Package receiving device

Abstract

When delivering packages by unmanned aerial vehicle, the present invention provides a package receiving device for storing delivered packages regardless of whether the recipient is present or not, upon arrival of the unmanned aerial vehicle at the delivery destination. [Solution] The baggage receiving device 10 has a baggage placement surface 3 that is exposed to the outside or can be exposed so that an unmanned aircraft can place baggage 1 on it, and an internal space S for storing baggage 1. An opening 3a is formed in the baggage receiving device 10 that leads from the outside to the internal space S. The baggage receiving device 10 is equipped with a baggage moving device 9 that moves the baggage 1 placed on the baggage placement surface 3 along the baggage placement surface 3 to the position of the opening 3a.

Description

Technical Field

[0001] The present invention relates to a luggage receiving device for receiving luggage from an unmanned aircraft.

Background Art

[0002] It has been proposed to transport luggage to a destination by an unmanned aircraft. For example, in Patent Document 1, an unmanned aircraft uses GPS (Global Positioning System) to fly to a destination indicated by pre-entered position information, and at the destination, while hovering, it lowers a storage case containing the transported item and delivers the transported item (luggage) inside the storage case to the recipient.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in Patent Document 1, even when the unmanned aircraft arrives at the destination, if the recipient is not at the destination, the luggage cannot be delivered to the recipient.

[0005] Therefore, an object of the present invention is to provide a luggage receiving device for storing the delivered luggage regardless of the presence or absence of the recipient when the unmanned aircraft arrives at the delivery destination of the luggage when delivering the luggage by the unmanned aircraft.

Means for Solving the Problems

[0006] The baggage receiving device according to the present invention is a baggage receiving device having a baggage placement surface that is exposed to the outside or can be exposed so that an unmanned aircraft can place baggage on it, and a plurality of internal spaces for storing baggage, Each of the aforementioned openings leading from the outside to the respective internal spaces is formed therein. A luggage moving device for moving luggage placed on the luggage surface into the internal space through the opening, Doors for opening and closing the respective openings, The system comprises the aforementioned luggage moving device and a control device that controls the operation of each door. The control device is When an unmanned aircraft places luggage on the luggage loading surface, the identification information of the luggage is received from the unmanned aircraft. The luggage moving device is operated to move the luggage into the internal space through the opening in the internal space corresponding to the identification information. Next, close the opening in the internal space corresponding to the identification information. Subsequently, when authentication information corresponding to the identification information is input by the consignee, the operation of the door is controlled to open the opening in the internal space corresponding to the identification information. [Effects of the Invention]

[0007] According to the present invention described above, when delivering packages by unmanned aerial vehicle, the packages placed on the package loading surface by the unmanned aerial vehicle can be stored in the internal space of the package receiving device by a package handling device. Therefore, the delivered packages can be stored regardless of whether or not there is a recipient. [Brief explanation of the drawing]

[0008] [Figure 1] This is a plan view showing a package receiving device according to an embodiment of the present invention. [Figure 2] This is a cross-sectional view taken along line II-II in Figure 1. [Figure 3] Figure 2 shows a view along line III-III, illustrating an example of a storage floor. [Figure 4] This is a cross-section along line IV-IV in Figure 1. [Figure 5] It is a sectional view taken along the line V-V of FIG. 1, showing the configuration of the luggage transfer device. [Figure 6] It is a partially enlarged view of FIG. 5. [Figure 7] It is a view taken in the direction of the arrow VII-VII of FIG. 6. [Figure 8] It is a sectional view taken along the line VIII-VIII of FIG. 1. [Figure 9] It is a view taken in the direction of the arrow IX-IX of FIG. 8. [Figure 10] It is a flowchart showing a luggage receiving method using the luggage receiving device according to the first embodiment. [Figure 11] It is an explanatory view of the luggage receiving method according to the first embodiment. [Figure 12] It is another explanatory view of the luggage receiving method according to the first embodiment. [Figure 13] It is another explanatory view of the luggage receiving method according to the first embodiment. [Figure 14] It is a plan view showing the luggage receiving device according to the second embodiment of the present invention [Figure 15] It is a sectional view taken along the line XV-XV of FIG. 14. [Figure 16] It is an explanatory view of the luggage receiving method according to the second embodiment. [Figure 17] It is another explanatory view of the luggage receiving method according to the second embodiment [Figure 18] It is a plan view showing the luggage receiving device according to the third embodiment of the present invention. [Figure 19] It is a plan view showing the luggage receiving device according to the fourth embodiment of the present invention. [Figure 20] It is a view taken in the direction of the arrow XX-XX of FIG. 19. [Figure 21] It is an explanatory view of the luggage receiving method according to the fourth embodiment. [Figure 22] It is another explanatory view of the luggage receiving method according to the fourth embodiment. [Figure 23] It is a plan view showing the luggage receiving device according to the fifth embodiment of the present invention. [Figure 24] It is a view taken in the direction of the arrow XXIV-XXIV of FIG. 23. [Figure 25] This is an explanatory diagram of the method for receiving packages according to the fifth embodiment. [Figure 26] This is another explanatory diagram of the package receiving method according to the fifth embodiment. [Figure 27] This is another explanatory diagram of the package receiving method according to the fifth embodiment. [Figure 28] This is a plan view showing a package receiving device according to the sixth embodiment of the present invention. [Figure 29] View from the line XXIX-XXIX in Figure 28 [Figure 30A] This is a plan view showing a package receiving device according to the seventh embodiment of the present invention. [Figure 30B] This is a view along the line 30B-30B in Figure 30A. [Figure 31A] This is a side view showing a package receiving device according to the eighth embodiment of the present invention. [Figure 31B] Figure 31A shows the state in which the cargo loading surface has been moved from the raised height to the lowered height. [Figure 32] This is a view along the line XXXII-XXXII in Figure 31B. [Figure 33A] This shows an example configuration 1 of a system in which a baggage receiving device communicates with an unmanned aircraft or its control system based on weather data. [Figure 33B] This shows an example configuration 2 of a system in which a baggage receiving device communicates with an unmanned aircraft or its control system based on weather data. [Modes for carrying out the invention]

