Transport system

Abstract

To mount a mechanism for gripping a container box and a mechanism for easily and surely charging a battery provided in an unmanned flying object on the unmanned flying object while suppressing an increase in weight of the unmanned flying object for flying and carrying the container box.SOLUTION: A transport system according to an embodiment includes an unmanned aerial vehicle and a charger. The charger has the same size as the container box, and is provided with a power transmission side coil used for non-contact charging on one surface. The unmanned aerial vehicle includes a flight mechanism capable of generating buoyancy, an arm capable of opening and closing, and a housing supporting the flight mechanism and the arm. The arm of the unmanned aerial vehicle grips a container box having a standard size in a closed state during flight, and grips a charger having a standard size during charging. The housing of the unmanned aerial vehicle includes a power reception side coil used for non-contact charging on a surface facing the power transmission side coil of the charger in a state in which the arm grips the charger.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] FIELD Embodiments relate to a transport system. [Background technology]

[0002] Drones are unmanned aerial vehicles capable of autonomous flight. In recent years, drones have come to be used for a variety of purposes.

[0003] Drones typically have a battery as a power source. To charge the battery, the drone is landed on a charger installed in a specified position, and the drone is connected to the charger, or the wireless power transmitting device of the charger is positioned opposite the wireless power receiving device of the drone. In this case, if the drone is not landed in an appropriate position relative to the charger, the battery cannot be charged, or charging efficiency will be reduced.

[0004] Therefore, Patent Document 1 proposes a configuration of a charger and a drone that allows the drone to land in an appropriate positional relationship with respect to the charger. Specifically, the charger is configured in the shape of a quadrangular pyramid, and the drone has a housing with a hollow portion inside that matches the tapered shape of the quadrangular pyramid. As the drone descends, as long as the top of the charger fits into the hollow portion of the housing, the drone will move laterally along the tapered portion of the charger, allowing it to land in an appropriate positional relationship with respect to the charger in a self-aligning manner.

[0005] One use of drones is to transport container boxes stored in a warehouse. Such drones can eliminate the need for people to patrol the warehouse to pick items. As a result, drones can reduce the labor costs required to transport container boxes.

[0006] When a drone transports a container box, for example, a person must attach the container box to the drone and detach it from the drone. On the other hand, if the drone itself can be equipped with a mechanism for grasping the container box, the drone can transport the container box without any human intervention.

[0007] However, providing both a mechanism for gripping the container box and a mechanism for facilitating and ensuring charging, such as the housing proposed in Patent Document 1, increases costs and weight, which is a fatal drawback for a drone that flies in the sky. [Prior art documents] [Patent documents]

[0008] [Patent Document 1] Japanese Patent Publication No. 2023-85835 Summary of the Invention [Problem to be solved by the invention]

[0009] The present invention has been made to solve the above problems, and aims to provide a transportation system that allows an unmanned aerial vehicle to be equipped with a mechanism for gripping a container box and a mechanism for easily and reliably charging the battery equipped on the unmanned aerial vehicle, while minimizing the increase in weight of the unmanned aerial vehicle that flies and transports the container box. [Means for solving the problem]

[0010] A transportation system according to an embodiment includes a battery-powered unmanned air vehicle configured to fly and transport a standard-sized container box, and a charger that charges the battery of the unmanned air vehicle. The charger has the same standard size as the container box and is equipped with a power transmitting coil used for contactless charging on one surface. The unmanned air vehicle includes a flight mechanism capable of generating buoyancy, an openable / closable arm, and a housing that supports the flight mechanism and the arm. The arm of the unmanned air vehicle holds the standard-sized container box in a closed state during flight, and holds the standard-sized charger during charging. The housing of the unmanned air vehicle is equipped with a power receiving coil used for contactless charging on the surface facing the power transmitting coil of the charger when the arm is holding the charger. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a schematic diagram showing an example of the overall configuration of a conveyance system according to the first embodiment. [Figure 2] FIG. 2 is a schematic diagram showing an example of a method of using the transportation system according to the first embodiment. [Figure 3] FIG. 3 is a perspective view showing an example of the shape of the container box according to the first embodiment. [Figure 4] FIG. 4 is a plan view showing an example of the configuration of the top surface of the container box according to the first embodiment. [Figure 5] FIG. 5 is a block diagram illustrating an example of a hardware configuration of the management device according to the first embodiment. [Figure 6] FIG. 6 is a block diagram showing an example of a program stored in the ROM included in the management device according to the first embodiment. [Figure 7] FIG. 7 is a block diagram illustrating an example of the functional configuration of the management device according to the first embodiment. [Figure 8] FIG. 8 is a perspective view showing an example of the shape of the charger according to the first embodiment. [Figure 9] FIG. 9 is a plan view showing an example of the configuration of the top surface of the charger according to the first embodiment. [Figure 10]FIG. 10 is a block diagram showing an example of the hardware configuration of the charger according to the first embodiment. [Figure 11] FIG. 11 is a block diagram showing an example of the functional configuration of the charger according to the first embodiment. [Figure 12] FIG. 12 is a front view showing an example of the appearance of the unmanned aerial vehicle according to the first embodiment. [Figure 13] FIG. 13 is a bottom view showing an example of the appearance of the unmanned aerial vehicle according to the first embodiment. [Figure 14] FIG. 14 is a block diagram showing an example of the hardware configuration of the unmanned aerial vehicle according to the first embodiment. [Figure 15] FIG. 15 is a block diagram showing an example of a program stored in a ROM provided in the unmanned aerial vehicle according to the first embodiment. [Figure 16] FIG. 16 is a block diagram showing an example of the functional configuration of the unmanned aerial vehicle according to the first embodiment. [Figure 17] FIG. 17 is a flowchart showing an example of a landing sequence for an unmanned aerial vehicle according to the first embodiment. [Figure 18] FIG. 18 is a flowchart showing an example of a takeoff sequence for an unmanned aerial vehicle according to the first embodiment. [Figure 19] FIG. 19 is a front view showing the relationship between the holding jig in the open state and the container box when the unmanned aerial vehicle according to the first embodiment is in the landing state. [Figure 20] FIG. 20 is a front view showing the relationship between the holding jig in a closed state and the container box when the unmanned aerial vehicle according to the first embodiment is in a landing state. [Figure 21] FIG. 21 is a side view showing the relationship between the holding jig in a closed state and the container box when the unmanned aerial vehicle according to the first embodiment is in a landing state. [Figure 22] FIG. 22 is a front view showing the detailed positional relationship between the holding jig in the closed state and the container box when the unmanned aerial vehicle according to the first embodiment is in the landing state. [Figure 23]FIG. 23 is a front view showing the detailed positional relationship between the holding jig in a closed state and the container box when the unmanned aerial vehicle according to the first embodiment is in flight. [Figure 24] FIG. 24 is a sequence diagram illustrating the charging operation of the transportation system according to the first embodiment. [Figure 25] FIG. 25 is a diagram showing the relationship between voltage, current, and power when a sinusoidal wave voltage is applied to the power transmitting coil of the charger according to the first embodiment when there is no load. [Figure 26] FIG. 26 is a diagram showing the relationship between voltage, current, and power when a sinusoidal wave voltage is applied to the power transmitting coil of the charger according to the first embodiment when there is a load. [Figure 27] FIG. 27 is a flowchart illustrating an example of a charge start / end sequence of the management device according to the first embodiment. [Figure 28] FIG. 28 is a flowchart showing an example of a charging takeoff sequence for an unmanned aerial vehicle according to the first embodiment. [Figure 29] FIG. 29 is a flowchart showing an example of a charge start / end sequence of the charger according to the first embodiment. [Figure 30] FIG. 30 is a flowchart showing an example of a charging sequence for an unmanned aerial vehicle according to the first embodiment. [Figure 31] FIG. 31 is a flowchart showing an example of a charge completion takeoff sequence for an unmanned aerial vehicle according to the first embodiment. [Figure 32] FIG. 32 is a sequence diagram illustrating the charging operation of the transportation system according to the second embodiment. [Figure 33] FIG. 33 is a flowchart illustrating an example of a charge start / end sequence of the management device according to the second embodiment. [Figure 34] FIG. 34 is a flowchart showing an example of a charge start / end sequence of the charger according to the second embodiment. [Figure 35] FIG. 35 is a flowchart showing an example of a charging sequence for an unmanned aerial vehicle according to the second embodiment. [Figure 36]FIG. 36 is a sequence diagram illustrating the charging operation of the transportation system according to the third embodiment. [Figure 37] FIG. 37 is a flowchart showing an example of a charge start / end sequence of the management device according to the third embodiment. [Figure 38] FIG. 38 is a flowchart showing an example of a charge start / end sequence of the charger according to the third embodiment. [Figure 39] Figure 39 is a flowchart showing an example of a charging sequence for an unmanned aerial vehicle according to the third embodiment. [Figure 40] FIG. 40 is a sequence diagram illustrating the charging operation of the transportation system according to the fourth embodiment. [Figure 41] FIG. 41 is a flowchart showing an example of a charge start / end sequence of the management device according to the fourth embodiment. [Figure 42] FIG. 42 is a flowchart showing an example of a charge start / end sequence of the charger according to the fourth embodiment. [Figure 43] FIG. 43 is a perspective view showing an example of the shape of a container box and a charger according to the first modified example. [Figure 44] FIG. 44 is a side view showing the relationship between the holding jig in the closed state and the container box or charger when the unmanned aerial vehicle according to the first modified example is in the landing state. [Figure 45] FIG. 45 is a perspective view showing an example of the shape of a container box and a charger according to the second modified example. [Figure 46] FIG. 46 is a side view showing the relationship between the holding jig in the closed state and the container box or charger when the unmanned aerial vehicle according to the second modified example is in the landing state. [Figure 47] FIG. 47 is a perspective view showing an example of the shape of a container box and a charger according to the third modified example. [Figure 48] FIG. 48 is a front view showing the relationship between the open holding jig and the container box or charger when the unmanned aerial vehicle according to the third modified example is in a landing state. DETAILED DESCRIPTION OF THE INVENTION

[0012] Each embodiment will be described below with reference to the drawings. Each embodiment illustrates an apparatus or method for embodying the technical idea of ​​the invention. The drawings referred to below are schematic or conceptual. The dimensions, ratios, etc. shown in each drawing are not necessarily the same as those in reality. In this specification, components with the same reference numerals have approximately the same functions and configurations.

[0013] <1> First embodiment The first embodiment relates to a transportation system 1 including an unmanned aerial vehicle called a drone that can transport a container box on a flat floor. Details of the transportation system 1 according to the first embodiment will be described below.

[0014] <1-1> Configuration First, the configuration of a conveyance system 1 according to the first embodiment will be described.

[0015] <1-1-1> Overall configuration of transportation system 1 Fig. 1 is a schematic diagram showing an example of the overall configuration of a transportation system 1 according to the first embodiment. As shown in Fig. 1, the transportation system 1 according to the first embodiment includes, for example, a management device 10, an unmanned aerial vehicle 20, a charger 30, and a container box CB.

[0016] The management device 10 is a terminal such as a PC (Personal Computer) that has the ability to communicate wirelessly with the unmanned aerial vehicle 20. The management device 10 manages the locations of one or more container boxes CB. The management device 10 can then instruct the unmanned aerial vehicle 20 to transport the container boxes CB based on instructions from an operator or the like. The management device 10 may be a combination of multiple devices. For example, the transportation system 1 may use, as the management device 10, a device that manages the locations of the container boxes CB and a device that gives instructions to the unmanned aerial vehicle 20.

[0017] The unmanned aerial vehicle 20 is a drone having a mechanism capable of holding a container box CB. The unmanned aerial vehicle 20 can transport the container box CB based on wireless instructions from the management device 10. Therefore, the unmanned aerial vehicle 20 can be said to be a "transportation device" that has the function of transporting the container box CB. An outdoor unmanned aerial vehicle 20 has the function of autonomous flight based on information from a GPS (Global Positioning System), for example. An indoor unmanned aerial vehicle 20 has the function of autonomous flight based on information from a camera, etc., for example. The unmanned aerial vehicle 20 has a battery as a power source.

[0018] The container box CB is a box-shaped storage item of a standard size based on the design of the unmanned aerial vehicle 20. When using the transport system 1, the upper limit of the weight of the container box CB containing parts, etc. is based on the weight that can be transported by the unmanned aerial vehicle 20. In other words, the upper limit of the weight of the container box CB containing parts, etc. changes depending on the performance of the unmanned aerial vehicle 20. The material of the container box CB may be cardboard or plastic.

[0019] The charger 30 charges the battery of the unmanned aerial vehicle 20. The shape of the charger 30 is the same as that of the container box CB. In other words, the charger 30 has a box-like shape of a standard size based on the design of the unmanned aerial vehicle 20. The unmanned aerial vehicle 20 flies to the installation location of the charger 30 in response to wireless instructions from the management device 10 and lands on the charger 30. At this time, the unmanned aerial vehicle 20 lands in a predetermined positional relationship with the charger 30, thereby enabling the charger 30 to charge the battery. In this first embodiment, the start of charging the battery of the unmanned aerial vehicle 20 by the charger 30 is wirelessly controlled by the management device 10. Of course, communication between the management device 10 and the charger 30 may be wired rather than wireless.

[0020] <1-1-2> How to use the transport system 1 Before describing the specific configuration of each component of the transportation system 1, an example of how to use the transportation system 1 according to the first embodiment will be described. In the following, it is assumed that the container box CB is configured to be able to store parts PA. The unmanned aerial vehicle 20 according to the first embodiment can fly while holding the container box CB that stores the parts PA.

[0021] Fig. 2 is a schematic diagram showing an example of a method of using the conveyance system 1 according to the third embodiment. As shown in Fig. 2, a facility such as a factory that uses the conveyance system 1 according to the first embodiment has, for example, a drone waiting area ARa, a drone-only warehouse area ARb, a drone takeoff and landing area ARC, an operator work area ARd, and a collection area ARe.

[0022] The drone waiting area ARa includes a floor, landing pad, etc., where one or more unmanned aerial vehicles 20 can wait. In the drone waiting area ARa, the structure of the location where the unmanned aerial vehicles 20 wait is adapted to the configuration of the unmanned aerial vehicles 20. For example, in the drone waiting area ARa, the unmanned aerial vehicles 20 may be placed on a flat floor or on a non-flat structure (landing pad). The drone waiting area ARa has chargers 30 that charge the waiting unmanned aerial vehicles 20. A charger 30 may be dedicated to each unmanned aerial vehicle 20, or the number of chargers 30 provided in the drone waiting area ARa may be any number less than the number of unmanned aerial vehicles 20. The chargers 30 may also be located in a location other than the drone waiting area ARa. The unmanned aerial vehicles 20 waiting in the drone waiting area ARa can transport container boxes CB between the drone-dedicated warehouse area ARb and the drone takeoff and landing area ARC based on instructions from the management device 10. After completing the operation based on the instructions of the management device 10, the unmanned aerial vehicle 20 returns to the drone waiting area ARa, for example, and waits. In addition, if necessary, the unmanned aerial vehicle 20 has its battery charged by the charger 30.

[0023] The drone-only storage area ARb includes a floor, landing pad, etc. on which one or more container boxes CB can be placed. In the drone-only storage area ARb, the structure of the area where the container box CB is placed is compatible with the combination of the unmanned aerial vehicle 20 and the configuration of the container box CB. That is, in the drone-only storage area ARb, the container box CB may be placed on a flat floor or on a non-flat structure (landing pad). Furthermore, people are prohibited from entering the drone-only storage area ARb. The unmanned aerial vehicle 20 flying in the drone-only storage area ARb may operate to make an emergency landing if a person enters the drone-only storage area ARb. This ensures the safety of people.

[0024] The drone takeoff and landing area ARc includes a takeoff and landing port DAP. The takeoff and landing port DAP is the destination for takeoff and landing of the unmanned aerial vehicle 20 in the drone takeoff and landing area ARc. The structure of the takeoff and landing port DAP is compatible with the combination of the configurations of the unmanned aerial vehicle 20 and the container box CB. That is, at the takeoff and landing port DAP, the container box CB may be placed on a flat floor or on a non-flat structure (landing pad). In response to a parts storage instruction from the management device 10, the unmanned aerial vehicle 20 holds the container box CB on the takeoff and landing port DAP and transports it to a destination within the drone-dedicated warehouse area ARb. In addition, in response to a parts removal instruction from the management device 10, the unmanned aerial vehicle 20 holds the target container box CB in the drone-dedicated warehouse area ARb and transports it to the takeoff and landing port DAP within the drone takeoff and landing area ARc.

[0025] The operator work area ARd is an area where the operator OP works. The operator OP operates the management device 10 to manage the parts PA to be stored in the container box CB. The operator OP can identify the parts PA, for example, by their part codes. The management device 10 can determine the part codes of the parts PA by reading the barcodes of the parts PA using a barcode reader. The management device 10 can automatically manage the placement locations and remaining numbers of container boxes CB that store the parts PA. In response to a part removal instruction presented to the management device 10, the operator OP transports the container box CB, which has been transported to the takeoff and landing port DAP of the drone takeoff and landing area ARc, to the operator work area ARd. Furthermore, before causing the management device 10 to send a part storage instruction to the unmanned aerial vehicle 20, the operator OP transports the container box CB that stores the parts PA to the takeoff and landing port DAP of the drone takeoff and landing area ARc. The operator OP can put parts PA in and take them out of the container box CB. The operator OP can also cause the automated guided vehicle AGV to transport the part PA between the operator working area ARd and the collection area ARe.

