing the relationship between the closed hold jig and the container box in the landing state of the transport device 20 according to the first modification. As shown in FIG. 26, the transport device 20 according to the first modification is configured such that when the hold jig 27 is in the closed state, the claw portion NP of the arm 271 is positioned between a pair of adjacent leg portions LP and the corner portion CO of the bottom surface BP. Specifically, the claw portion NP of the front arm 271 is positioned in the space portion between the front leg portion LP and the front corner portion CO of the bottom surface BP. The claw portion NP of the rear arm 271 can be positioned in the space portion between the rear leg portion LP and the front corner portion CO of the bottom surface BP on the front side.

[0128] The leg portion LP of the container box CB according to the first modification can function as a stopper in the same manner as the leg portion LP of the container box CB according to the first embodiment when the container box CB is displaced during the flight of the transport device 20. As a result, the container box CB according to the first modification can improve the stability of holding the container box CB during the flight of the transport device 20, similar to the first embodiment.

[0129] <4-2>Second Modification In the above embodiment, the holding portion of the container box CB may not be the bottom surface BP. Such a case will be described below as the second modification, with the differences from the first embodiment being explained.

[0130] FIG. 27 is a perspective view showing an example of the shape of the container box CB according to the second modification. As shown in FIG. 27, the container box CB according to the second modification has a plurality of slits ST. In this example, two slits ST arranged in the X direction are located on each side surface SP. The number of the plurality of slits ST corresponds to, for example, the number of the arms 271 of the holding jig 27. The claw portions NP of the arms 271 can be inserted into the slits ST. Depending on the shape of the slits ST, the number of the arms 271 may be larger than the number of the slits ST. Note that the container box CB according to the second modification may or may not have the leg portions LB.

[0131] FIG. 28 is a side view showing the relationship between the closed holding jig 27 and the container box CB in the landing state of the transport device 20 according to the second modification. As shown in FIG. 28, the arm 271 in the second modification is shorter than the arm 271 in the first embodiment. In the transport device 20 according to the second modification, when the holding jig 27 transitions from the open state to the closed state, the claw portions NP of the respective arms 271 have a shape that can be inserted into the slits ST of the container box CB.

[0132] FIG. 29 is a front view showing the detailed positional relationship between the closed holding jig 27 and the container box CB in the landing state of the transport device 20 according to the second modification. As shown in FIG. 29, before takeoff of the transport device 20 according to the second modification, a space LS is formed between the lower end portion of the claw portion NP of the arm 271 and the lower portion of the slit ST of the container box CB. Further, before takeoff of the transport device 20 according to the second embodiment, a space US is formed between the upper end portion 272 of the claw portion NP and the upper portion of the slit ST of the container box CB. Therefore, the container box CB supports its own weight by, for example, the bottom surface BP. That is, the weight of the container box CB is not applied to the claw portions NP of the arms 271. Therefore, the transport device 20 according to the second modification can easily transition the holding jig 27 from the open state to the closed state.

[0133] FIG. 30 is a front view showing the detailed positional relationship between the holding jig 27 in the closed state and the container box CB in the flying state of the transport device 20 according to the second modification. As shown in FIG. 30, when the transport device 20 flies, the upper end portion 272 of the claw portion NP of the arm 271 contacts the upper part of the slit ST of the container box CB. Then, the weight of the container box CB is applied to the claw portion NP of the arm 271 of the transport device 20 in the flying state. And the transport device 20 generates buoyancy with respect to the sum of the weight of the transport device 20 and the weight of the container box CB. Thereby, the transport device 20 can fly in a state where the claw portion NP holds the container box CB due to the self-weight of the container box CB.

[0134] The transport device 20 and the container box CB according to the second modification can reduce the load on the arm 271 when holding and releasing the container box CB, similar to the first embodiment. Therefore, the transport device 20 and the container box CB according to the second modification can implement a mechanism for holding and releasing the container box CB at low cost, similar to the first embodiment.

[0135] <4-3>Others The above embodiment has been described for the case where the standard-sized container box CB is a rectangular parallelepiped. And the holding jig 27 is a mechanism for inserting the claw portion NP of the arm 271 from the side surface SP side of the rectangular parallelepiped. However, the present invention is not limited to this, and the holding jig 27 may have a mechanism for inserting the claw portion NP of the arm 271 from each of the bottom surface EP side and the side surface SP side. That is, the holding jig 27 may be a mechanism for inserting the claw portion NP from four directions of the front, back, right side, and left side of the container box CB. In the above embodiment, the transport device 20 may be such that the holding jig 27 and the flight mechanism 25 are separable.