[0009] Embodiments of the present invention will be described based on the drawings. Common parts in each figure are denoted by the same reference numerals, and redundant explanations are omitted. Furthermore, each figure illustrates components relevant to the explanation, while omitting components unrelated to the explanation.

[0010] (composition) Figure 1 is a plan view showing a luggage receiving device 10 according to an embodiment of the present invention. Figure 2 is a cross-sectional view taken along line II-II in Figure 1. The luggage receiving device 10 has an external luggage placement surface 3 (the area enclosed by the dashed line in Figure 1) that faces vertically upward and on which an unmanned aircraft such as a drone can place luggage, and an internal space S for storing luggage 1. In this embodiment, the luggage placement surface 3 is exposed to the outside so that an unmanned aircraft can place luggage on it. Here, the unmanned aircraft may be, for example, a small unmanned helicopter that flies autonomously or by remote control. The unmanned aircraft may have a length and width of 2 meters or less and a height of 1 m or less.

[0011] The luggage receiving device 10 has a roof 5 and an outer wall 7, as shown in Figure 1. As shown in Figure 1, a portion (most) of the upper surface of the roof 5 may serve as the luggage placement surface 3. The roof 5 and the outer wall 7 form an internal space S. An opening 3a leading to the internal space S is formed in the luggage placement surface 3 (i.e., the roof 5).

[0012] According to the first embodiment, the dimensions of the cargo loading surface 3 (each of the two directions parallel to and perpendicular to the surface) are significantly larger than the dimensions of the target unmanned aerial vehicle (e.g., width) (e.g., 3 times, 5 times, or 10 times the dimensions of the unmanned aerial vehicle). For example, the cargo loading surface 3 is 25m 2 The area is as described above. In this case, the luggage that the unmanned aircraft places on the luggage loading surface 3 may be a box containing deliverables such as articles or documents. For example, this box may be a rectangular box with a length, width, and height of 40 cm, 60 cm, and 40 cm, respectively. The luggage loading surface 3 may be, for example, a square, rectangle, circle, or ellipse, but is not limited to these shapes.

[0013] Furthermore, each component of the parcel receiving device 10 described below may be attached to the roof 5, outer wall 7, or other structure (not shown) provided on the parcel receiving device 10.

[0014] The cargo receiving device 10 comprises a cargo moving device 9 and a cargo receiving section 11. The cargo moving device 9 moves the cargo 1 placed on the cargo loading surface 3 along the cargo loading surface 3 to the position of the opening 3a. The cargo receiving section 11 is raised and lowered between a raised height corresponding to the height of the opening 3a and a lowered height lower than the raised height. When positioned at the raised height, the cargo receiving section 11 has an upper surface 11a that receives the cargo 1 moved to the position of the opening 3a by the cargo moving device 9. In this embodiment, the cargo receiving device 10 further comprises a lift 8 that is driven to move up and down, and the cargo receiving section 11 is a pallet placed on the lift 8.