[0026] The collection area ARe is the collection destination of the part PA. There may be multiple collection areas ARe. In this case, the operator OP instructs the automated guided vehicle AGV to transport the part PA to the collection area ARe corresponding to the destination. Note that the entity transporting the container box CB between the drone takeoff and landing area ARc and the operator working area ARd may be someone other than a person. Similarly, the entity transporting the part PA between the operator working area ARd and the collection area ARe may be someone other than the automated guided vehicle AGV.

[0027] <1-1-3> Container box CB configuration FIG. 3 is a perspective view showing an example of the shape of a container box CB according to the first embodiment. As shown in FIG. 3, the container box CB according to the first embodiment is, for example, a rectangular box. Hereinafter, the lid portion of the container box CB will be referred to as the "top surface TP." The front and back surfaces of the container box CB will be referred to as the "top surface EP." The side surfaces of the container box CB will be referred to as the "side surfaces SP." The bottom surface of the container box CB will be referred to as the "bottom surface BP."

[0028] The top surface TP of the container box CB can be opened and closed. When the container box CB is open, a person, for example, puts parts or the like into and takes them out of the container box CB. The top surface TP of the container box CB may have a configuration that allows it to be fixed with 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.

[0029] The container box CB according to the first embodiment has a plurality of legs LP on its bottom surface BP. The plurality of legs LP includes, for example, four legs LP located at the four corners of the bottom surface BP. When the container box CB is placed on the floor, each leg LP comes into contact with 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.

[0030] In this specification, the front view, side view, perspective view, and plan view each show a Cartesian coordinate system based on the container box CB. The X direction corresponds to a direction parallel to each of the side surface SP and bottom surface BP of the container box CB. The Y direction corresponds to a direction parallel to each of the top surface EP and bottom surface BP of the container box CB. The Z direction corresponds to a direction parallel to each of the top surface EP and side surface SP of the container box CB (height direction).

[0031] Fig. 4 is a plan view showing an example of the configuration of the top surface TP of the container box CB according to the first embodiment. As shown in Fig. 4, the top surface TP of the container box CB indicates, for example, a first position symbol PSa, a second position symbol PSb, a barcode 420, and a serial number 430. The first position symbol PSa includes, for example, position symbols 401 to 404. The second position symbol PSb includes, for example, position symbols 411 to 416.

[0032] The first position symbol PSa and the second position symbol PSb are each identification symbols for recognizing the container box CB from the sky. The distance at which the unmanned aerial vehicle 20 can recognize the first position symbol PSa is farther than the distance at which the unmanned aerial vehicle 20 can recognize the second position symbol PSb. The accuracy of determining the landing position of the unmanned aerial vehicle 20 is higher with the second position symbol PSb than with the first position symbol PSa. For this reason, the unmanned aerial vehicle 20 changes the position symbol used to adjust its landing position from the first position symbol PSa to the second position symbol PSb as it approaches the container box CB.

[0033] The position symbols 401 to 404 of the first position symbol PSa are located, for example, at the four corners of the top surface TP of the container box CB. The shape of each of the position symbols 401 to 404 is, for example, a square. The shape of the position symbols constituting the first position symbol PSa may be other shapes. In the first position symbol PSa, the position symbols 401 to 404 include a position symbol (for example, position symbol 404) that has a different color, shape, etc. from the other position symbols so that the unmanned aerial vehicle 20 can identify the orientation of the container box CB.

[0034] The position symbols 411 to 416 of the second position symbol PSb are, for example, located inside the first position symbol PSa. Each of the position symbols 411 to 414 is, for example, L-shaped. Each of the position symbols 415 and 416 is, for example, T-shaped. The shape of the position symbols constituting the second position symbol PSb may be other shapes. The position symbols 411 to 414 surround the center portion of the top surface TP of the container box CB inside the first position symbol PSa. The position symbol 415 is located between the position symbols 411 and 414. The position symbol 416 is located between the position symbols 412 and 413. In the second position symbol PSb, the position symbols 411 to 416 include a position symbol (for example, the position symbol 414) that has a different color, shape, etc. from the other position symbols so that the unmanned aerial vehicle 20 can identify the orientation of the container box CB.

[0035] The barcode 420 and serial number 430 are located near the second location symbol PSb. The barcode 420 and serial number 430 are preferably located within the field of view of the camera equipped on the unmanned aerial vehicle 20 when the camera captures an image of the second location symbol PSb. For example, the serial number that can be obtained by reading the barcode 420 is the same as the serial number 430. A barcode containing a box number may be attached near the second location symbol PSb. Each of the first location symbol PSa and the second location symbol PSb may be called a "landing marker." The first location symbol PSa may be called an "outer symbol." The second location symbol PSb may be called an "inner symbol." The serial number 430 portion may indicate other information.

[0036] <1-1-4> Configuration of management device 10 Fig. 5 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. 5, 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, storage 15, a display 16, and an input interface 17.

[0037] 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 and control data for controlling the management device 10. The RAM 13 is, for example, a volatile semiconductor memory. The RAM 13 functions, for example, as a work area for programs executed by the CPU 11. The communication device 14 is a circuit having the function of transmitting and receiving data, etc., to and from external devices. The communication device 14 can wirelessly communicate with the unmanned aerial vehicle 20 and the charger 30 by transmitting and receiving wireless signals via an antenna. The communication device 14 may also be connected to the charger 30 via a communication line and perform wired communication with the charger 30.

[0038] The storage 15 is a non-volatile storage device. The storage 15 stores, for example, application software, application data, system software, etc. of the management device 10. The display 16 can display characters, images, etc. The display 16 displays, for example, a GUI (Graphical User Interface) corresponding to the application software. The input interface 17 is a device for operating the management device 10 and inputting information into the management device 10. The input interface 17 is, for example, a keyboard, a mouse, a barcode reader, etc.

[0039] 6 is a block diagram showing an example of programs stored in the ROM 12 included in the management device 10 according to the first embodiment. As shown in FIG. 6, the ROM 12 stores, for example, a box position management program 121, a transportation instruction program 122, and a charge control program 123.

[0040] The box position management program 121 is a program for managing the position coordinates of the container box CB in the drone-only warehouse area ARb. The box position management program 121 can manage parts PA and container boxes CB in association with each other. The transport instruction program 122 is a program for executing transport instructions for the container box CB to the unmanned aerial vehicle 20. The transport instruction for the container box CB includes, for example, information on the source of the container box CB and information on the destination of the container box CB. The charging control program 123 is a program for executing charging control of the battery of the unmanned aerial vehicle 20 by the charger 30. The charging control program 123 includes a program portion for controlling the unmanned aerial vehicle 20 and a program portion for controlling the charger 30.

[0041] Although not specifically shown, the ROM 12 may be configured to store an emergency response program. The emergency response program is a program for determining what to do if an abnormality occurs during transportation of the unmanned aerial vehicle 20. Detection of the abnormality may be performed by either the management device 10 or the unmanned aerial vehicle 20.

[0042] Fig. 7 is a block diagram showing an example of the functional configuration of the management device 10 according to the first embodiment. As shown in Fig. 7, the management device 10 according to the first 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 a charging control unit 106.

[0043] The transportation management unit 101 manages the transportation of container boxes CB in the transportation system 1. In response to a part removal instruction from an 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 that stores the target part PA. In addition, in response to a part 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 stores the part 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.

[0044] The box location management unit 102 is a functional block based on the box location management program 121. The box location management unit 102 accesses the box location information 103 in response to a request from the transport management unit 101. Then, the box location management unit 102 identifies the container box CB in which to store the part PA, for example, based on the part code of the part PA. The box location management unit 102 may also determine the container box CB in which to store the part PA based on the part code of the part PA. Then, the box location management unit 102 outputs information based on the request read from the box location information 103 to the transport management unit 101. The box location information 103 is a database that includes location information of the container box CB.

[0045] The transportation instruction unit 104 is a functional block based on the transportation instruction program 122. Based on the serial number and location information of the container box CB obtained from the transportation management unit 101, the transportation instruction unit 104 generates a transportation instruction for the unmanned aerial vehicle 20 to transport the container box CB. The transportation instruction unit 104 then transmits the generated transportation instruction to the unmanned aerial vehicle 20 via the communication unit 105. The transportation instruction unit 104 also receives the processing status of the transportation of the container box CB via the communication unit 105. As a result, the transportation instruction unit 104 can notify the transportation management unit 101 that the transportation of the container box CB based on the part removal instruction or part storage instruction has been completed. The transportation instruction unit 104 may also notify the charging control unit 106 of the flight distance based on the location information of the unmanned aerial vehicle 20 before the start of flight and the location information of the flight destination.

[0046] The charging control unit 106 is a functional block based on the charging control program 123. The charging control unit 106 calculates the battery consumption of the unmanned aerial vehicle 20 based on, for example, the flight distance of the unmanned aerial vehicle 20 notified by the transportation instruction unit 104, and estimates the remaining charge of the battery. The battery consumption is calculated as the maximum value assuming that the unmanned aerial vehicle 20 transports a container box CB of the maximum allowable weight. Of course, if the transportation management unit 101 can obtain the weight of the container box CB to be transported, the transportation management unit 101 can notify the charging control unit 106 of that weight, thereby enabling a more accurate calculation of the battery consumption. Furthermore, if the unmanned aerial vehicle 20 has a function for detecting the remaining battery charge, the charging control unit 106 can obtain the remaining battery charge from the unmanned aerial vehicle 20 via the communication unit 105. When the remaining charge of the battery falls below a specified value, the charging control unit 106 generates a charging instruction to instruct the unmanned aerial vehicle 20 to fly to the charger 30, and transmits the generated charging instruction to the unmanned aerial vehicle 20 via the communication unit 105. Furthermore, the charging control unit 106 generates a charging control instruction to control charging in the charger 30, and transmits the generated charging control instruction to the unmanned aerial vehicle 20 via the communication unit 105. The charging control unit 106 also receives the charging processing status from the unmanned aerial vehicle 20 and / or the charger 30 via the communication unit 105. This allows the charging control unit 106 to check the processing status related to charging of the battery of the unmanned aerial vehicle 20 by the charger 30, and to perform charging control according to the results.

[0047] <1-1-5> Configuration of the charger 30 FIG. 8 is a perspective view showing an example of the shape of the charger 30 according to the first embodiment. As shown in FIG. 8, the charger 30 according to the first embodiment is, for example, a rectangular box having the same standard size as the container box CB according to the first embodiment. Therefore, hereinafter, the surfaces of the charger 30 will be referred to as the "top surface TP," "top surface EP," "side surface SP," and "bottom surface BP," similar to the container box CB. Similarly to the container box CB, in a Cartesian coordinate system based on the charger 30, the X direction corresponds to a direction parallel to each of the side surface SP and bottom surface BP of the charger 30. The Y direction corresponds to a direction parallel to each of the top surface EP and bottom surface BP of the charger 30. The Z direction corresponds to a direction parallel to each of the top surface EP and side surface SP of the charger 30 (height direction).

[0048] The top surface TP of the charger 30 according to the first embodiment is not openable like the container box CB. The charger 30 has a plurality of legs LP on its bottom surface BP. The plurality of legs LP includes, for example, four legs LP located at the four corners of the bottom surface BP. When the charger 30 is placed on the floor, each leg LP comes into contact with the floor. Therefore, when the charger 30 is placed on the floor, the bottom surface BP of the charger 30 is separated from the floor. A connector 31 is disposed on the bottom surface BP of the charger 30, which is separated from the floor, and power is supplied from a power source (not shown) via a cable 32. The cable 32 may be buried in the floor, for example. The legs LP may be fixed to the floor.

[0049] Fig. 9 is a plan view showing an example of the configuration of the top surface TP of the charger 30 according to the first embodiment. As shown in Fig. 9, the top surface TP of the charger 30 also has a first position symbol PSc, a second position symbol PSd, a barcode 320, and a serial number 330 provided thereon, which correspond to the first position symbol PSc, the second position symbol PSd, the barcode 420, and the serial number 430 of the container box CB. The first position symbol PSc includes, for example, position symbols 301 to 304. The second position symbol PSd includes, for example, position symbols 311 to 316.

[0050] The position symbols 301 to 304 of the first position symbol PSc are located, for example, at the four corners of the top surface TP of the charger 30. The shape of each of the position symbols 301 to 304 is, for example, a rectangle. The shape of the position symbols constituting the first position symbol PSc may be other shapes. In the first position symbol PSc, the position symbols 301 to 304 include a position symbol (for example, position symbol 304) that has a different color, shape, etc. from the other position symbols so that the unmanned aerial vehicle 20 can identify the orientation of the charger 30.

[0051] The position symbols 311 to 316 of the second position symbol PSd are, for example, located inside the first position symbol PSc. Each of the position symbols 311 to 314 is, for example, L-shaped. Each of the position symbols 315 and 316 is, for example, T-shaped. The shape of the position symbols constituting the second position symbol PSd may be other shapes. The position symbols 311 to 314 surround the center portion of the top surface TP of the charger 30 inside the first position symbol PSc. 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 PSd, the position symbols 311 to 316 include a position symbol (for example, the position symbol 314) that has a different color, shape, etc. from the other position symbols so that the unmanned aerial vehicle 20 can identify the orientation of the charger 30.

[0052] The barcode 320 and serial number 330 are located near the second location symbol PSd. The barcode 320 and serial number 330 are preferably located within the field of view of the camera equipped on the unmanned aerial vehicle 20 when the camera captures an image of the second location symbol PSd. For example, the serial number that can be obtained by reading the barcode 320 is the same as the serial number 330. A barcode containing a box number may be attached near the second location symbol PSd. Each of the first location symbol PSc and the second location symbol PSd may be referred to as a "landing marker." The first location symbol PSc may be referred to as an "outer symbol." The second location symbol PSd may be referred to as an "inner symbol." The serial number 430 portion may indicate other information.

[0053] In the charger 30 according to the first embodiment, a power transmitting coil 340 for contactlessly charging the battery of the unmanned aerial vehicle 20 is disposed below the barcode 320 and serial number 330 on the top surface TP. The method for disposing the power transmitting coil 340 is not particularly limited. For example, the power transmitting coil 340 may be buried beneath the top surface TP. Alternatively, the power transmitting coil 340 may be disposed on the top surface TP, molded with resin, and then labels bearing the barcode 320 and serial number 330 may be affixed to the surface of the resin mold. The barcode 320 and serial number 330 are preferably printed with non-metallic ink. Furthermore, when a label bearing the barcode 320 and serial number 330 is affixed, the label is preferably formed from a non-conductive medium.

[0054] Fig. 10 is a block diagram showing an example of the hardware configuration of the charger 30 according to the first embodiment. As shown in Fig. 10, the charger 30 according to the first embodiment includes, for example, a CPU 31, a ROM 32, a RAM 33, a communication device 34, an energization control circuit 35, and a power detection circuit 36.

[0055] The CPU 31 is an integrated circuit capable of executing various programs. The CPU 31 controls the overall operation of the charger 30. The ROM 32 is, for example, a non-volatile semiconductor memory. The ROM 32 stores programs and control data for controlling the charger 30. For example, the ROM 32 stores a charging control program 321 for controlling contactless charging of the battery of the unmanned aerial vehicle 20 using the power transmitting coil 340. The RAM 33 is, for example, a volatile semiconductor memory. The RAM 33 functions, for example, as a work area for programs executed by the CPU 11. The communication device 34 is a circuit capable of transmitting and receiving data, etc., with external devices. The communication device 34 can wirelessly communicate with the management device 10 by transmitting and receiving wireless signals via an antenna. Furthermore, the communication device 34 may be capable of wireless communication with the unmanned aerial vehicle 20. The power detection circuit 36 ​​detects charging power during contactless charging of the battery of the unmanned aerial vehicle 20 using the power transmitting coil 340.

[0056] Fig. 11 is a block diagram showing an example of the functional configuration of the charger 30 according to the first embodiment. As shown in Fig. 11, the charger 30 according to the first embodiment includes, for example, a communication unit 351, a management unit 352, a power supply instruction unit 353, and a power acquisition unit 354.

[0057] The communication unit 351 receives a charge control instruction from the management device 10. Then, the communication unit 351 transfers the received charge control instruction to the management unit 352. The communication unit 351 also notifies the management device 10 of the charging processing status received from the management unit 352. The management unit 352 is a functional block based on the charge control program 321. The management unit 352 instructs the current flow instructing unit 353 on the value of the current flow based on the charge control instruction from the management device 10. The management unit 352 also determines the charging status based on the power value acquired by the power acquisition unit 354, and notifies the management device 10 of the determined charging status via the communication unit 351.

[0058] The energization instruction unit 33 causes the energization control circuit 35 to energize the power transmitting coil 340 at the current value instructed by the management unit 352 .

[0059] The power acquisition unit 354 acquires the value of the charging power detected by the power detection circuit 36 ​​during contactless charging of the battery of the unmanned aerial vehicle 20 using the power transmitting coil 340. The power acquisition unit 354 communicates the acquired power value to the management unit 352.

[0060] <1-1-6> Configuration of unmanned aerial vehicle 20 Figures 12 and 13 are a front view and a bottom view showing an example of the appearance of the unmanned aerial vehicle 20 according to the first embodiment. As shown in Figures 12 and 13, the unmanned aerial vehicle 20 according to the first embodiment includes, for example, a housing HO, multiple landing gears 22, and multiple holding jigs 23. The landing gear 22 is a mechanism for supporting the body of the unmanned aerial vehicle 20 that has landed on the floor. The holding jigs 23 are mechanisms for holding the container box CB and the charger 30. Hereinafter, the state in which the holding jigs 23 are open will be referred to as the "open state." The state in which the holding jigs 23 are closed will be referred to as the "closed state." The floor height will be referred to as the "floor level FL." The surface (portion) on which the landing gear 22 lands may also be referred to as the "landing surface."