[0136] In the above embodiment, the management device 10 and the transport device 20 may be provided with an MPU (Micro Processing Unit), an ASIC (Application Specific Integrated Circuit), an FPGA (field-programmable gate array), a GPU (Graphics Processing Unit), etc. instead of the CPU 11 and the CPU 21. The processing described in the above embodiment may be realized by dedicated hardware. The processing described in the above embodiment may be a mixture of processing executed by software and processing executed by hardware, or may be only one of them. In this specification, each of the CPU 11 and the CPU 21 may be referred to as a "processor".

[0137] In the above embodiment, the flowchart used to explain the operation is merely an example. The processing described using the flowchart may, within the possible range, have its processing order rearranged, other processing may be added, some processing may be omitted, or some processing may be executed in parallel. For example, the information acquired by the transport device 20 from the management device 10 may be received all at once. Specifically, the transport device 20 may execute the processing of step ACT11 in FIG. 22 and the processing of step ACT21 in FIG. 22 in parallel. In this specification, "top view" corresponds to viewing from the top surface TP side of the container box CB.

[0138] Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and their modifications are included in the scope and gist of the invention, and are included in the invention described in the claims and its equivalent scope.

[0139] Other embodiments are appended below.

[0140] (Appendix 1) A transport device configured to fly and transport a standard-sized container box, a flight mechanism capable of generating buoyancy, an arm having claw portions and capable of opening and closing, and a housing that supports the flight mechanism and the arm, in a closed state, the arm holds the bottom surface of the container box during flight, releases the container box during the landing process, and has claw portions configured such that a first space is formed between the bottom surface of the container box and a second space is formed between the landing surface after landing, transport device.

[0141] (Appendix 2) The claw portions of the arm are further configured to be inserted into a space formed between the landing surface and the bottom surface of the container box by the legs of the container box that contact the landing surface after landing, The transport device according to Appendix 1.

[0142] (Appendix 3) The claw portions of the arm are further configured such that the position of the claw portions is lower than the position of the landing surface after landing, The transport device according to Appendix 1.

[0143] (Appendix 4) a processor for controlling the flight mechanism, and a camera capable of photographing a first position symbol and a second position symbol added to the container box, and further comprising, when recognizing the first position symbol from an image photographed by the camera during the landing process, the processor adjusts the landing position based on the first position symbol, and when recognizing the second position symbol in a state where the first position symbol is recognized or lost, the processor adjusts the landing position based on the second position symbol, The transport device according to Appendix 1.

[0144] (Appendix 5) A processor for controlling each of the above-mentioned flight mechanism and the above-mentioned arm, A camera capable of photographing the barcode attached to the above-mentioned container box, and further comprising: In the process of picking up the above-mentioned container box, when the above-mentioned processor recognizes the above-mentioned barcode from the image taken by the above-mentioned camera, the above-mentioned processor further confirms whether the first information indicated by the above-mentioned barcode matches the second information included in the transportation instruction of the above-mentioned container box. When the above-mentioned first information and the above-mentioned second information match, the above-mentioned processor is configured to start transporting the above-mentioned container box. The transporting device according to Appendix 1.

[0145] (Appendix 6) A method for transporting a container box using a transporting device comprising a flight mechanism configured to fly and transport a standard-sized container box and capable of generating buoyancy, and an arm having claw portions and capable of opening and closing, With the above-mentioned arm in a closed state on the above-mentioned transporting device, Holding the bottom surface of the above-mentioned container box during flight, Releasing the above-mentioned container box during the landing process, Comprising: After the above-mentioned transporting device lands, a first space is formed between the above-mentioned claw portions and the bottom surface of the above-mentioned container box, and a second space is formed between the above-mentioned claw portions and the landing surface. Transporting method.

[0146] (Appendix 7) Comprising the transporting device according to Appendix 1 and the above-mentioned container box, The above-mentioned container box has legs configured to contact the above-mentioned landing surface on the above-mentioned bottom surface, The above-mentioned claw portions of the above-mentioned arm are further configured such that, after landing, the position of the bottom of the above-mentioned claw portions is higher than the position of the bottom of the above-mentioned legs of the above-mentioned container box. Transporting system.

[0147] (Appendix 8) Comprising the transport device described in Supplementary Note 1 and the above container box, The above container box has a first position symbol and a second position symbol added thereto, The above transport device further comprises a processor for controlling the above flight mechanism and a camera capable of photographing the above first position symbol and the above second position symbol, The above processor is further configured to, in the process of landing, adjust the landing position based on the first position symbol when recognizing the first position symbol from the image photographed by the above camera, and adjust the landing position based on the second position symbol when recognizing both the first position symbol and the second position symbol, Transport system.

[0148] (Supplementary Note 9) Comprising the transport device described in Supplementary Note 1 and the above container box, A barcode is added to the above container box, The above transport device further comprises a processor for controlling each of the above flight mechanism and the above arm, And a camera capable of photographing the barcode added to the above container box, The above processor is further configured to, in the process of picking up the above container box, when recognizing the barcode from the image photographed by the above camera, confirm whether the first information indicated by the barcode matches the second information included in the transport instruction of the above container box, and start transporting the above container box when the first information and the second information match, Transport system.