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

[0016] In this embodiment, the aforementioned lowering heights include the height of the storage floor and the height of the cargo retrieval floor. With the pallet 11 positioned at the height of the storage floor by the raising and lowering of the lift 8, the pallet 11 on the lift 8 is moved horizontally between the lift 8 and the storage space on the storage floor (for example, by the rotational drive of the roller 8a). Figure 3 is a view along line III-III in Figure 2, showing an example of a storage floor. In the example of Figure 3, the storage floor has multiple (many) storage spaces P (areas enclosed by dashed lines) adjacent to each other horizontally and vertically. A pallet 11 can be located in each storage space P. A number of pallets 11 is provided that is less than the number of storage spaces P. This allows a pallet to be moved horizontally sequentially from one adjacent storage space P to the other storage space P where no pallet 11 is present. In the example of Figure 2, the pallet 11 can be moved between adjacent storage spaces P at the locations and directions indicated by each arrow.

[0017] An empty pallet 11, without cargo 1 on it, may be positioned at the aforementioned height to receive cargo 1. After cargo 1 is placed on the pallet 11 at the height, it may be moved to the storage space P. Then, another empty pallet 11 may be positioned at the height, and the above operation may be repeated.

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

[0019] The lift 8 may also be raised and lowered to the height of the cargo retrieval floor. With the pallet positioned at the height of the cargo retrieval floor by the raising and lowering of the lift 8, the pallet on the lift 8 is moved horizontally to a retrieval position in front of the cargo exit 7a formed in the outer wall 7 (for example, the position of the pallet drawn by the dashed line in Figure 2) by, for example, the rotational drive of the roller 8a of the lift 8 and the multiple rollers 12 of the cargo retrieval floor. Then, through the cargo exit 7a, a person (for example, the recipient of the cargo) retrieves the cargo 1 from the pallet 11 at the retrieval position to the outside of the cargo receiving device 10 (internal space S).

[0020] The cargo receiving device 10 includes a lifting drive mechanism 13 for raising and lowering the lift 8. In the example shown in Figure 2, the lifting drive mechanism 13 includes a chain 13a, a pair of sprockets 13b and 13c, and a guide section 13d (e.g., a guide rail). The chain 13a is connected to the lift 8 at both ends and the middle section is attached to the pair of sprockets 13b and 13c. The pair of sprockets 13b and 13c are spaced apart vertically. The guide section 13d extends vertically and guides the lift 8 up and down while maintaining a constant posture of the lift 8 by contacting the lift 8 horizontally (e.g., at multiple points in the vertical direction). Multiple such guide sections 13d may be provided at horizontal intervals. The sprockets 13b and 13c are rotationally driven by a drive device (e.g., a motor) not shown, causing the lift 8 to rise and fall while maintaining a constant posture with respect to the guide section 13d.

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

[0022] The door drive mechanism 17, for example as shown in Figure 4, includes a chain 17a, a pair of sprockets 17b and 17c, and a support rail 17d. The chain 17a is connected to the door 15 at both ends, and its middle section is attached to the pair of sprockets 17b and 17c. The pair of sprockets 17b and 17c are spaced apart in the driving direction of the door 15 (left-right direction in Figure 4) to allow for the door 15 to move within its range of motion. The support rail 17d extends in the driving direction of the door 15 and supports the door 15 from below. As the sprockets 17b and 17c are rotated, the door 15 moves along the support rail 17d in the left-right direction in Figure 4 between the closed and open positions. When viewed vertically, such a door drive mechanism 17 is positioned offset from the opening 3a and the luggage receiving section 11. For example, two door drive mechanisms 17 may be provided at two locations on either side of the opening 3a in the vertical direction of Figure 1. In this case, one sprocket 17b of one door drive mechanism 17 and one sprocket 17b of the other door drive mechanism 17 are connected by a single rotating shaft, and this rotating shaft may be rotationally driven by a rotary drive device (e.g., a motor) not shown.

[0023] In the first embodiment, two cargo moving devices 9 are provided. In the following description, one of them (the cargo moving device 9 on the left in Figure 1) will be explained, but the configuration and operation of the other cargo moving device 9 are the same as those of the first cargo moving device 9. Figure 5 is a cross-sectional view of line VV in Figure 1, showing the configuration of the cargo moving device 9. As shown in Figure 3, and in Figures 8 and 9 described later, the cargo moving device 9 comprises a first arm 19, a second arm 21, a first arm drive mechanism 23, and a second arm drive mechanism 31.

[0024] The first arm 19 is configured to reciprocate along the load-bearing surface 3 in a first direction. In the first embodiment, this reciprocating motion is a translational motion. The first direction is the left-right direction (horizontal direction) in the example of Figure 1. Hereinafter, the left-right direction, right direction, and left direction in Figure 1 will simply be referred to as the left-right direction, right direction, and left direction, respectively. The first arm 19 enters the load-bearing surface 3 from a position on one side of the load-bearing surface 3 in the left-right direction (the left side in Figure 1) and moves to the right, pushing the load 1 on the load-bearing surface 3 to the right, thereby moving the load 1 to the center of the load-bearing surface 3 in the left-right direction.