[0061] The housing HO houses a control board equipped with electrical components such as a CPU, a battery, etc. The housing HO supports a flight mechanism 21, landing gear 22, and multiple holding jigs 23. The flight mechanism 21 is located, for example, on top of the housing HO. The flight mechanism 21 is a propulsion device that can generate buoyancy to lift the combined weight of the container box CB that stores components, etc., and the unmanned aerial vehicle 20. The flight mechanism 21 has, for example, multiple rotors and motors that drive the multiple rotors.

[0062] The landing gear 22 includes a plurality of legs 221. When the unmanned aerial vehicle 20 lands on the floor, the plurality of legs 221 of the landing gear 22 come into contact with the floor. In this specification, the portion where each leg 221 comes into contact with the floor is referred to as a ground contact portion GP. The shape and number of the legs 221 and ground contact portions GP that make up the landing gear 22 can be changed. For example, the ground contact portion GP that comes into contact with the legs 221 may be plate-shaped. Furthermore, the plurality of legs 221 may share one ground contact portion GP.

[0063] Each of the multiple holding jigs 23 includes an arm 231. The arm 231 can be opened and closed to hold and release the container box CB below the housing HO. Each of the multiple arms 231 has a claw portion NP. The position of each claw portion NP is higher than the bottom of the landing gear 22 regardless of whether the holding jig 23 is in the open state or the closed state. In other words, the position of each claw portion NP is higher than the floor level FL when the unmanned aerial vehicle 20 is landing. Furthermore, each claw portion NP supports the bottom surface BP of the container box CB when the holding jig 23 is in the closed state and the unmanned aerial vehicle 20 is flying.

[0064] In addition, the arms 231 can hold and release the charger 30 in the same manner as the container box CB. However, the unmanned aerial vehicle 20 does not carry the charger 30.

[0065] The housing HO further houses a mechanism for opening and closing the multiple arms 231. The mechanism for opening and closing the multiple arms 231 includes, for example, a servo motor and gears. Specifically, first, the servo motor receives an instruction to open or close the holding jig 23 from a CPU also mounted on a control board inside the housing HO. The servo motor then rotates a predetermined rotation angle based on the opening or closing instruction. Then, the gear converts the rotation of the servo motor into opening and closing motion of the arm 231. This allows the holding jig 23 to transition between an open state and a closed state. However, the mechanism for opening and closing the multiple arms 231 is not limited to this, and other mechanisms may be used.

[0066] The housing HO also incorporates a camera 243 capable of capturing images of the unmanned aerial vehicle 20's surroundings. The camera 241 is located, for example, on the front of the housing HO and captures images of the front, which is the flight direction of the unmanned aerial vehicle 20. The cameras 242 and 243 are positioned so as to capture images below the housing HO. For example, the camera 242 is equipped with a wide-angle lens and is used to detect the first position symbols PSa and PSc and the second position symbols PSb and PSd placed on the container box CB or the top surface TP of the charger 30 from above when the unmanned aerial vehicle 20 descends. The camera 243 is equipped with a macro lens and is used to read the barcodes 420 and 320 placed on the container box CB or the top surface TP of the charger 30. An auxiliary light 25 is also disposed around the cameras 242 and 243 on the underside of the housing HO. This allows the cameras 242 and 243 to capture images even in dark places. Note that the locations and number of the cameras 242 and 243 and the auxiliary light 25 shown in FIG. 13 are merely examples. For example, the housing HO may be provided with a single camera equipped with a lens switching mechanism instead of the two cameras 242 and 243. The power receiving coil 26 for contactless charging is disposed at the center of the underside of the housing HO. Of course, the location of the power receiving coil 26 is also merely an example and does not have to be in the center. What is important is that, when receiving power, the power receiving coil 26 of the unmanned aerial vehicle 20 faces the power transmitting coil 340 of the charger 30. In other words, the location of the power receiving coil 26 is determined depending on the location of the power transmitting coil 340 of the charger 30. Conversely, the location of the power receiving coil 26 determines the location of the power transmitting coil 340 of the charger 30. The shape of the housing HO can be changed depending on the shapes of the flight mechanism 21, landing gear 22, holding jig 23, etc.

[0067] Figure 14 is a block diagram showing an example of the hardware configuration of the unmanned aerial vehicle 20 according to the first embodiment. As shown in Figure 14, in addition to the configuration described above, the unmanned aerial vehicle 20 according to the first embodiment includes, for example, a CPU 271, a ROM 272, a RAM 273, a communication device 274, a charge detection circuit 275, and a sensor 28. The CPU 271, ROM 272, RAM 273, communication device 274, and charge detection circuit 275 can be mounted on a control board 27 inside the housing HO.

[0068] The CPU 271 is an integrated circuit capable of executing various programs. The CPU 271 controls the overall operation of the unmanned aerial vehicle 20. The ROM 272 is, for example, a non-volatile semiconductor memory. The ROM 272 stores programs and control data for controlling the unmanned aerial vehicle 20. The RAM 273 is, for example, a volatile semiconductor memory. The RAM 273 functions, for example, as a work area for programs executed by the CPU 271. The communication device 274 is a circuit that has the function of sending and receiving data to and from external devices. The communication device 274 can wirelessly communicate with the management device 10 by sending and receiving wireless signals via an antenna. The charge detection circuit 275 detects the charging status of the battery 29 via the power receiving coil 26. The sensor 28 has the function of acquiring status and position information of the unmanned aerial vehicle 20. The sensor 28 is, for example, a motion sensor, a GPS receiver, a laser sensor, etc. The unmanned aerial vehicle 20 may be equipped with multiple sensors 28 depending on the information to be acquired.

[0069] 15 is a block diagram showing an example of programs stored in the ROM 272 of the unmanned aerial vehicle 20 according to the third embodiment. As shown in FIG. 15, the ROM 272 stores, for example, an autonomous flight control program 2721, a flight route determination program 2722, a barcode reading program 2723, and a charging control program 2724.

[0070] The autonomous flight control program 2721 is a program for controlling the autonomous flight of the unmanned aerial vehicle 20. The unmanned aerial vehicle 20 can fly by controlling the flight mechanism 21 based on the autonomous flight control program 2721. The flight route determination program 2722 is a program for determining the flight route of the unmanned aerial vehicle 20. The flight route determination program 2722 can determine the flight route of the unmanned aerial vehicle 20 based on transportation instructions received from the management device 10 and information from the sensor 28, etc. For example, the flight route is determined so as to avoid obstacles and ensure safety in the vicinity. The barcode reading program 2723 is a program for reading barcodes. Barcodes to be read include, for example, one-dimensional barcodes and two-dimensional barcodes. The charging control program 2724 is a program for controlling the charging operation of the battery 29.

[0071] Fig. 16 is a block diagram showing an example of the functional configuration of the unmanned aerial vehicle 20 according to the third embodiment. As shown in Fig. 16, the unmanned aerial vehicle 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, an image acquisition unit 207, a symbol reading unit 208, and a charging control unit 209.

[0072] The communication unit 201 receives transportation instructions from the management device 10. Then, the communication unit 201 transfers the received transportation instructions and charging instructions to the management unit 202. The communication unit 201 also notifies the management device 10 of the transportation processing status and charging processing status received from the management unit 202. The management unit 202 manages the operation of the unmanned aerial vehicle 20 regarding the transportation of the container box CB and movement to the charger 30. The management unit 202 acquires the location coordinates of the destination from the transportation instructions and charging instructions transferred from the communication unit 201. Then, the management unit 202 transfers the location coordinates of the destination to the flight route determination unit 203.

[0073] The flight route determination unit 203 is a functional block based on the flight route determination program 2722. The flight route determination unit 203 determines a flight route based on the current position information of the unmanned aerial vehicle 20 acquired from the position information acquisition unit 204 and the position coordinates of the destination. The position information acquisition unit 204 may acquire the position information of the unmanned aerial vehicle 20, for example, by the sensor 28 or the camera 241. The management unit 202 transfers the flight route information 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 2721. The flight control unit 205 controls the flight mechanism 21 so that the unmanned aerial vehicle 20 can fly along the flight route based on the information acquired by the sensor 28 or the camera 241. The flight control unit 205 may also execute control regarding the takeoff and landing of the unmanned aerial vehicle 20.

[0074] Furthermore, the management unit 202 controls the arm control unit 206 when the unmanned aerial vehicle 20 holds or releases the container box CB or the charger 30. For example, when the arm control unit 206 receives an instruction from the management unit 202 to open the holding jig 23, the arm control unit 206 controls each arm 231 to open. Furthermore, when the arm control unit 206 receives an instruction from the management unit 202 to close the holding jig 23, the arm control unit 206 controls each arm 231 to close.

[0075] The image acquisition unit 207 acquires an image of the barcode 420, 320 placed on the container box CB or the top surface TP of the charger 30 from the image taken by the camera 243.

[0076] The symbol reading unit 208 is a functional block based on the barcode reading program 2723. For example, during the landing process, the symbol reading unit 208 recognizes the first position symbols PSa, PSc and the second position symbols PSb, PSd from an image captured by the camera 242. The symbol reading unit 208 notifies the management unit 202 of the recognized first position symbols PSa, PSc and second position symbols PSb, PSd. The management unit 202 causes the flight control unit 205 to control the flight mechanism 21 so as to adjust the landing position based on the first position symbols PSa, PSc and the second position symbols PSb, PSd. The symbol reading unit 208 also reads the barcodes 420, 320 from the images of the barcodes 420, 320 acquired from the image acquisition unit 207. The symbol reading unit 208 then notifies the management unit 202 of information on the read barcodes 420, 320.

[0077] Furthermore, the unmanned aerial vehicle 20 is configured to adjust the landing position based on the first position symbols PSa, PSc when it recognizes the first position symbols PSa, PSc from an image captured by the camera 242, for example, during the landing process. The unmanned aerial vehicle 20 is configured to adjust the landing position based on the second position symbols PSb, PSd when it recognizes or loses sight of the first position symbols PSa, PSc and recognizes the second position symbols PSb, PSd.

[0078] The charging control unit 209 is a functional block based on the charging control program 2724. The management unit 202 notifies the charging control unit 209 of a charging instruction received from the management device 10. In response to the charging instruction, the charging control unit 209 designates the charger 30 as the flight destination and instructs the management unit 202 to hold the charger 30. In response to this, the management unit 202 controls each unit in the same way as when the flight destination is the container box CB to be transported, flies to the charger 30, and holds the charger 30 with the holding jig 23. In addition, the charging control unit 209 acquires the charging status of the battery 29 by the power receiving coil 26 detected by the charging detection circuit 275 and notifies the management unit 202. As a result, the management unit 202 can notify the management device 10 of the notified charging status via the communication unit 201.

[0079] <1-2> Operation Next, the operation of the transportation system 1 of the first embodiment will be explained in order, including the landing sequence of the unmanned aerial vehicle 20, the takeoff sequence of the unmanned aerial vehicle 20, the charging start / end sequence of the management device 10, the charging landing sequence of the unmanned aerial vehicle 20, the charging start / end sequence of the charger 30, the charging sequence of the unmanned aerial vehicle 20, and the charging completion takeoff sequence of the unmanned aerial vehicle 20.

[0080] <1-2-1> Landing sequence of Unmanned Aerial Vehicle 20 Figure 17 is a flowchart showing an example of a landing sequence for the unmanned aerial vehicle 20 according to the first embodiment. When the unmanned aerial vehicle 20 according to the third embodiment receives, for example, an instruction to transport a container box CB from the management device 10, it starts (starts) the series of processes shown in Figure 17.

[0081] First, the unmanned aerial vehicle 20 acquires box information (ACT 201). The box information includes the position coordinates and serial number of the target container box CB.

[0082] Next, the unmanned aerial vehicle 20 autonomously flies up to the sky above the box location (ACT202). That is, the unmanned aerial vehicle 20 flies up to the sky above the target container box CB. The unmanned aerial vehicle 20 determines its flight route based on the flight route determination program 2722 and the position coordinates of the target container box. If the unmanned aerial vehicle 20 detects an obstacle on its flight route using the camera 241 or the like, it may change its flight route to avoid the obstacle.

[0083] Next, the unmanned aerial vehicle 20 opens the holding jig 23 (ACT203). Specifically, the arm control unit 206 controls the servo motor, for example, to transition the holding jig 23 from the closed state to the open state.

[0084] Next, the unmanned aerial vehicle 20 descends using the first position symbol PSa as a guide (ACT204). At this time, the unmanned aerial vehicle 20 recognizes the first position symbol PSa using the camera 242 and determines the landing position. The unmanned aerial vehicle 20 may also correct the orientation (direction) of the unmanned aerial vehicle 20 by detecting a specific position symbol (e.g., position symbol 404) among the first position symbols PSa.

[0085] Next, the unmanned aerial vehicle 20 reads the barcode (ACT 205). Specifically, the camera 243 (image acquisition unit 207) reads the barcode 420 on the top surface TP of the container box CB. Then, the symbol reading unit 208 obtains the serial number of the container box CB based on the read barcode 420.

[0086] Next, the unmanned aerial vehicle 20 checks whether the serial number in the box information matches the serial number in the barcode (ACT 206). Specifically, the management unit 202 compares the serial number read by the symbol reading unit 208 with the serial number received from the management device 10.

[0087] In the processing of ACT206, if the specified serial number does not match the serial number of the barcode (ACT206: NO), the unmanned aerial vehicle 20 executes an interruption process (ACT207). In the interruption process of ACT207, the unmanned aerial vehicle 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 located at the position coordinates of the box information. Thereafter, the unmanned aerial vehicle 20 returns, for example, to the drone waiting area ARa, and ends the series of processes in Figure 17 (END).

[0088] If the specified serial number matches the serial number on the barcode in the processing of ACT206 (ACT206: YES), the unmanned aerial vehicle 20 lands using the second position symbol (ACT208). Specifically, the unmanned aerial vehicle 20 recognizes the second position symbol PSb using the camera 242 and determines a landing position with higher accuracy than if it referred to the first position symbol PSa. The unmanned aerial vehicle 20 also fine-tunes the orientation (direction) of the unmanned aerial vehicle 20 by detecting a specific position symbol (e.g., position symbol 414) among the second position symbols PSb. Thereafter, the unmanned aerial vehicle 20 lands in a state where it can hold the target container box CB, and the series of processes in FIG. 17 ends (END).

[0089] <1-2-2> Takeoff sequence of unmanned aerial vehicle 20 Figure 18 is a flowchart showing an example of a takeoff sequence for the unmanned aerial vehicle 20 according to the first embodiment. When the series of processes in Figure 17 is completed, for example, via the processing of ACT208, the unmanned aerial vehicle 20 starts (starts) the series of processes in Figure 18.

[0090] First, the unmanned aerial vehicle 20 acquires destination information from the management device 10 (ACT211). The destination information includes the location coordinates of the destination of the container box CB. The unmanned aerial vehicle 20 determines a flight route from the received destination information.

[0091] Next, the unmanned aerial vehicle 20 closes the holding jig 23 (ACT212).

[0092] Next, the unmanned aerial vehicle 20 checks whether the holding jig 23 is closed normally (ACT213).

[0093] If it is confirmed in the processing of ACT213 that the holding jig 23 has not closed normally (ACT213: NO), the unmanned aerial vehicle 20 executes an interruption process (ACT214). In the interruption process of ACT214, the unmanned aerial vehicle 20 notifies the management device 10 that the holding jig 23 has not closed normally. Thereafter, the unmanned aerial vehicle 20 waits for the next instruction from the management device 10, for example, and ends the series of processes in FIG. 18.

[0094] If it is confirmed in the processing of ACT213 that the holding jig 23 is closed normally (ACT213: YES), the unmanned aerial vehicle 20 increases buoyancy (ACT215). Specifically, the flight control unit 205 increases the thrust of the propellers, etc. of the flight mechanism 21. At this time, the unmanned aerial vehicle 20 checks whether there is any abnormality in the balance of the vehicle (ACT216). Specifically, it checks whether there is any abnormality in the balance of the vehicle based on the values ​​of the sensor 28.

[0095] If it is confirmed in the processing of ACT216 that there is an abnormality in the balance of the aircraft (ACT216: NO), the unmanned aerial vehicle 20 executes an interruption process (ACT214). In the interruption process of ACT214 when proceeding from ACT216, the unmanned aerial vehicle 20 notifies the management device 10 that there is an abnormality in the balance of the aircraft (unmanned aerial vehicle 20) holding the container box CB. Thereafter, the unmanned aerial vehicle 20 descends, for example, directly downward and waits for the next instruction from the management device 10, and the series of processes in Figure 18 ends.

[0096] If it is confirmed in the processing of ACT216 that there is no abnormality in the balance of the aircraft (ACT216: YES), the unmanned aerial vehicle 20 starts autonomous flight toward the destination (ACT217). Then, the unmanned aerial vehicle 20 ends the series of processing in FIG. 18.

[0097] <1-2-3> Relationship between unmanned aerial vehicle 20 and container box CB Here, the relationship between the unmanned aerial vehicle 20 and the container box CB in the first embodiment will be explained together with the operation of the unmanned aerial vehicle 20 when transporting the container box CB. Hereinafter, the state in which the unmanned aerial vehicle 20 is landing will be referred to as the "landing state." The state in which the unmanned aerial vehicle 20 is flying (flying) will be referred to as the "flight state."