[0149] (Supplementary Note 10) A program for controlling a transport device configured to fly and transport a standard-sized container box, Instruct the processor to, when recognizing a first position symbol during the process of the above-mentioned transport device landing, adjust the landing position based on the first position symbol, and when recognizing a second position symbol in a state where the first position symbol has been recognized or lost sight of, adjust the landing position based on the second position symbol. Program.

[0150] (Appendix 11) A program for controlling a transport device configured to fly and transport a standard-sized container box, Instruct the processor to, when recognizing a barcode attached to the above-mentioned container box during the process of the above-mentioned transport device picking up the container box, confirm whether the first information indicated by the barcode matches the second information included in the transport instruction of the container box, and when the first information matches the second information, start transporting the container box. Program.

[0151] (Appendix 12) A program for controlling a transport device configured to fly and transport a standard-sized container box, Instruct the processor to confirm whether an abnormality has been detected during the flight of the above-mentioned transport device, and when an abnormality is detected, cause the device to descend directly below the current flight route. Program.

[0152] (Appendix 13) Further instruct the above-mentioned processor to, when an abnormality is detected, land the transport device while autonomously flying to avoid obstacles. The program described in Appendix 12.

Explanation of Reference Signs

[0153] 1…Transportation system, 10…Management device, 20…Transportation device, 11, 21…CPU, 12, 22…ROM, 13, 23…RAM, 14, 24…Communication device, 15…Storage, 16…Display, 17…Input interface, 101…Transportation management section, 102…Box position management section, 103…Box position information, 104…Transportation instruction section, 105…Communication section, 106…Emergency response section, 121…Box position management program, 122…Transportation instruction program, 123…Emergency response program, 25…Flight mechanism, 26…Landing gear, 27…Holder jig, 28…Sensor, 29…Camera, 201…Communication section, 202…Management section, 203…Flight route determination section, 204…Position information acquisition section, 205…Flight control section, 206…Arm control section, 207…Balance confirmation section, 208…Barcode reading section, 209…Image acquisition section, 221…Autonomous flight control program, 222…Flight route determination program, 223…Barcode reading program, 261…Legs, 271…Arm, 272…Upper end, NP…Claw part, CB…Container box, LP…Legs, PSa…First position symbol, PSb…Second position symbol, 301~304…Position symbols, 311~316…Position symbols, 320…Barcode, 330…Serial number, ARa…Drone standby area, ARb…Drone dedicated warehouse area, ARc…Drone departure / arrival area, ARd…Operator work area, ARe…Consolidation area, OP…Operator, AGV…Automated guided vehicle, CP…Protrusion

Claims

1. A transport device configured to fly and transport a container box of a standard size, a flight mechanism capable of generating buoyancy, an arm having claw portions and capable of opening and closing, and a housing that supports the flight mechanism and the arm, in a closed state, the arm holds the bottom surface of the container box during flight, releases the container box during the landing process, and has claw portions configured such that a first space is formed between the bottom surface of the container box and a second space is formed between the landing surface after landing, The transport device.

2. The claw portions of the arm are further configured to be inserted into a space formed between the landing surface and the bottom surface of the container box by the leg portions of the container box that contact the landing surface after landing, The transport device according to claim 1.

3. The claw portions of the arm are further configured such that the position of the claw portions is lower than the position of the landing surface after landing, The transport device according to claim 1.

4. a processor for controlling the flight mechanism, and a camera capable of photographing a first position symbol and a second position symbol added to the container box, The processor is further configured to, during the landing process, when recognizing the first position symbol from an image photographed by the camera, adjust the landing position based on the first position symbol, and when recognizing the second position symbol in a state where the first position symbol is recognized or lost, adjust the landing position based on the second position symbol, The transport device according to claim 1.

5. A processor for controlling each of the flight mechanism and the arm, and a camera capable of photographing a barcode attached to the container box, In the process of picking up the container box, when the processor recognizes the barcode from the image taken by the camera, the processor further checks whether the first information indicated by the barcode matches the second information included in the transportation instruction of the container box. When the first information matches the second information, the processor is configured to start transporting the container box. The transporting device according to claim 1.

6. A method for transporting a container box using a transporting device comprising a flight mechanism configured to fly and transport a standard-sized container box and capable of generating buoyancy, and an arm having claw portions and capable of opening and closing, with the arm of the transporting device in a closed state, holding the bottom surface of the container box during flight, releasing the container box during landing, comprising: After the transporting device lands, a first space is formed between the claw portions and the bottom surface of the container box, and a second space is formed between the claw portions and the landing surface. Transporting method.

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