[0098] <1-2-3-1> Sequence to hold container box CB The unmanned aerial vehicle 20 according to the first embodiment flies up to above the container box CB, and in ACT 203, opens the holding jig 23. The unmanned aerial vehicle 20 then lands so that the container box CB is positioned below the housing HO. At this time, the unmanned aerial vehicle 20 that has landed on the floor supports its own weight with the landing gear 22. Furthermore, the container box CB placed on the floor supports its own weight with the legs LP.

[0099] Figure 19 is a front view showing the relationship between the open holding jig 23 and the container box CB when the unmanned aerial vehicle 20 according to the first embodiment is in a landing state. As shown in Figure 19, the container box CB is sized to fit, with an appropriate margin, inside the multiple arms 231 of the holding jig 23 controlled to the open state. At this time, the claw portions NP of each of the multiple arms 231 are positioned outside the container box CB in a top view.

[0100] Next, in ACT212, the unmanned aerial vehicle 20 transitions the holding jig 23 from the open state to the closed state.

[0101] FIG. 20 is a front view showing the relationship between the holding jig 23 in the closed state and the container box CB when the unmanned aerial vehicle 20 according to the first embodiment is in the landing state. As shown in FIG. 20, when the holding jig 23 transitions from the open state to the closed state, the claw portions NP of each of the multiple arms 231 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. Therefore, the height of the legs LP of the container box CB is greater than the thickness of the claw portions NP. At this time, when the unmanned aerial vehicle 20 is viewed from the bottom surface EP side, for example, each of the claw portions NP of the multiple arms 231 overlaps with one of the multiple legs LP of the container box CB.

[0102] Figure 21 is a side view showing the relationship between the holding jig 23 in the closed state and the container box CB when the unmanned aerial vehicle 20 according to the first embodiment is in the landing state. As shown in Figure 21, in the holding jig 23 in the closed state, the claw portion NP of each of the multiple arms 231 is located in the space between two legs LP adjacent to each other in the X direction. Furthermore, each claw portion NP of each of the multiple arms 231 is adjacent to one of the multiple legs LP in the X direction. It is preferable that the distance between adjacent claw portions NP and legs LP be close enough to each other so as not to interfere with the opening and closing of the holding jig 23, depending on the positioning accuracy of the landing of the unmanned aerial vehicle 20.

[0103] FIG. 22 is a front view showing the detailed positional relationship between the holding jig 23 in the closed state and the container box CB when the unmanned aerial vehicle 20 according to the first embodiment is in a landing state. As shown in FIG. 22, before takeoff of the unmanned aerial vehicle 20, a space LS is formed between the lower end of the claw portion NP of the arm 231 and the lower end of the leg portion LP of the container box CB. Also, before takeoff of the unmanned aerial vehicle 20, a space US is formed between the upper end 232 of the claw portion NP and the bottom surface BP of the container box CB. Therefore, the container box CB supports its own weight with the leg portion LP. In other words, the weight of the container box CB is not applied to the claw portion NP of the arm 231. Therefore, the unmanned aerial vehicle 20 can easily transition the holding jig 23 from the open state to the closed state. The upper end 232 of the claw portion NP may have a non-slip function. The upper end 232 of the claw portion NP may have a separate structure from the claw portion NP.

[0104] It is possible that the unmanned aerial vehicle 20 may land with a slight misalignment in the Y direction relative to the container box CB. In this case, when the arms 231 of the holding jig 23 transition from the open state to the closed state, the arm 231 on that side first abuts against one of the side surfaces SP of the container box CB, restricting its movement. As a result, as the other unrestricted arm 231 closes, the unmanned aerial vehicle 20 slides toward that side. This sliding movement of the unmanned aerial vehicle 20 in the Y direction eliminates the misalignment between the unmanned aerial vehicle 20 and the container box CB, and as a result, the holding jig 23 can hold the container box CB in a well-balanced manner. In other words, when the arms 231 are closed, the arms 231 ultimately abut against both sides of the side surfaces SP of the container box CB, restricting the movement of the container box CB in the Y direction. In addition, in order to facilitate sliding movement of the unmanned aerial vehicle 20, it is desirable that the ground contact portion GP of the landing gear 22 be formed from a material with a friction coefficient that allows the ground contact portion GP to slide to a certain extent.

[0105] Next, in ACT215, the unmanned aerial vehicle 20 takes off by generating buoyancy in the flight mechanism 21.

[0106] Figure 23 is a front view showing the detailed positional relationship between the holding jig 23 in the closed state and the container box CB when the unmanned aerial vehicle 20 according to the first embodiment is in flight. As shown in Figure 23, when the unmanned aerial vehicle 20 flies, the upper end 232 of the claw portion NP of the arm 231 comes into contact with the bottom surface BP of the container box CB. This causes the weight of the container box CB to be applied to the claw portion NP of the arm 231 of the unmanned aerial vehicle 20 in flight. The unmanned aerial vehicle 20 then generates buoyancy in response to the sum of the weight of the unmanned aerial vehicle 20 and the weight of the container box CB. This allows the unmanned aerial vehicle 20 to fly with the claw portion NP holding the container box CB due to the container box CB's own weight.

[0107] <1-2-3-2> Sequence to release container box CB First, the unmanned aerial vehicle 20 according to the first embodiment flies to the destination of the container box CB that it is holding. The relationship between the unmanned aerial vehicle 20 and the container box CB at this time is the same as that described using Figure 23. Then, in the landing sequence of the unmanned aerial vehicle 20 according to the first embodiment, the legs LP of the container box CB land on the floor before the landing gear 22 of the unmanned aerial vehicle 20. This causes the claws NP of the arms 231 to separate from the bottom surface BP of the container box CB. In other words, the unmanned aerial vehicle 20 releases the container box CB during the landing process.

[0108] Then, when the landing gear 22 lands on the floor, the relationship between the unmanned aerial vehicle 20 according to the first embodiment and the container box CB becomes the same as that described using Figures 20 to 22. In other words, the container box CB supports its own weight with the legs LP. The weight of the container box CB is not applied to the claws NP of the arms 231. Therefore, the unmanned aerial vehicle 20 can easily transition the holding jig 23 from the closed state to the open state. The unmanned aerial vehicle 20 then completes the transportation of the container box CB by taking off with the holding jig 23 maintained in the open state.

[0109] <1-2-4> Charging sequence for transport system 1 The charging start / end sequence of the management device 10, the charging landing sequence of the unmanned aerial vehicle 20, the charging start / end sequence of the charger 30, the charging sequence of the unmanned aerial vehicle 20, and the charging completion takeoff sequence of the unmanned aerial vehicle 20, which will be described below, are sequences related to the charging operation of the transportation system. Before providing a detailed explanation of each sequence, we will provide an overview of the relationship between the management device 10, the unmanned aerial vehicle 20, and the charger 30 during charging operation.

[0110] FIG. 24 is a sequence diagram for explaining the charging operation of the transportation system 1 according to the first embodiment.

[0111] The management device 10 transmits charger position information indicating the position coordinates of the charger 30, which is destination information, as a charging instruction to the unmanned aerial vehicle 20 that is to charge the battery 29 (step S101).

[0112] Upon receiving this charger position information, the unmanned aerial vehicle 20 flies to and lands on the charger 30 based on the position coordinates of the charger 30 indicated by this charger position information (step S102).The unmanned aerial vehicle 20 then transmits a landing notification indicating that it has landed to the management device 10 as the charging status (step S103).

[0113] In response to receiving the landing notification, the management device 10 transmits a load check instruction as a charge control instruction to the charger 30 (step S104).

[0114] In response to receiving this load check instruction, the charger 30 performs a load check (step S105). Then, if it is confirmed that there is a load, that is, that the unmanned aerial vehicle 20 is in a position where it can be charged, the charger 30 transmits a chargeable notification to the management device 10 as the charging processing status (step S106).

[0115] 25 and 26 are diagrams showing the relationship between the voltage V, the current A, and the power W when a sinusoidal voltage is applied to the power transmitting coil 340 of the charger 30 according to the first embodiment when there is no load and when there is a load.

[0116] When there is no load, that is, when the power receiving side coil 26 is not located close to the power transmitting side coil 340, if a sinusoidal voltage is applied to the power transmitting side coil 340, a current generally flows with a phase delay of 90 degrees. In this case, the power output by the power transmitting side coil 340 is Σ(voltage × current). As shown in Figure 25, when the voltage and current are out of phase, the peak of the voltage × current is small and a region where the voltage × current is negative appears, so Σ(voltage × current) becomes almost zero.

[0117] On the other hand, when the power receiving coil 26 is located close to the power transmitting coil 340, an induced current flows through the power receiving coil 26, establishing a charging circuit and consuming power. This situation also appears in the power transmitting coil 340, and as shown in Figure 26, the phase difference between the voltage and current becomes small. As a result, the positive region of Σ (voltage × current) increases and the peak is high. In other words, a lot of power is being output.

[0118] In this way, the state of the power receiving side can be grasped by observing the impedance state of the power transmitting side coil 340. The charger 30 detects this impedance state of the power transmitting side coil 340 as a power value using the power detection circuit 36.

[0119] Returning to the explanation of Figure 24, after landing, the unmanned aerial vehicle 20 checks whether the battery 29 is ready to be charged (step S107). When a load check is performed in the charger 30, power is generated by electromagnetic induction in the power receiving coil 26. The unmanned aerial vehicle 20 can detect this power generation and know that charging is ready. For example, the power generation is detected by the charging detection circuit 275. If charging is ready, the unmanned aerial vehicle 20 transmits a charge ready notification to the management device 10 as the charging status (step S108).

[0120] In response to receiving the chargeable notification from the unmanned aerial vehicle 20 and the charger 30, the management device 10 transmits a charge start instruction to the charger 30 as a charge control instruction (step S109). Note that the charge start instruction may be transmitted when only one of the chargeable notification from the unmanned aerial vehicle 20 and the charger 30 is received, rather than when both are received.

[0121] The charger 30 starts charging in response to receiving a charging start instruction from the management device 10 (step S110). The difference between a load check and charging is the current passed through the power transmission coil 340. In a load check, a weaker current is passed than the normal current passed during charging.

[0122] While the unmanned aerial vehicle 20 is being charged by the charger 30, the charging detection circuit 275 detects the charging status of the battery 29 by the power receiving coil 26 (step S111). Then, when the battery 29 is fully charged, the unmanned aerial vehicle 20 transmits a charging completion notification to the management device 10 as the charging status (step S112).

[0123] In response to receiving the charging end notification, the management device 10 transmits a charging completion instruction to the charger 30 as a charging control instruction (step S113).

[0124] In response to receiving the charge completion instruction, the charger 30 ends the charging (step S114). That is, the charger 30 ends the supply of current to the power transmitting coil 340.

[0125] In addition, in response to receiving the charging completion notification, the management device 10 further transmits a flag set instruction to the unmanned aerial vehicle 20 as a charging instruction (step S115).

[0126] In response to receiving this flag set instruction, the unmanned aerial vehicle 20 sets a charging completion flag (step S116). This charging completion flag is a flag indicating that charging has been completed. Setting the charging completion flag can be said to mean that charging has been completed.

[0127] Below, we will explain the charging start / end sequence of the management device 10, the charging landing sequence of the unmanned aerial vehicle 20, the charging start / end sequence of the charger 30, the charging sequence of the unmanned aerial vehicle 20, and the charging completion takeoff sequence of the unmanned aerial vehicle 20.

[0128] <1-2-5> Charging start / end sequence of the management device 10 26 is a flowchart showing an example of a charging start / end sequence of the management device 10 according to the first embodiment. When the management device 10 completes the transportation of the container box CB, it starts the series of processes in FIG. 25 (START).

[0129] First, the management device 10 determines whether charging is necessary (ACT101). For example, the management device 10 manages the flight distance from when the unmanned aerial vehicle 20 departs from the drone waiting area ARa to when it returns to transport the container box CB, so it can estimate how much charge will be consumed and determine whether charging is necessary based on the total amount of charge consumed from the fully charged state. Alternatively, the management device 10 can determine whether charging is necessary by inquiring of the unmanned aerial vehicle 20 about the remaining charge amount of the battery 29 and obtaining this information.

[0130] In the processing of ACT101, if charging is not yet necessary (ACT101: NO), the management device 10 transmits movement location information with the drone waiting area ARa as destination information to the unmanned aerial vehicle 20 as a charging instruction (ACT102). As a result, the unmanned aerial vehicle 20 returns to the drone waiting area ARa. Then, the management device 10 ends the series of processes in FIG. 27 (END).

[0131] In the processing of ACT101, if charging is necessary (ACT101: YES), the management device 10 transmits charger information to the unmanned aerial vehicle 20 as a charging instruction (ACT103). The charger information can include charger location information indicating the location coordinates of the charger 30, which is destination information, and the serial number of the charger 30. As a result, the unmanned aerial vehicle 20 flies to the location where the charger 30 is installed and lands.

[0132] Thereafter, the management device 10 determines whether or not there is a landing notification from the unmanned aerial vehicle 20 (ACT104). In the processing of this ACT104, if there is no landing notification (ACT104: NO), the management device 10 again determines whether or not there is a landing notification from the unmanned aerial vehicle 20. In this way, the management device 10 waits for the landing notification to be transmitted from the unmanned aerial vehicle 20.

[0133] In the processing of ACT104, if there is a landing notification (ACT104: YES), the management device 10 transmits a load check instruction as a charge control instruction to the charger 30 (ACT105). As a result, a load check is performed in the charger 30.

[0134] Thereafter, the management device 10 determines whether or not there is a chargeable notification from the unmanned aerial vehicle 20 and / or charger 30 (ACT106). In the processing of this ACT106, if there is no chargeable notification (ACT106: NO), the management device 10 again determines whether or not there is a chargeable notification from the unmanned aerial vehicle 20 and / or charger 30. In this way, the management device 10 waits for a chargeable notification to be sent from the unmanned aerial vehicle 20 and / or charger 30.

[0135] In the processing of ACT106, if there is a notification that charging is possible (ACT106: YES), the management device 10 transmits a charge start instruction to the charger 30 as a charge control instruction (ACT107). This causes the charger 30 to start charging the battery 29 of the unmanned aerial vehicle 20.

[0136] Thereafter, the management device 10 determines whether or not a charging completion notification has been received from the unmanned aerial vehicle 20 (ACT108). In the processing of this ACT108, if there is no charging completion notification (ACT108: NO), the management device 10 again determines whether or not a charging completion notification has been received from the unmanned aerial vehicle 20. In this way, the management device 10 waits for a charging completion notification to be transmitted from the unmanned aerial vehicle 20.

[0137] In the processing of ACT108, if there is a charge completion notification (ACT108: YES), the management device 10 transmits a charge completion instruction as a charge control instruction to the charger 30 (ACT109). This ends the charging of the battery 29 of the unmanned aerial vehicle 20 by the charger 30.

[0138] In addition, the management device 10 transmits a flag set instruction as a charging instruction to the unmanned aerial vehicle 20 (ACT110). As a result, a charging completion flag is set in the unmanned aerial vehicle 20, that is, charging is completed.

[0139] Thereafter, the management device 10, by processing ACT102 above, transmits movement location information with the drone waiting area ARa as destination information to the unmanned aerial vehicle 20 as a charging instruction. This causes the unmanned aerial vehicle 20 to return to the drone waiting area ARa. Note that if a charger 30 is prepared for each unmanned aerial vehicle 20 in the drone waiting area ARa, the unmanned aerial vehicle 20 will have already landed at a predetermined waiting position in the drone waiting area ARa, so the processing of ACT102 after charging is complete can be omitted. Then, the management device 10 ends the series of processes in FIG. 27 (END).

[0140] <1-2-6> Unmanned Aerial Vehicle 20 Charging and Landing Sequence Figure 28 is a flowchart showing an example of a charge takeoff sequence for the unmanned aerial vehicle 20 according to the first embodiment. When the unmanned aerial vehicle 20 receives charger information from the management device 10, it starts the series of processes in Figure 28 (start).

[0141] First, the unmanned aerial vehicle 20 autonomously flies to the sky above the charger location based on the charger location information included in the charger information (ACT221). That is, the unmanned aerial vehicle 20 flies to the sky above the target charger 30. This flight is similar to the flight to the container box CB, except that the destination is different.

[0142] Next, the unmanned aerial vehicle 20 opens the holding jig 23 (ACT 222). Specifically, the arm control unit 206 controls the servo motor, for example, to transition the holding jig 23 from the closed state to the open state.

[0143] Next, the unmanned aerial vehicle 20 descends using the first position symbol PSc placed on the top surface TP of the charger 30 as a guide (ACT223). At this time, the unmanned aerial vehicle 20 recognizes the first position symbol PSc using the camera 242 and determines the landing position. The unmanned aerial vehicle 20 can also correct the orientation (direction) of the unmanned aerial vehicle 20 by detecting a specific position symbol (e.g., position symbol 304) among the first position symbols PSc.

[0144] Next, the unmanned aerial vehicle 20 reads the barcode (ACT224). Specifically, the camera 243 (image acquisition unit 207) reads the barcode 320 on the top surface TP of the charger 30. Then, the symbol reading unit 208 obtains the serial number of the charger 30 based on the read barcode 320.

[0145] Next, the unmanned aerial vehicle 20 checks whether the serial number in the charger information matches the serial number on the barcode (ACT 225). Specifically, the management unit 202 compares the serial number read by the symbol reading unit 208 with the serial number received from the management device 10.

[0146] In the processing of ACT225, if the specified serial number does not match the serial number on the barcode (ACT225: NO), the unmanned aerial vehicle 20 executes an interruption process (ACT226). In the interruption process of ACT226, the unmanned aerial vehicle 20 notifies the management device 10 that the serial number in the charger information does not match the serial number of the charger 30 located at the position coordinates in the charger information. Thereafter, the unmanned aerial vehicle 20 returns, for example, to the drone waiting area ARa, and ends the series of processes in Figure 28 (END).

[0147] In the processing of ACT225, if the specified serial number matches the serial number on the barcode (ACT225: YES), the unmanned aerial vehicle 20 lands using the second position symbol (ACT227). Specifically, the unmanned aerial vehicle 20 recognizes the second position symbol PSd using the camera 242 and determines a landing position with higher accuracy than if it referred to the first position symbol PSc. In addition, the unmanned aerial vehicle 20 fine-tunes the orientation (direction) of the unmanned aerial vehicle 20 by detecting a specific position symbol (e.g., position symbol 314) among the second position symbols PSd. Thereafter, the unmanned aerial vehicle 20 lands in a state in which it can hold the target charger 30.

[0148] The unmanned aerial vehicle 20 then closes the holding jig 23 (ACT 228). During the process of closing the holding jig 23, the power receiving coil 26 of the unmanned aerial vehicle 20 is positioned so that it has a specified positional relationship with the power transmitting coil 340 of the charger 30, i.e., so that it faces directly. That is, when the arm 231 of the holding jig 23 transitions from the open state to the closed state, the arm 231 on that side first abuts against one of the side surfaces SP of the charger 30, restricting its movement. As a result, as the other unrestricted arm 231 closes, the unmanned aerial vehicle 20 slides toward that side. This sliding movement of the unmanned aerial vehicle 20 in the Y direction eliminates any misalignment between the power transmitting coil 340 of the unmanned aerial vehicle 20 and the power transmitting coil 340 of the charger 30.

[0149] When the holding jig 23 is in the closed state, that is, when the unmanned aerial vehicle 20 grips the charger 30, the unmanned aerial vehicle 20 transmits a landing notification to the management device 10 as the charging status (ACT229).

[0150] The unmanned aerial vehicle 20 then determines whether it has detected the reception of power from the charger 30 (ACT230). If the reception of power is not detected in the processing of ACT230 (ACT230: NO), the unmanned aerial vehicle 20 determines again whether it has detected the reception of power. In this way, the unmanned aerial vehicle 20 waits for the start of power reception from the charger 30. When a load check is performed in the charger 30, power is generated by the power receiving coil 26, and the reception of power is detected.

[0151] If power reception is detected in the processing of ACT230 (ACT230: YES), the unmanned aerial vehicle 20 sends a chargeable notification to the management device 10 as the charging status (ACT231). Note that if the management device 10 is configured not to require a chargeable notification from the unmanned aerial vehicle 20, but only a chargeable notification from the charger 30, this processing of ACT231 may be omitted. Then, the unmanned aerial vehicle 20 ends the series of processing in Figure 28 (END).

[0152] <1-2-7> Charger 30 charging start / end sequence Fig. 29 is a flowchart showing an example of a charging start / end sequence of the charger 30 according to embodiment 1. When the charger 30 is powered on, it starts the series of processes shown in Fig. 29 (start).

[0153] First, the charger 30 determines whether a load check instruction has been received from the management device 10 as a charge control instruction (ACT301). If there is no load check instruction in the processing of ACT301 (ACT301: NO), the charger 30 determines again whether a load check instruction has been received. In this way, the charger 30 waits for a load check instruction to be transmitted from the management device 10.

[0154] In the process of ACT301, if a load check instruction is received (ACT301: YES), the charger 30 causes the current control circuit 35 to energize the power transmitting coil 340 with a weak current (ACT302).

[0155] Thereafter, the charger 30 performs a load check by power detection (ACT303). That is, the power detection circuit 36 ​​detects the impedance state of the power transmitting coil 340 as a power value. As described with reference to FIG. 25, if the power value is approximately zero, there is no load, that is, the power receiving coil 26 of the unmanned aerial vehicle 20 is not in a specified positional relationship with the power transmitting coil 340 of the charger 30.

[0156] Then, the charger 30 determines whether or not there is a load (ACT304). If there is no load in the processing of ACT304 (ACT304: NO), the process proceeds to the processing of ACT302, and the processing of ACT302 to ACT304 is repeated again. In this way, the charger 30 waits until a load is detected, that is, until the power receiving side coil 26 of the unmanned air vehicle 20 has attained a specified positional relationship with the power transmitting side coil 340 of the charger 30.

[0157] If there is a load in the processing of ACT304 (ACT304: YES), the charger 30 transmits a chargeable notification to the management device 10 as the charging processing status (ACT305). Note that if the management device 10 is configured so as not to require a chargeable notification from the charger 30 and only to require a chargeable notification from the unmanned aerial vehicle 20, the processing of ACT305 may be omitted.

[0158] Thereafter, the charger 30 determines whether a charging start instruction has been received from the management device 10 as a charging control instruction (ACT306). In the processing of this ACT306, if there is no charging start instruction (ACT306: NO), the charger 30 determines again whether a charging start instruction has been received. In this way, the charger 30 waits for a charging start instruction to be transmitted from the management device 10.

[0159] In the processing of ACT306, if there is an instruction to start charging (ACT306: YES), the charger 30 causes the current control circuit 35 to energize the power transmitting coil 340 with normal current (ACT307). As a result, the battery 29 of the unmanned aerial vehicle 20 is charged.

[0160] Thereafter, the charger 30 determines whether a charging completion instruction has been received from the management device 10 as a charging control instruction (ACT308). If there is no charging completion instruction in the processing of ACT308 (ACT308: NO), the charger 30 proceeds to the processing of ACT307. In this way, the charger 30 continues to pass normal current through the power transmitting coil 340, that is, to charge the battery 29 of the unmanned aerial vehicle 20, until a charging completion instruction is sent from the management device 10.

[0161] Then, if a charging completion instruction is received in the processing of ACT308 (ACT308: YES), the charger 30 stops the energization of the power transmission side coil 340 by the energization control circuit 35 (ACT309). In other words, charging of the battery 29 of the unmanned air vehicle 20 is completed. Thereafter, the charger 30 proceeds to the processing of ACT301 described above, thereby preparing for the next charging.

[0162] <1-2-8> Unmanned aerial vehicle 20 charging sequence Figure 30 is a flowchart showing an example of a charging sequence for the unmanned aerial vehicle 20 according to the first embodiment. When the unmanned aerial vehicle 20 completes the series of processes in the charging landing sequence shown in Figure 28, it starts (starts) the series of processes in Figure 30.

[0163] First, the unmanned air vehicle 20 detects the charging status of the battery 29 by the power receiving coil 26 using the charging detection circuit 275 (ACT241).

[0164] The unmanned aerial vehicle 20 then determines whether the detected charging status indicates that the battery 29 is fully charged (ACT241). If the processing of ACT241 shows that the battery is not yet fully charged (ACT242: NO), the unmanned aerial vehicle 20 returns to the processing of ACT241 and detects the charging status again. By repeating the processing of ACT241 and ACT242 in this manner, the unmanned aerial vehicle 20 waits for the battery 29 to be fully charged.

[0165] In the processing of ACT242, if the unmanned aerial vehicle 20 is fully charged (ACT242: YES), the unmanned aerial vehicle 20 transmits a charging completion notification to the management device 10 as the charging status (ACT243).

[0166] The unmanned aerial vehicle 20 then determines whether a flag set instruction has been received from the management device 10 (ACT244). If there is no flag set instruction in the processing of ACT244 (ACT244: NO), the unmanned aerial vehicle 20 determines again whether a flag set instruction has been received. In this way, the unmanned aerial vehicle 20 waits to receive a flag set instruction from the management device 10.

[0167] If a flag set instruction is received in the processing of ACT244 (ACT244: YES), the unmanned aerial vehicle 20 sets a charging completion flag (ACT245). This charging completion flag can be stored, for example, in RAM 33. Then, the unmanned aerial vehicle 20 ends the series of processing steps in Figure 30 (END).

[0168] <1-2-9> Unmanned Aerial Vehicle 20 charging completion takeoff sequence Figure 31 is a flowchart showing an example of a charge completion takeoff sequence for the unmanned aerial vehicle 20 according to the first embodiment. When the unmanned aerial vehicle 20 completes the series of processes in the charging sequence shown in Figure 30, it starts (starts) the series of processes in Figure 31.

[0169] First, the unmanned aerial vehicle 20 confirms that the charging completion flag is set, that is, that charging is complete (ACT251). Although not shown, if the charging completion flag is not set, the unmanned aerial vehicle 20 notifies the management device 10 that charging is not complete, and ends the series of processes in Figure 31 (END).

[0170] Next, the unmanned aerial vehicle 20 acquires destination information from the management device 10 as a charging instruction (ACT252). The destination information includes the position coordinates of the waiting position in the drone waiting area ARa. The unmanned aerial vehicle 20 determines a flight route from the received destination information.

[0171] Next, the unmanned aerial vehicle 20 opens the holding jig 23 (ACT253).

[0172] Then, the unmanned aerial vehicle 20 transitions to flight mode (ACT254). As a result, the unmanned aerial vehicle 20 begins autonomous flight toward its destination, the waiting position in the drone waiting area ARa. Then, the unmanned aerial vehicle 20 ends the series of processes in Figure 31 (END).

[0173] <1-3> Effects of the first embodiment According to the transport system 1 of the first embodiment described above, it is possible to equip an unmanned aerial vehicle that flies and transports a container box CB with a mechanism for gripping the container box CB and a mechanism for easily and reliably charging the battery 29 equipped on the unmanned aerial vehicle while minimizing weight gain. The effects of the first embodiment are described in detail below.

[0174] In the transportation system 1 according to the first embodiment, the charger 30 used to charge the battery 29 of the unmanned aerial vehicle 20 has the same standard size and shape as the standard-sized container box CB. The unmanned aerial vehicle 20 is equipped with a holding jig 23 that combines a mechanism for holding the container box CB and a mechanism for holding the charger 30. Because the holding jig 23 can selectively hold the container box CB and the charger 30, the number of mechanisms required is reduced compared to when each mechanism is mounted separately. Therefore, the transportation system 1 according to the first embodiment can reduce the total weight of the unmanned aerial vehicle 20, reduce the size of the unmanned aerial vehicle 20, and achieve cost reduction. Furthermore, the transportation system 1 according to the first embodiment enables the unmanned aerial vehicle 20 to be made lighter, thereby reducing the proportion of the unmanned aerial vehicle 20 itself in the total weight that the unmanned aerial vehicle 20 can fly, and this weight can be allocated to the weight of the container box CB that it transports. That is, the transportation system 1 according to the first embodiment can increase the weight of the container box CB that the unmanned aerial vehicle 20 can transport.

[0175] Furthermore, in the transportation system 1 of the first embodiment, the container box CB and the charger 30 are the same standard size, so the algorithm for guiding the unmanned aerial vehicle 20 to land on the charger 30 can be reused from the algorithm used when transporting the container box CB.

[0176] Furthermore, in the transportation system 1 according to the first embodiment, the power transmitting coil 340 provided in the charger 30 and the power receiving coil 26 provided in the unmanned air vehicle 20 are installed on the charger 30 and the unmanned air vehicle 20 so that they face each other when the holding jig 23 grips the charger 30. Therefore, in the transportation system 1 according to the first embodiment, the power transmitting coil 340 and the power receiving coil 26 can be positioned at appropriate charging positions simply by the holding jig 23 gripping the charger 30. In other words, in the transportation system 1 according to the first embodiment, the positioning accuracy of the power transmitting coil 340 and the power receiving coil 26 is improved by the holding jig 23 gripping the charger 30. In this way, the holding jig 23 serves as a positioning accuracy mechanism. Furthermore, in the transportation system 1 according to the first embodiment, the improved positioning accuracy of the power transmitting coil 340 and the power receiving coil 26 improves the power transmission efficiency of contactless charging, i.e., the charging efficiency. Therefore, charging can be performed in a short time, allowing the unmanned aerial vehicle 20 to return to transportation operations quickly, improving convenience.

[0177] Furthermore, in the transportation system 1 according to the first embodiment, the unmanned aerial vehicle 20 further includes landing gear 22 that supports the housing HO when the unmanned aerial vehicle 20 lands on a landing surface. The ground contact portion GP of the landing gear 22 that contacts the landing surface is formed of a material with a coefficient of friction that allows the positional relationship of the unmanned aerial vehicle 20 to the charger 30 to be changed in the process of gripping the charger 30 after the unmanned aerial vehicle 20 has landed on the landing surface. Therefore, the transportation system 1 according to the first embodiment can be easily implemented without hindering positioning.

[0178] Furthermore, in the transportation system 1 according to the first embodiment, the standard-sized container box CB and charger 30 have legs LP of a predetermined length, and the holding jig 23 of the unmanned aerial vehicle 20 has claws NP that can be clamped between the container box CB and the legs LP of the charger 30. When the unmanned aerial vehicle 20 lands, the claws NP of the holding jig 23 can be easily inserted into the space between the floor and the bottom surface BP of the container box CB or the charger 30, i.e., the space secured by the length of the legs LP attached to the container box CB or the charger 30. When the unmanned aerial vehicle 20 flies while holding the container box CB, the claws NP of the holding jig 23 support the weight of the container box CB. When the unmanned aerial vehicle 20 lands, the legs LP of the container box CB touch down before the landing gear 22, causing the container box CB to naturally separate from the claws NP of the holding jig 23. In this way, the transport system 1 according to the first embodiment has a configuration in which no friction occurs between the claw portion NP and the container box CB or the charger 30 when the claw portion NP separates from the container box CB or the charger 30. Therefore, the holding jig 23 of the unmanned aerial vehicle 20 can open without friction when holding the container box CB or the charger 30 and when releasing the container box CB. In other words, the unmanned aerial vehicle 20 can easily hold the container box CB or the charger 30 with a small torque. Similarly, the unmanned aerial vehicle 20 can easily release the container box CB with a small torque.

[0179] As a result, the conveying system 1 according to the first embodiment can reduce the structural strength of the arm 231 of the holding jig 23. Furthermore, the conveying system 1 according to the first embodiment can minimize the power supply mechanism that generates the release torque. That is, the conveying system 1 according to the first embodiment does not require a strong opening and closing torque, so the opening and closing mechanism of the arm 231 of the unmanned aerial vehicle 20 can be constructed using a lightweight motor and lightweight mechanical components. Therefore, the conveying system 1 according to the first embodiment can reduce the total weight of the unmanned aerial vehicle 20 and the size of the unmanned aerial vehicle 20. As a result, the conveying system 1 according to the first embodiment can implement a mechanism for holding and releasing the container box CB at low cost when transporting the container box CB using the unmanned aerial vehicle 20. Furthermore, the conveying system 1 according to the first embodiment can reduce the size of the unmanned aerial vehicle 20 used to transport the container box CB, making it possible to provide an unmanned aerial vehicle 20 that can be used in small spaces, such as indoors.

[0180] Furthermore, the transport system 1 according to the first embodiment can use the unmanned aerial vehicle 20 to hold the container box CB on the unmanned aerial vehicle 20 without human intervention. Similarly, the unmanned aerial vehicle 20 can release the container box CB from the unmanned aerial vehicle 20 without human intervention. Therefore, the transport system 1 can automate and reduce the labor required to hold and release the container box CB.

[0181] Furthermore, in the transport system 1 according to the first embodiment, even if the unmanned aerial vehicle 20 loses balance during flight, the legs LP located at the four corners of the container box CB function as stoppers. This allows the transport system 1 according to the first embodiment to reduce the risk of the container box CB coming off the holding jig 23 of the unmanned aerial vehicle 20 when transporting the container box CB. Furthermore, if the upper end 232 of the claw portion NP of the arm 231 has an anti-slip function, the unmanned aerial vehicle 20 can hold the container box CB more securely.

[0182] Furthermore, in the transportation system 1 according to the first embodiment, the unmanned air vehicle 20 detects that charging of the battery 29 of the unmanned air vehicle 20 by contactless charging has been completed based on the charge amount of the battery 29 detected by the charge detection circuit 275, and transmits a charging completion notification to the management device 10. In response to receiving the charging completion notification from the unmanned air vehicle 20, the management device 10 transmits a charging completion instruction to the charger 30 instructing it to complete charging of the battery 29 of the unmanned air vehicle 20. In response to receiving the charging completion instruction from the management device 10, the charger 30 terminates the supply of current to the power transmitting coil 340, thereby completing the charging of the battery 29 of the unmanned air vehicle 20. Thus, the transportation system 1 according to the first embodiment can easily detect that the battery 29 is fully charged and complete the charging.

[0183] <2> Second embodiment The second embodiment relates to a transportation system 1 in which, after charging starts, the charger 30 is driven mainly by the charger rather than the management device 10. Details of the transportation system 1 according to the second embodiment will be described below, focusing on differences from the first embodiment.

[0184] <2-1> Configuration In the configuration of the transportation system 1 according to the second embodiment, the hardware configurations of the management device 10, the unmanned aerial vehicle 20, and the charger 30 are the same as those in the first embodiment. In addition, the container box CB in the second embodiment has the same shape as that in the first embodiment.

[0185] The unmanned aerial vehicle 20 and charger 30 according to the second embodiment are configured to be able to communicate without the intervention of the communication devices 274 and 34. A known contactless power transmission technique is to enable power transmission and signal transmission using the same coil, for example, by setting a signal transmission frequency separate from the power transmission frequency. This technique is used in the second embodiment. Of course, the communication devices 274 and 34 may also be configured to enable short-range wireless communication such as Bluetooth (registered trademark), thereby enabling communication between the unmanned aerial vehicle 20 and charger 30.

[0186] <2-2> Operation As for the operation of the transportation system 1 according to the second embodiment, the landing sequence of the unmanned aerial vehicle 20 and the takeoff sequence of the unmanned aerial vehicle 20 are the same as those in the first embodiment. The charging sequence of the transportation system 1 differs from that in the first embodiment. This charging sequence will be described below.

[0187] <2-2-1> Charging sequence for transport system 1 32 is a sequence diagram for explaining the charging operation of the transportation system 1 according to the second embodiment. Here, steps S101 to S111 are the same as those explained in the first embodiment, and therefore explanations thereof will be omitted.

[0188] When the unmanned aerial vehicle 20 of the second embodiment detects that the battery 29 is fully charged during the charging status detection process of step S111, it sends a charging completion notification to the management device 10 (step S112) and also to the charger 30 (step S121).

[0189] The charger 30 ends charging in response to receiving the charging end notification from the unmanned air vehicle 20 (step S114). That is, the charger 30 ends the supply of current to the power transmitting coil 340.

[0190] Thereafter, the charger 30 transmits a flag set instruction to the unmanned aerial vehicle 20 (step S122).

[0191] In response to receiving the flag set instruction from the charger 30, the unmanned aerial vehicle 20 sets the charging completion flag (step S116).

[0192] After transmitting the flag set instruction to the unmanned aerial vehicle 20 in step S122, the charger 30 further transmits a charging completion notification to the management device 10 as the charging processing status (step S123).

[0193] Below, the charging start / stop sequence of the management device 10, the charging start / stop sequence of the charger 30, and the charging sequence of the unmanned aerial vehicle 20 will be described.

[0194] However, the charging landing sequence of the unmanned aerial vehicle 20 and the charging completion takeoff sequence of the unmanned aerial vehicle 20 are the same as those in the first embodiment, and therefore their explanation will be omitted.

[0195] <2-2-2> Charging start / end sequence of the management device 10 33 is a flowchart showing an example of the charging start / end sequence of the management device 10 according to the second embodiment. The processes in ACT101 to ACT107 are the same as those described in the charging start / end sequence of the management device 10 according to the first embodiment.

[0196] In the processing of ACT107, the management device 10 according to the second embodiment transmits a charging start instruction to the charger 30, and then determines whether or not a charging completion notification has been received from the unmanned aerial vehicle 20 and / or the charger 30 (ACT121). It is optional which charging completion notification to determine.

[0197] Then, in the processing of ACT121, if there is a charging completion notification from the unmanned aerial vehicle 20 and / or charger 30 (ACT121: YES), the management device 10 according to the second embodiment immediately proceeds to the processing of ACT102 without performing the processing of ACT109 and ACT110 as in the first embodiment. Then, the management device 10 ends the series of processing of Figure 33 (END).

[0198] <2-2-3> Charge start / end sequence of the charger 30 34 is a flowchart showing an example of the charging start / end sequence of the charger 30 according to the second embodiment. The processing in ACT301 to ACT307 is the same as that described in the charging start / end sequence of the charger 30 according to the first embodiment.

[0199] In the processing of ACT307, after energizing the power transmitting side coil 340 with a normal current, the charger 30 according to the second embodiment determines whether a charging completion command has been received from the unmanned air vehicle 20 (ACT311). In the processing of this ACT311, if a charging completion command has not been received (ACT311: NO), the charger 30 proceeds to the processing of ACT307. In this way, the charger 30 continues energizing the power transmitting side coil 340 with a normal current, that is, charging the battery 29 of the unmanned air vehicle 20, until a charging completion command is transmitted from the unmanned air vehicle 20.

[0200] In the processing of ACT311, if there is a charge completion instruction (ACT311: YES), the charger 30 ends the energization of the power transmission side coil 340 by the energization control circuit 35 (ACT309). In other words, charging of the battery 29 of the unmanned air vehicle 20 is completed.

[0201] Then, the charger 30 transmits a flag set instruction to the unmanned aerial vehicle 20 (ACT312).

[0202] Furthermore, the charger 30 transmits a charging completion notification to the management device 10 as the charging processing status (ACT313). Note that if the management device 10 is configured to not require a chargeable notification from the charger 30, but only a chargeable notification from the unmanned aerial vehicle 20, this ACT313 processing may be omitted. Thereafter, the charger 30 proceeds to the process of ACT301 to prepare for the next charging.

[0203] <2-2-4> Charging sequence of unmanned aerial vehicle 20 35 is a flowchart showing an example of a charging sequence for the unmanned aerial vehicle 20 according to the second embodiment. The processing of ACT241 to ACT242 is as described in the charging sequence for the unmanned aerial vehicle 20 according to the first embodiment.

[0204] If the unmanned aerial vehicle 20 is fully charged in the processing of ACT242 (ACT242: YES), the unmanned aerial vehicle 20 according to the second embodiment sends a charging completion notification to both the management device 10 and the charger 30 (ACT251). Note that if the management device 10 is configured not to require a chargeable notification from the unmanned aerial vehicle 20, but only a chargeable notification from the charger 30, in this ACT251 the unmanned aerial vehicle 20 sends a charging completion notification only to the charger 30.

[0205] The unmanned aerial vehicle 20 then determines whether a flag set command has been received from the charger 30 (ACT252). If there is no flag set command in the processing of ACT252 (ACT252: NO), the unmanned aerial vehicle 20 determines again whether a flag set command has been received. In this way, the unmanned aerial vehicle 20 waits to receive a flag set command from the charger 30.

[0206] If a flag set instruction is received in the processing of ACT252 (ACT252: YES), the unmanned aerial vehicle 20 sets the charging completion flag (ACT245). Then, the unmanned aerial vehicle 20 ends the series of processing steps in Figure 35 (END).

[0207] <2-3> Effects of the second embodiment According to the transportation system 1 of the second embodiment described above, the unmanned air vehicle 20 detects that charging of the battery 29 of the unmanned air vehicle 20 via contactless charging is complete based on the charge level of the battery 29 detected by the charge detection circuit 275, and notifies the charger 30 of this fact through communication between the power receiving coil 26 and the power transmitting coil 340 of the charger 30. When the charger 30 is notified by the unmanned air vehicle 20 through communication between the power receiving coil 26 and the power transmitting coil 340 that charging of the battery 29 is complete, the charger 30 terminates power supply to the power transmitting coil 340, thereby completing charging of the battery 29 of the unmanned air vehicle 20. Thus, similar to the transportation system 1 of the first embodiment, the transportation system 1 of the second embodiment can easily detect that the battery 29 is fully charged and complete charging. Furthermore, the transportation system 1 of the second embodiment can terminate charging without the intervention of the management device 10.

[0208] <3> Third embodiment The third embodiment relates to a transportation system 1 in which the charge completion check is performed by the charger 30. Details of the transportation system 1 according to the third embodiment will be described below, focusing on differences from the first embodiment.

[0209] <3-1> Configuration In the configuration of the transportation system 1 according to the third embodiment, the hardware configurations of the management device 10, the unmanned aerial vehicle 20, and the charger 30 are the same as those in the first embodiment. In addition, the container box CB in the third embodiment has the same shape as that in the first embodiment.

[0210] <3-2> Operation As for the operation of the transportation system 1 according to the third embodiment, the landing sequence of the unmanned aerial vehicle 20 and the takeoff sequence of the unmanned aerial vehicle 20 are the same as those in the first embodiment. The charging sequence of the transportation system 1 differs from that in the first embodiment. This charging sequence will be described below.

[0211] <3-2-1> Charging sequence for transport system 1 36 is a sequence diagram for explaining the charging operation of the transportation system 1 according to the third embodiment. Here, steps S101 to S110 are the same as those explained in the first embodiment, and therefore explanations thereof will be omitted.

[0212] After starting charging in step S110, the charger 30 according to the third embodiment checks whether charging is complete (step S131). This check can be performed, for example, by using the power detection circuit 36 ​​to detect the impedance state of the power transmitting coil 340 as a power value and determining whether this power value has dropped below a threshold. That is, as charging progresses, the impedance increases, the phase difference between the voltage and current increases, and the generated power decreases. Therefore, by setting a threshold based on the power value corresponding to a fully charged battery 29, it becomes possible to determine whether charging is complete.

[0213] When charging is complete, the charger 30 transmits a charging completion notification to the management device 10 as the charging processing status (step S132). The charger 30 also ends charging, that is, ends the supply of current to the power transmitting coil 340 (step S114).

[0214] In response to receiving the charging completion notification, the management device 10 transmits a flag set instruction to the unmanned aerial vehicle 20 as a charging instruction (step S115). In response to receiving this flag set instruction, the unmanned aerial vehicle 20 sets a charging completion flag (step S116).

[0215] Below, the charging start / stop sequence of the management device 10, the charging start / stop sequence of the charger 30, and the charging sequence of the unmanned aerial vehicle 20 will be described.

[0216] However, the charging landing sequence of the unmanned aerial vehicle 20 and the charging completion takeoff sequence of the unmanned aerial vehicle 20 are the same as those in the first embodiment, and therefore their explanation will be omitted.

[0217] <3-2-2> Charging start / end sequence of the management device 10 37 is a flowchart showing an example of the charging start / end sequence of the management device 10 according to the third embodiment. The processes in ACT101 to ACT107 are the same as those described in the charging start / end sequence of the management device 10 according to the first embodiment.

[0218] In the process of ACT107, the management device 10 according to the third embodiment transmits a charging start instruction to the charger 30, and then determines whether or not a charging completion notification has been received from the charger 30 (ACT131). In the process of ACT131, if there is no charging completion notification (ACT131: NO), the management device 10 again determines whether or not a charging completion notification has been received from the charger 30. In this way, the management device 10 waits for the charging completion notification to be transmitted from the charger 30.

[0219] Then, in the processing of ACT131, if there is a charging completion notification from the charger 30 (ACT131: YES), the processing proceeds to the processing of ACT110 without performing the processing of ACT109 as in the first embodiment, and a flag set instruction is sent as a charging instruction to the unmanned aerial vehicle 20. After that, the processing of ACT102 is performed, and the series of processing in Figure 37 is ended (END).

[0220] <3-2-3> Charge start / end sequence of the charger 30 38 is a flowchart showing an example of the charging start / end sequence of the charger 30 according to the third embodiment. The processing in ACT301 to ACT307 is the same as that described in the charging start / end sequence of the charger 30 according to the first embodiment.

[0221] In the process of ACT307, after energizing the power transmitting side coil 340 with a normal current, the charger 30 according to the third embodiment checks whether charging is complete by detecting power (ACT321).

[0222] Then, the charger 30 determines whether charging is complete (ACT322). If charging is not complete in the processing of ACT322 (ACT322: NO), the charger 30 proceeds to the processing of ACT307. In this way, the charger 30 continues to pass normal current through the power transmitting coil 340, that is, continues to charge the battery 29 of the unmanned air vehicle 20, until charging is complete.

[0223] In the processing of ACT322, if charging is completed (ACT322: YES), the charger 30 transmits a charging completion notification as the charging processing status (ACT323).

[0224] Thereafter, the charger 30 stops the energization of the power transmission side coil 340 by the energization control circuit 35 (ACT309). Then, the charger 30 proceeds to the process of ACT301, thereby preparing for the next charging.

[0225] <3-2-4> Charging sequence of unmanned aerial vehicle 20 Figure 39 is a flowchart showing an example of a charging sequence for the unmanned aerial vehicle 20 according to the third embodiment. When the unmanned aerial vehicle 20 completes the series of processes in the charging landing sequence shown in Figure 28, it starts (starts) the series of processes in Figure 39.

[0226] In the unmanned aerial vehicle 20 of the third embodiment, without performing the processing of ACT241 to ACT243 as described in the first embodiment, the unmanned aerial vehicle 20 proceeds to processing of ACT244 and determines whether a flag set instruction has been received from the management device 10.

[0227] Then, in the processing of ACT244, if there is a flag set instruction (ACT244: YES), the unmanned aerial vehicle 20 sets the charge completion flag (ACT245) and ends the series of processing in FIG. 39 (END).

[0228] <3-3> Effects of the third embodiment According to the transportation system 1 of the third embodiment described above, the charger 30 detects that charging of the battery 29 of the unmanned air vehicle 20 by contactless charging is complete based on the change in impedance of the power transmitting coil 340, and terminates the supply of current to the power transmitting coil 340, thereby completing the charging of the battery 29 of the unmanned air vehicle 20. Therefore, like the transportation system 1 of the first embodiment, the transportation system 1 of the third embodiment can easily detect that the battery 29 is fully charged and complete the charging. Furthermore, like the transportation system 1 of the second embodiment, the transportation system 1 of the third embodiment can also complete the charging without the intervention of the management device 10.

[0229] Furthermore, in the transportation system 1 according to the third embodiment, when the charger 30 has completed charging the battery 29 of the unmanned aerial vehicle 20, the charger 30 transmits a charging completion notification indicating this to the management device 10. In response to receiving the charging completion notification from the charger 30, the management device 10 transmits a flag set instruction to the unmanned aerial vehicle 20 to instruct it to set a charging completion flag that sets the unmanned aerial vehicle 20 to a charging completion state for the battery 29. In response to receiving this charging completion flag, the unmanned aerial vehicle 20 sets the charging completion flag and enters a charging completion state. Thus, the transportation system 1 according to the third embodiment can set the unmanned aerial vehicle 20 to a charging completion state in response to the charger 30 detecting that the battery is fully charged.

[0230] <4> Fourth embodiment The fourth embodiment relates to a transportation system 1 in which the charger 30 determines by itself whether to start charging. Details of the transportation system 1 according to the fourth embodiment will be described below, focusing on differences from the first embodiment.

[0231] <4-1> Configuration In the configuration of the transportation system 1 according to the fourth embodiment, the hardware configurations of the management device 10, the unmanned aerial vehicle 20, and the charger 30 are the same as those in the first embodiment. In addition, the container box CB in the fourth embodiment has the same shape as that in the first embodiment.

[0232] <4-2>Operation As for the operation of the transportation system 1 according to the fourth embodiment, the landing sequence of the unmanned aerial vehicle 20 and the takeoff sequence of the unmanned aerial vehicle 20 are the same as those in the first embodiment. The charging sequence of the transportation system 1 differs from that in the fourth embodiment. This charging sequence will be described below.

[0233] <4-2-1> Charging sequence for transport system 1 40 is a sequence diagram for explaining the charging operation of the transportation system 1 according to the fourth embodiment. Here, steps S101 to S103 are the same as those explained in the first embodiment, and therefore explanations thereof will be omitted.

[0234] The charger 30 according to the first embodiment performs a load check of ACT 105 in response to a load check instruction from the management device 10. In contrast, the charger 30 according to the fourth embodiment waits for a certain period of time to elapse (step S141), that is, repeatedly performs a load check of ACT 105 every time a certain period of time elapses.

[0235] Then, if the load check confirms that there is a load, that is, that the unmanned aerial vehicle 20 is in a position where it can be charged, the charger 30 determines that charging should begin (step S142) and begins charging (step S110).

[0236] Once charging has started in this way, the charger 30 starts checking whether charging is complete (step S131). As described in the third embodiment, the charging check in step S131 can be performed by, for example, detecting the impedance state of the power transmitting coil 340 as a power value using the power detection circuit 36 ​​and determining whether this power value has dropped below a threshold value.

[0237] Then, when charging is complete, the charger 30 transmits a charging completion notification to the management device 10 as the charging processing status (step S132).The charger 30 also ends charging, that is, ends the supply of electricity to the power transmitting coil 340 (step S114).

[0238] Steps S107, S108, S111, S115 and S116 performed between the unmanned aerial vehicle 20 and the management device 10 are as described in the first embodiment.

[0239] The charging start / end sequence of the management device 10 and the charging start / end sequence of the charger 30 will be described below.

[0240] However, the charging landing sequence of the unmanned aerial vehicle 20, the charging sequence of the unmanned aerial vehicle 20, and the charging completion takeoff sequence of the unmanned aerial vehicle 20 are the same as those in the first embodiment, so their explanation will be omitted.

[0241] <4-2-2> Charging start / end sequence of the management device 10 41 is a flowchart showing an example of the charging start / end sequence of the management device 10 according to the fourth embodiment. The processes in ACT101 to ACT104 are the same as those described in the charging start / end sequence of the management device 10 according to the first embodiment.

[0242] In the processing of ACT104, if there is a landing notification from the unmanned aerial vehicle 20 (ACT104: YES), the management device 10 according to the fourth embodiment does not send a load check instruction to the charger 30 as in ACT105 of the first embodiment. The management device 10 determines whether there is a notification from the unmanned aerial vehicle 20 that charging is possible (ACT141).

[0243] Then, in the processing of ACT141, if there is a chargeable notification (ACT106: YES), the management device 10 according to the fourth embodiment determines whether there is a charging completion notification from the unmanned aerial vehicle 20 and / or the charger 30, as in the second embodiment (ACT121). It is optional which charging completion notification to determine.

[0244] Then, in the processing of ACT121, if there is a charging completion notification from the unmanned aerial vehicle 20 and / or charger 30 (ACT121: YES), the processing of ACT109 as in the first embodiment is not performed, and the processing immediately proceeds to the processing of ACT110, where a flag set instruction is sent to the unmanned aerial vehicle 20 as a charging instruction. After that, the processing of ACT102 is performed, and the series of processing in Figure 41 is ended (END).

[0245] <4-2-3> Charger 30 charging start / end sequence 42 is a flowchart showing an example of a charging start / end sequence of the charger 30 according to the fourth embodiment. The charger 30 according to the fourth embodiment does not determine whether a load check instruction has been received from the management device 10 as in ACT301 of the first embodiment, but instead determines whether a certain period of time has elapsed (ACT331). In the processing of this ACT331, if the certain period of time has not yet elapsed (ACT331: NO), the charger 30 determines again whether the certain period of time has elapsed. In this way, the charger 30 waits for the certain period of time to elapse.

[0246] In the process of ACT331, if a certain time has elapsed (ACT331: YES), the charger 30 performs the processes of ACT302 to ACT304 as described in the first embodiment.

[0247] If a load is detected in the processing of ACT304 (ACT304: YES), the charger 30 according to the fourth embodiment immediately energizes the power transmitting coil 340 with a normal current (ACT307) without performing the processing of ACT305 and ACT306 as in the first embodiment. This causes the battery 29 of the unmanned aerial vehicle 20 to be charged.

[0248] Thereafter, the charger 30 according to the fourth embodiment executes the following processing as described in the third embodiment, instead of the processing in ACT208 in the first embodiment. That is, first, the charger 30 checks whether charging is complete by detecting power (ACT321). Then, the charger 30 determines whether charging is complete (ACT322). If charging is not complete in the processing in ACT322 (ACT322: NO), the charger 30 proceeds to the processing in ACT307 above. If charging is complete in the processing in ACT322 (ACT322: YES), the charger 30 transmits a charging completion notification as the charging processing status (ACT323).

[0249] Thereafter, the charger 30 proceeds to the process of ACT309 as described in the first embodiment.

[0250] <4-3> Effects of the fourth embodiment According to the transportation system 1 of the fourth embodiment described above, the charger 30 applies a weak current to the power transmitting coil 340 every time a certain period of time passes, determines whether the power transmitting coil 340 and the power receiving coil 26 of the unmanned air vehicle 20 are in close proximity, and if they are in close proximity, applies a normal current to the power transmitting coil 340 to start charging the battery 29 of the unmanned air vehicle 20. Therefore, in the transportation system 1 of the fourth embodiment, the charger 30 can independently determine that the unmanned air vehicle 20 has landed at a predetermined charging position for charging, and start charging the battery 29 of the unmanned air vehicle 20, without receiving instructions from the management device 10.

[0251] Furthermore, in the transportation system 1 according to the fourth embodiment, the charger 30 detects that charging of the battery 29 of the unmanned air vehicle 20 by contactless charging has been completed based on a change in impedance of the power transmitting coil 340, and completes charging of the battery 29 of the unmanned air vehicle 20 by terminating the supply of normal current to the power transmitting coil 340. Therefore, in the transportation system 1 according to the fourth embodiment, as in the transportation system 1 according to the first embodiment, it is possible to easily detect that the battery 29 is fully charged and complete charging.

[0252] Furthermore, in the transportation system 1 according to the fourth embodiment, the charger 30 transmits a charging completion notification to the management device 10 in response to detecting that charging of the battery 29 of the unmanned air vehicle 20 is complete. In response to receiving this charging completion notification from the charger 30, the management device 10 transmits a flag set instruction to the unmanned air vehicle 20 to instruct it to set a charging completion flag that sets the unmanned air vehicle 20 to a charging completion state for the battery 29. In response to receiving this charging completion flag, the unmanned air vehicle 20 sets the charging completion flag and enters a charging completion state. Therefore, in the transportation system 1 according to the fourth embodiment, as in the transportation system 1 according to the third embodiment, the unmanned air vehicle 20 can be set to a charging completion state in response to the charger 30 detecting that the battery is fully charged.

[0253] <5> Modifications etc. The embodiments described above can be modified in various ways, and modifications of the embodiments will be described below.

[0254] <5-1> First modified example The positions of the legs LP of the container box CB and the charger 30 according to the first embodiment may be away from the four corners of the bottom surface BP. Furthermore, the position into which the arm 231 is inserted does not have to be between two adjacent legs LP, depending on the positions of the legs LP of the container box CB and the charger 30. Such a case is referred to as a first modified example, and differences from the first embodiment will be described below.

[0255] Fig. 43 is a perspective view showing an example of the shape of the container box CB according to the first modified example. As shown in Fig. 43, each leg LP of the container box CB and the charger 30 according to the first modified example is disposed away from a corner portion CO of the bottom surface of the container box CB and the charger 30. Specifically, each of the four leg portions LP of the container box CB and the charger 30 according to the first modified example is disposed away from the bottom surface EP.

[0256] Figure 44 is a side view showing the relationship between the holding jig in a closed state and the container box CB or charger 30 when the unmanned aerial vehicle 20 according to the first modified example is in a landing state. As shown in Figure 44, the unmanned aerial vehicle 20 according to the first modified example is configured so that, when the holding jig 23 is in a closed state, the claw portion NP of the arm 231 is located between a pair of adjacent legs LP and a corner CO of the bottom surface BP. Specifically, the claw portion NP of the front-side arm 231 is located in the space between the front-side leg LP and the front-side corner CO of the bottom surface BP. The claw portion NP of the rear-side arm 231 can be located in the space between the rear-side leg LP and the front-side corner CO of the bottom surface BP.

[0257] The legs LP of the container box CB according to the first modified example can function as stoppers, similar to the legs LP of the container box CB according to the first embodiment, in the event that the container box CB shifts during flight of the unmanned aerial vehicle 20. As a result, the container box CB according to the first modified example can improve the stability of holding the container box CB during flight of the unmanned aerial vehicle 20, similar to the first embodiment.

[0258] <4-2> Second modified example In the above embodiment, the holding portion of the container box CB and the charger 30 does not have to be the bottom surface BP. Such a case will be referred to as a second modified example, and the differences from the first embodiment will be described below.

[0259] FIG. 45 is a perspective view showing an example of the shape of the container box CB and the charger 30 according to the second modified example. As shown in FIG. 45, the container box CB and the charger 30 according to the second modified example have multiple slits ST. In this example, two slits ST are located on each side surface SP, aligned in the X direction. The number of the multiple slits ST corresponds to, for example, the number of arms 231 of the holding jig 23. The claw portions NP of the arms 231 can be inserted into the slits ST. Depending on the shape of the slits ST, the number of arms 231 may be greater than the number of slits ST. Note that the container box CB and the charger 30 according to the second modified example may or may not have legs LP. If the container box CB and the charger 30 do not have legs LP as shown in FIG. 45, the bottom surface BP serves as the ground surface, and therefore the charger 30 has the connector 31 on the bottom surface EP.

[0260] Figure 46 is a side view showing the relationship between the holding jig 23 in the closed state and the container box CB or the charger 30 when the unmanned aerial vehicle 20 according to the second modified example is in the landing state. As shown in Figure 46, the arms 231 in the second modified example are shorter than the arms 231 in the first embodiment. In the unmanned aerial vehicle 20 according to the second modified example, the holding jig 23 has a shape that allows the claw portions NP of each arm 231 to be inserted into the slits ST of the container box CB and the charger 30 when transitioning from the open state to the closed state.

[0261] As with the first embodiment, the unmanned aerial vehicle 20 and container box CB according to the second modified example can reduce the load on the arm 231 when holding and releasing the container box CB. Therefore, as with the first embodiment, the unmanned aerial vehicle 20 and container box CB according to the second modified example can implement a mechanism for holding and releasing the container box CB at low cost.

[0262] <4-3> Third modified example In the above embodiment, the container box CB and the charger 30 do not have to have legs LP. This case is referred to as a third modification, and the differences from the first embodiment will be described below.

[0263] Fig. 47 is a perspective view showing an example of the shape of a container box CB and a charger 30 according to the third modified example. As shown in Fig. 47, the container box CB and the charger 30 according to the third modified example have a box shape without legs LP. Note that in Fig. 47, the charger 30 has the connector 31 on the bottom surface EP, but it may be located on the bottom surface BP as long as it does not interfere with the protrusions described below.

[0264] Figure 48 is a front view showing the relationship between the holding jig 23 in an open state and the container box CB or charger 30 when the unmanned aerial vehicle 20 according to the third modified example is in a landing state. As shown in Figure 48, in the unmanned aerial vehicle 20 according to the third modified example, the landing gear 22 has a shape that allows it to land on a non-flat structure. Also, in the unmanned aerial vehicle 20 according to the third modified example, the holding jig 23 has a mechanism that allows it to hold and release the container box CB on a non-flat structure.

[0265] That is, as shown in Figure 48, the unmanned aerial vehicle 20 according to the third modified example lands on a structure (landing pad) with regular block-shaped irregularities. Specifically, the floor in the third modified example has multiple protrusions CP. The multiple protrusions CP correspond to the landing portions of the landing gear 22 when the unmanned aerial vehicle 20 lands. Below, the position of the top of the multiple protrusions CP is shown as the ground level GL. The position of the ground level GL is higher than the floor level FL.

[0266] In the landing state of the unmanned aerial vehicle 20 according to the third modified example, the claw portion NP of the arm 231 is located between the ground level GL and the floor level FL. That is, in the third modified example, the height of the lower end of the holding jig 23 in the closed state is lower than the height of the lower end of the landing gear 22. In other words, the claw portion NP of the arm 231 is configured so that the position of the claw portion NP is lower than the position of the landing surface after the unmanned aerial vehicle 20 lands. The other configurations of the unmanned aerial vehicle 20 according to the third modified example are the same as those of the first embodiment.

[0267] Next, the relationship between the unmanned aerial vehicle 20, the container box CB, and the charger 30 in the third modified example will be described along with the operation of the unmanned aerial vehicle 20 when transporting the container box CB. Note that in the third modified example, 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, before transport, the container box CB supports its own weight by the bottom surface BP.

[0268] First, the unmanned aerial vehicle 20 according to the third modified example flies up to above the container box CB. Then, the unmanned aerial vehicle 20 opens the holding jig 23. The unmanned aerial vehicle 20 then lands so that the container box CB is positioned below the housing HO. At this time, the landing gear 22 of the unmanned aerial vehicle 20 touches down on the protruding portion CP of the floor.

[0269] 48, in the transport system 1 according to the third modification, for example, the height of the lowest part of the landing gear 22 is aligned with the height of the bottom surface BP of the container box CB. The legs LP of the container box CB are located between the ground level GL and the floor level FL. When controlled to an open state, the claws NP of the multiple arms 231 of the holding jig 23 are located outside the container box CB in a top view.

[0270] Next, the unmanned aerial vehicle 20 transitions the holding jig 23 from the open state to the closed state.

[0271] When the holding jig 23 transitions from the open state to the closed state, the claws NP of each of the arms 231 are inserted into the space between the floor and the bottom surface BP of the container box CB. The height of this space is based on the difference between the floor level FL and the ground level GL.

[0272] In this way, by placing the container box CB on the floor having the plurality of protrusions CP, the holding jig can hold the container box.

[0273] Similarly, by placing the charger 30 on a floor having a plurality of protrusions CP, the holding jig can hold the container box.

[0274] <4-4>Other The above embodiment has been described with respect to a case where the container box CB and the charger 30 are rectangular parallelepipeds of a standard size. The holding jig 23 has a mechanism for inserting the claws NP of the arm 231 from the side surface SP of the rectangular parallelepiped. However, this is not limited thereto, and the holding jig 23 may have a mechanism for inserting the claws NP of the arm 231 from each of the bottom surface EP and the side surface SP. In other words, the holding jig 23 may have a mechanism for inserting the claws NP from four directions, namely the front, back, right side, and left side of the container box CB and the charger 30. In the above embodiment, the holding jig 23 and the flight mechanism 21 of the unmanned aerial vehicle 20 may be separable.

[0275] In the above embodiments, the management device 10, unmanned aerial vehicle 20, and charger 30 may be equipped with an MPU (Micro Processing Unit), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), GPU (Graphics Processing Unit), etc. instead of CPU 11, CPU 271, and CPU 31. The processes described in the above embodiments may be realized by dedicated hardware. The processes described in the above embodiments may be a mixture of processes executed by software and processes executed by hardware, or may be only one of them. In this specification, each of CPU 11, CPU 271, and CPU 31 may be referred to as a "processor."

[0276] In the above embodiment, the flowcharts used to explain the operation are merely examples. The order of the processes explained using the flowcharts may be changed, other processes may be added, some processes may be omitted, or some processes may be executed in parallel, to the extent possible. For example, the unmanned aerial vehicle 20 may receive information acquired from the management device 10 all at once. Specifically, the unmanned aerial vehicle 20 may execute the process of ACT201 in Figure 17 and the process of ACT211 in Figure 18 in parallel. In this specification, "top view" corresponds to viewing from the top surface TP side of the container box CB.

[0277] Although several 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 embodied in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, and are also included in the inventions and their equivalents as defined in the claims.

[0278] Other embodiments are described below.

[0279] (Appendix 1) A transportation system comprising: a battery-powered unmanned aerial vehicle configured to fly and transport a container box having a standard size; and a charger that charges the battery of the unmanned aerial vehicle, The charger mentioned above is It has the same standard size as the container box, a power transmission coil used for contactlessly charging the battery of the unmanned aerial vehicle; The unmanned aerial vehicle is a flight mechanism capable of generating buoyancy; With an openable arm, a housing supporting the flight mechanism and the arm; Equipped with The arm of the unmanned aerial vehicle During flight, the container box having the standard size is grasped in a closed state; When charging, the charger having the standard size is held in hand, the housing of the unmanned aerial vehicle includes a power receiving coil used for the wireless charging of the battery, the power receiving coil being located opposite the power transmitting coil of the charger when the arm is holding the charger; Conveying system.

[0280] (Appendix 2) The arm of the unmanned aerial vehicle has a shape that contacts a side surface of the container box or the charger when closed, The arm grasps the charger, thereby positioning the charger at a predetermined charging position relative to the unmanned aerial vehicle. 10. A conveying system as described in Appendix 1.

[0281] (Appendix 3) the unmanned aerial vehicle further includes landing gear that supports the housing when the unmanned aerial vehicle lands on a landing surface; the landing gear includes a ground contact portion that contacts the landing surface; The ground contact portion of the landing gear is formed of a material having a coefficient of friction that allows the positional relationship of the unmanned aerial vehicle to the charger to be changed during the process of the arms closing to grip the charger after the unmanned aerial vehicle lands on the landing surface. 10. A conveying system as described in Appendix 2.

[0282] (Appendix 4) The arms of the unmanned aerial vehicle are in a closed state, Hold the bottom of the container box during flight, Release the container box during the landing process; The claw portion is configured to form a first space between the claw portion and the bottom surface of the container box after landing, and a second space between the claw portion and the landing surface. 4. A conveying system according to any one of claims 1 to 3.

[0283] (Appendix 5) The claw portion of the arm of the unmanned aerial vehicle is further configured to be inserted into a space formed between the landing surface and a bottom surface of the container box or the charger by a leg portion of the container box or the charger that is in contact with the landing surface after the landing. 10. A conveying system as described in Appendix 4.

[0284] (Appendix 6) The claw portion of the arm of the unmanned aerial vehicle is further configured so that, after landing, the position of the claw portion is lower than the position of the landing surface. 10. A conveying system as described in Appendix 4.

[0285] (Appendix 7) The unmanned aerial vehicle further comprises: a processor for controlling the flight mechanism; a camera capable of photographing a location symbol attached to the container box or the charger; Equipped with The processor is further configured to recognize the location symbol from an image captured by the camera during the landing process, and adjust a landing position based on the recognized location symbol. 10. A conveying system as described in Appendix 4.

[0286] (Appendix 8) The unmanned aerial vehicle further comprises: a processor for controlling each of the flight mechanism and the arm; a camera capable of photographing a barcode attached to the container box or the charger; Equipped with the processor is further configured to, when recognizing the barcode from the image captured by the camera during the landing process, check whether first information indicated by the barcode matches second information instructed as a landing destination, and complete the landing if the first information matches the second information. 10. A conveying system as described in Appendix 4.

[0287] (Appendix 9) The transportation system further includes a management device that manages the unmanned aerial vehicle and the charger; A transportation system as described in Appendix 8, wherein the management device transmits the second information indicating the container box to be transported or the charger to be used for charging to the unmanned aerial vehicle, to the container box or the charger.

[0288] (Appendix 10) The transportation system further includes a management device that manages at least one of the initiation and completion of the contactless charging of the battery of the unmanned aerial vehicle by the charger held by the arm of the unmanned aerial vehicle. 4. A conveying system according to any one of claims 1 to 3.

[0289] (Appendix 11) The charger further includes a processor that controls energization of the power transmitting coil, The processor is A weak current is applied to the power transmitting coil every time a certain period of time elapses, and it is determined whether the power transmitting coil and the power receiving coil of the unmanned aerial vehicle are in close proximity to each other; When the power transmitting coil and the power receiving coil of the unmanned aerial vehicle are close to each other, a normal current is passed through the power transmitting coil to start charging the battery of the unmanned aerial vehicle. It is configured as follows: 4. A conveying system according to any one of claims 1 to 3.

[0290] (Appendix 12) The processor of the charger further detecting, based on a change in impedance of the power transmitting coil, that charging of the battery of the unmanned aerial vehicle by the contactless charging has been completed; When it is detected that charging of the battery is completed, the supply of the normal current to the power transmitting coil is terminated, thereby completing charging of the battery of the unmanned aerial vehicle. It is configured as follows: 12. The conveying system of claim 11.

[0291] (Appendix 13) The transportation system further includes a management device having a processor that manages the unmanned aerial vehicle and the charger, the management device being capable of communicating with the unmanned aerial vehicle and the charger; the processor of the charger is further configured, upon detecting that charging of the battery has been completed, to transmit a charging completion notification indicating this to the management device; The processor of the management device is configured to transmit a charge completion flag to the unmanned aerial vehicle in response to receiving the charge completion notification from the charger, the charge completion flag setting the unmanned aerial vehicle to a charge completion state for the battery. 13. The conveying system of claim 12.

[0292] (Appendix 14) The unmanned aerial vehicle further comprises: a detection circuit for detecting a charge amount of the battery; a processor for controlling each of the flight mechanism and the arm; Equipped with The processor of the unmanned air vehicle: Detecting that charging of the battery of the unmanned aerial vehicle by the contactless charging has been completed based on the charge amount of the battery detected by the detection circuit; When it is detected that charging of the battery is completed, the completion is notified to the charger through communication between the power receiving coil and the power transmitting coil. It is configured as follows: The charger further includes a processor that controls energization of the power transmitting coil, The processor of the charger is configured to complete charging of the battery of the unmanned aerial vehicle by terminating power supply to the power transmitting coil when the processor is notified by the unmanned aerial vehicle through communication between the power receiving coil and the power transmitting coil that charging of the battery of the unmanned aerial vehicle has been completed. 4. A conveying system according to any one of claims 1 to 3.

[0293] (Appendix 15) The transportation system further includes a management device having a processor that manages the unmanned aerial vehicle and the charger, the management device being capable of communicating with the unmanned aerial vehicle and the charger; The unmanned aerial vehicle further comprises: a detection circuit for detecting a charge amount of the battery; a processor for controlling each of the flight mechanism and the arm; Equipped with The processor of the unmanned air vehicle: Detecting that charging of the battery of the unmanned aerial vehicle by the contactless charging has been completed based on the charge amount of the battery detected by the detection circuit; When it is detected that charging of the battery is completed, a charging completion notification indicating this is sent to the management device. It is configured as follows: In response to receiving the charging completion notification from the unmanned aerial vehicle, the processor of the management device sends a completion notification to the charger instructing the charger to complete charging of the battery of the unmanned aerial vehicle; The charger further includes a processor that controls energization of the power transmitting coil, the processor of the charger is configured to complete charging of the battery of the unmanned aerial vehicle by terminating energization of the power transmitting coil in response to receiving the completion notification from the management device; 4. A conveying system according to any one of claims 1 to 3.

[0294] (Appendix 16) The charger further includes a processor that controls energization of the power transmitting coil, The processor is detecting, based on a change in impedance of the power transmitting coil, that charging of the battery of the unmanned aerial vehicle by the contactless charging has been completed; When it is detected that charging of the battery is completed, power supply to the power transmitting coil is stopped, thereby completing charging of the battery of the unmanned aerial vehicle. 4. A conveying system according to any one of claims 1 to 3.

[0295] (Appendix 17) The transportation system further includes a management device having a processor that manages the unmanned aerial vehicle and the charger, the management device being capable of communicating with the unmanned aerial vehicle and the charger; the processor of the charger is further configured to, when charging of the battery is completed, send a charging completion notification indicating this to the management device; The processor of the management device is configured to transmit a charge completion flag to the unmanned aerial vehicle in response to receiving the charge completion notification from the charger, the charge completion flag setting the unmanned aerial vehicle to a charge completion state for the battery. 17. The conveying system of claim 16.

[0296] (Appendix 18) An unmanned aerial vehicle configured to fly and transport a container box having a standard size, a flight mechanism capable of generating buoyancy; With an openable arm, a battery that supplies power to operate the flight mechanism and the arm; a housing supporting the flight mechanism and the arm; Equipped with The arm is During flight, the container box having the standard size is grasped in a closed state; When charging the battery, a charger having the same standard size as the container box is held. Unmanned aerial vehicle.

[0297] (Appendix 19) the housing includes a power receiving coil used for contactless charging of the battery, the power receiving coil being located opposite a power transmitting coil disposed on the charger when the arm is holding the charger; 1. An unmanned aerial vehicle as described in Appendix 18.

[0298] (Appendix 20) the arm has a shape that contacts a side surface of the container box or the charger in a closed state, The arm grasps the charger, thereby positioning the charger at a predetermined charging position relative to the unmanned aerial vehicle. 1. An unmanned aerial vehicle as described in Appendix 19.

[0299] (Appendix 21) the unmanned aerial vehicle further includes landing gear that supports the housing when the unmanned aerial vehicle lands on a landing surface; the landing gear includes a ground contact portion that contacts the landing surface; The ground contact portion of the landing gear is formed of a material having a coefficient of friction that allows the positional relationship of the unmanned aerial vehicle to the charger to be changed during the process of the arms closing to grip the charger after the unmanned aerial vehicle lands on the landing surface. 2. An unmanned aerial vehicle as described in Appendix 20.

[0300] (Appendix 22) The arms of the unmanned aerial vehicle are in a closed state, Hold the bottom of the container box during flight, Release the container box during the landing process; The claw portion is configured to form a first space between the claw portion and the bottom surface of the container box after landing, and a second space between the claw portion and the landing surface. 22. An unmanned aerial vehicle according to any one of appendices 18 to 21.

[0301] (Appendix 23) The claw portion of the arm of the unmanned aerial vehicle is further configured to be inserted into a space formed between the landing surface and a bottom surface of the container box or the charger by a leg portion of the container box or the charger that is in contact with the landing surface after the landing. 2. An unmanned aerial vehicle as described in Appendix 22.

[0302] (Appendix 24) The claw portion of the arm of the unmanned aerial vehicle is further configured so that, after landing, the position of the claw portion is lower than the position of the landing surface. 2. An unmanned aerial vehicle as described in Appendix 22.

[0303] (Appendix 25) The unmanned aerial vehicle further comprises: a processor for controlling the flight mechanism; a camera capable of photographing a location symbol attached to the container box or the charger; Equipped with The processor is further configured to recognize the location symbol from an image captured by the camera during the landing process, and adjust a landing position based on the recognized location symbol. 2. An unmanned aerial vehicle as described in Appendix 22.

[0304] (Appendix 26) The unmanned aerial vehicle further comprises: a processor for controlling each of the flight mechanism and the arm; a camera capable of photographing a barcode attached to the container box or the charger; Equipped with the processor is further configured to, when recognizing the barcode from the image captured by the camera during the landing process, check whether first information indicated by the barcode matches second information instructed as a landing destination, and complete the landing if the first information matches the second information. 2. An unmanned aerial vehicle as described in Appendix 22.

[0305] (Appendix 27) a detection circuit for detecting a charge amount of the battery; a processor for controlling each of the flight mechanism and the arm; Further provided with The processor is Detecting that charging of the battery of the unmanned aerial vehicle by the contactless charging has been completed based on the charge amount of the battery detected by the detection circuit; When it is detected that charging of the battery is completed, the completion is notified to the charger through communication between the power receiving coil and the power transmitting coil. It is configured as follows: 1. An unmanned aerial vehicle as described in Appendix 19.

[0306] (Appendix 28) a detection circuit for detecting a charge amount of the battery; a processor for controlling each of the flight mechanism and the arm; Further provided with The processor is Detecting that charging of the battery of the unmanned aerial vehicle has been completed based on the charge amount of the battery detected by the detection circuit; When it is detected that charging of the battery is completed, a charging completion notification indicating this is sent to a management device that manages the unmanned aerial vehicle. It is configured as follows: 22. An unmanned aerial vehicle according to any one of appendices 18 to 21.

[0307] (Appendix 29) A charger for charging a battery of a battery-powered unmanned aerial vehicle configured to fly and transport a container box having a standard size, It has the same standard size as the container box, a power transmission coil used for contactlessly charging the battery of the unmanned aerial vehicle; the power transmitting coil is positioned opposite a power receiving coil used for contactless charging of the battery provided on the unmanned aerial vehicle when an openable arm of the unmanned aerial vehicle that grips the container box grips the charger when the unmanned aerial vehicle transports the container box; charger.

[0308] (Appendix 30) The unmanned aerial vehicle further includes legs on a surface facing the landing surface for forming a space into which the claws of the arms of the unmanned aerial vehicle are inserted, the legs being configured to hold the bottom of the container box in a closed state during flight when the unmanned aerial vehicle is placed on a landing surface on which it will land, and to release the container box during the landing process, so that after landing, a first space is formed between the legs and the bottom of the container box, and a second space is formed between the legs and the landing surface. 29. A charger as described in Clause 29.

[0309] (Appendix 31) The unmanned aerial vehicle further includes a location symbol added to a position that can be photographed by a camera equipped on the unmanned aerial vehicle when the unmanned aerial vehicle lands. 31. The charger according to claim 29 or 30.

[0310] (Appendix 32) The unmanned aerial vehicle further includes a barcode attached to a position that can be photographed by a camera equipped on the unmanned aerial vehicle when the unmanned aerial vehicle lands, The barcode indicates information identifying the charger. 31. The charger according to claim 29 or 30.

[0311] (Appendix 33) a processor for controlling energization of the power transmitting coil; The processor is A weak current is applied to the power transmitting coil every time a certain period of time elapses, and it is determined whether the power transmitting coil and the power receiving coil of the unmanned aerial vehicle are in close proximity to each other; When the power transmitting coil and the power receiving coil of the unmanned aerial vehicle are close to each other, a normal current is passed through the power transmitting coil to start charging the battery of the unmanned aerial vehicle. It is configured as follows: 31. The charger according to claim 29 or 30.

[0312] (Appendix 34) The processor further comprises: detecting, based on a change in impedance of the power transmitting coil, that charging of the battery of the unmanned aerial vehicle by the contactless charging has been completed; When it is detected that charging of the battery is completed, the supply of the normal current to the power transmitting coil is terminated, thereby completing charging of the battery of the unmanned aerial vehicle. It is configured as follows: 3. A charger as described in Clause 33.

[0313] (Appendix 35) 34. The charger of claim 33, wherein the processor is further configured, upon detecting that charging of the battery is complete, to send a charging completion notification indicating this to a management device that manages the charger.

[0314] (Appendix 36) a processor for controlling energization of the power transmitting coil; the processor is configured to complete charging of the battery of the unmanned aerial vehicle by terminating power supply to the power transmitting coil when the processor is notified by the unmanned aerial vehicle through communication between the power receiving coil and the power transmitting coil that charging of the battery of the unmanned aerial vehicle has been completed; 31. The charger according to claim 29 or 30.

[0315] (Appendix 37) a processor for controlling energization of the power transmitting coil; The processor is configured to complete charging of the battery of the unmanned aerial vehicle by terminating power supply to the power transmitting coil in response to receiving a completion notification from a management device that manages the charger, the completion notification instructing the unmanned aerial vehicle to complete charging of the battery. 31. The charger according to claim 29 or 30.

[0316] (Appendix 38) a processor for controlling energization of the power transmitting coil; The processor is detecting, based on a change in impedance of the power transmitting coil, that charging of the battery of the unmanned aerial vehicle by the contactless charging has been completed; When it is detected that charging of the battery is completed, power supply to the power transmitting coil is stopped, thereby completing charging of the battery of the unmanned aerial vehicle. 31. The charger according to claim 29 or 30.

[0317] (Appendix 39) 39. The charger of claim 38, wherein the processor is further configured to send a charging completion notification indicating that charging of the battery has been completed to a management device that manages the charger.

[0318] (Appendix 40) A program for controlling a charger that charges the battery of a battery-powered unmanned aerial vehicle configured to fly and transport a container box having a standard size, the charger having the same standard size as the container box and including a power transmitting coil used for contactless charging of the battery of the unmanned aerial vehicle, the power transmitting coil being positioned opposite a power receiving coil used for contactless charging of the battery provided on the unmanned aerial vehicle when an openable arm of the unmanned aerial vehicle that grips the container box when the unmanned aerial vehicle transports the container box grips the charger, The processor every time a certain time elapses, a weak current is passed through the power transmitting coil to determine whether the power transmitting coil and the power receiving coil of the unmanned aerial vehicle are in close proximity; When it is determined that the power transmitting coil and the power receiving coil of the unmanned aerial vehicle are close to each other, a normal current is passed through the power transmitting coil to start charging the battery of the unmanned aerial vehicle; Execute program.

[0319] (Appendix 41) A program for controlling a charger that charges the battery of a battery-powered unmanned aerial vehicle configured to fly and transport a container box having a standard size, the charger having the same standard size as the container box and including a power transmitting coil used for contactless charging of the battery of the unmanned aerial vehicle, the power transmitting coil being positioned opposite a power receiving coil used for contactless charging of the battery provided on the unmanned aerial vehicle when an openable arm of the unmanned aerial vehicle that grips the container box when the unmanned aerial vehicle transports the container box grips the charger, The processor Detecting that charging of the battery of the unmanned aerial vehicle by the contactless charging is completed based on a change in impedance of the power transmitting side coil; When it is detected that charging of the battery is completed, power supply to the power transmitting coil is stopped, thereby completing charging of the battery of the unmanned aerial vehicle. Execute program. [Explanation of symbols]

[0320] 1...Transportation system, 10...Management device, 11,271,31...CPU, 12,272,32...ROM, 13,273,33...RAM, 14,274,34...Communication device, 15...Storage, 16...Display, 17...Input interface, 20...Unmanned aerial vehicle, 21...Flight mechanism, 22...Landing gear, 23...Holding jig, 25...Auxiliary light, 26...Power receiving coil, 27...Control board, 28...Sensor, 29...Battery, 30...Charger, 31...Connector, 32...Cable, 33...Power supply instruction unit, 35...Power supply control circuit, 36...Power detection circuit, 101...Transportation management unit, 102...Box position management unit, 103...Box position information, 104...Transportation instruction unit, 105,201,351...Communication unit, 106...Charging control unit, 121...Box position management program, 122...Transportation instruction program, 123,321,2724...Charging control program, 202,352...Management unit, 203...Flight route determination unit, 204...Location information acquisition unit, 205...Flight control unit, 206...Arm control unit, 207...Image acquisition unit, 208...Symbol reading unit, 209...Charging control unit, 221,LP...Leg, 231...Arm, 232...Upper end, 241,242,243...Camera, 2721...Autonomous flight control program, 2722...Flight route determination program, 2723...Barcode reading program, 275...Charging detection circuit, 301-304, 311-316, 401-404, 411-416...position symbols, 320, 420...barcode, 340...power transmission coil, 353...energization instruction unit, 354...power acquisition unit, AGV...automated guided vehicle, ARa...drone waiting area, ARb...drone-only warehouse area, ARc...drone takeoff and landing area, ARd...operator work area, ARe...collection area, BP...bottom, CB...container box, CO...corner part, CP...convex part, DAP...takeoff and landing port, EP...claw surface, FL...floor level, GL...ground level, GP...ground part, HO...housing, LS...space, NP...claw part, OP...operator, PA...part, PSa, PSc...first position symbol, PSb, PSd...second position symbol, SP...side, ST...slit, TP...top, US...space.

Claims

1. A transportation system comprising: a battery-powered unmanned aerial vehicle configured to fly and transport a container box having a standard size; and a charger that charges the battery of the unmanned aerial vehicle, The charger includes: It has the same standard size as the container box, a power transmission coil used for contactlessly charging the battery of the unmanned aerial vehicle; The unmanned aerial vehicle is a flight mechanism capable of generating buoyancy; With an openable arm, a housing supporting the flight mechanism and the arm; Equipped with The arm of the unmanned aerial vehicle During flight, the container box is grasped in a closed state and has the standard size; When charging, the charger having the standard size is held, the housing of the unmanned aerial vehicle includes a power receiving coil used for the wireless charging of the battery, the power receiving coil being located opposite the power transmitting coil of the charger when the arm is holding the charger; Conveying system.

2. The arm of the unmanned aerial vehicle has a shape that contacts a side surface of the container box or the charger when closed, The arm grasps the charger, thereby positioning the charger at a predetermined charging position relative to the unmanned aerial vehicle. The conveying system of claim 1 .

3. the unmanned aerial vehicle further includes landing gear that supports the housing when the unmanned aerial vehicle lands on a landing surface; the landing gear includes a ground contact portion that contacts the landing surface; The ground contact portion of the landing gear is formed of a material having a coefficient of friction that allows the positional relationship of the unmanned aerial vehicle to the charger to be changed during the process of the arms closing to grip the charger after the unmanned aerial vehicle lands on the landing surface.

3. The conveying system of claim 2.

4. When the arms of the unmanned aerial vehicle are closed, Hold the bottom of the container box during flight, Releasing the container box during the landing process; The claw portion is configured to form a first space between the claw portion and the bottom surface of the container box after landing, and to form a second space between the claw portion and the landing surface. A conveying system according to any one of claims 1 to 3.

5. The transportation system further includes a management device that manages at least one of the initiation and completion of the wireless charging of the battery of the unmanned aerial vehicle by the charger held by the arm of the unmanned aerial vehicle. A conveying system according to any one of claims 1 to 3.

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