[0025] The second arm 21 is provided on the first arm 19 and is configured to reciprocate along the first arm 19 in a second direction that intersects (for example, is perpendicular to) the first direction. In the example of Figure 1, the second direction is the vertical direction (horizontal direction) in Figure 1. The second arm 21 enters the load-carrying surface 3 from a position on one side of the load-carrying surface 3 in the second direction (the upper side in Figure 1) and moves in the second direction (to the other side of the second direction), pushing the load 1 on the load-carrying surface 3 in that second direction, thereby moving the load 1 to the center of the load-carrying surface 3 in the second direction.

[0026] The first arm drive mechanism 23 moves the first arm 19 in a first direction. As shown in Figure 5, the first arm drive mechanism 23 comprises an endless chain 23a, a pair of sprockets 23b and 23c, and a coupling mechanism 23d. The endless chain 23a is strung over a pair of sprockets 23b and 23c that are spaced apart in the first direction. The coupling mechanism 23d connects the endless chain 23a to the first arm 19. The sprocket 23b is rotationally driven by a drive device (e.g., a motor) not shown, which moves the first arm 19 in the first direction via the endless chain 23a and the coupling mechanism 23d.

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

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

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

[0030] Therefore, the first arm 19 moves from a position below the roof 5, indicated by the dashed line in Figure 5, to the upper surface of the roof 5 through the opening 28 (see Figure 1) formed in the roof 5, by the rotation of the sprocket 23b, and then moves along the cargo loading surface 3 in the first direction to the center of the cargo loading surface 3 in the first direction. The first arm 19 can also perform the reverse operation by the reverse rotation of the sprocket 23b. When the first arm 19 moves in the first direction along the upper surface of the roof 5 (cargo loading surface 3) in this way, the second connecting portion 23d2 (second portion 26) described above moves in the first direction within the slit 27 (see Figure 1) that extends in the first direction. A suitable door (not shown) for opening and closing the opening 28 may be provided. The slit 27 and the opening 28 are in communication with each other.

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

[0032] Figure 8 is a cross-sectional view taken along line VIII-VIII in Figure 1. Figure 9 is a view taken along line IX-IX in Figure 8. The second arm drive mechanism 31 is located inside the first arm 19. The second arm drive mechanism 31 comprises an endless chain 31a, a pair of sprockets 31b, 31c, and a connecting mechanism 31d. The endless chain 31a is strung over a pair of sprockets 31b, 31c that are spaced apart in the second direction. The connecting mechanism 31d connects the endless chain 31a to the second arm 21. The sprockets 31b, 31c are rotationally driven by a drive device (e.g., a motor) not shown, which moves the second arm 21 in the second direction via the endless chain 31a and the connecting mechanism 31d.

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

[0034] In this embodiment, the second arm drive mechanism 31 further includes a guide portion 31e that guides the guided portion 31d3 along a predetermined trajectory as the endless chain 31a is rotationally driven by the sprockets 31b and 31c and moves. Since the endless chain 31a moves within a range in which the orientation of the first connecting portion 31d1 remains constant, the orientation of the second connecting portion 31d2 is determined by the position of the guided portion 31d3 and the positional relationship between the connection point (axis C4) between the first connecting portion 31d1 and the second connecting portion 31d2. The position of the guided portion 31d3 is determined by the shape of the guide portion 31e. Therefore, when the second arm 21 is in the standby position, it faces the second direction as shown by the dashed line in Figures 1 and 9. From this state, a predetermined trajectory is set such that the orientation of the second arm 21 gradually changes to the first direction as it moves in the second direction toward the center of the load-placing surface 3 in the second direction.

[0035] Therefore, with the first arm 19 positioned on the upper surface of the roof 5 (e.g., the cargo loading surface 3), the second arm 21 rotates from the position indicated by the dashed line in Figures 1 and 9 by the rotation of the sprockets 31b and 31c, facing from the second direction to the first direction, and then, while facing the first direction, can move along the cargo loading surface 3 in the second direction to the center of the cargo loading surface 3 in the second direction. The second arm 21 can also perform the reverse operation by the reverse rotation of the sprockets 31b and 31c. As shown in Figure 9, a slit 19b is formed in the wall portion 19a that separates the inside and outside of the first arm 19, through which the second arm 21 passes. This slit 19b may extend elongated in the second direction over the range of movement of the second arm 21. When the first arm 19 moves from below the roof 5 to the upper surface of the roof 5, the second arm 21 passes through the opening 28 while facing the second direction.

[0036] In the examples of Figures 8 and 9, the guide portion 31e consists of two rails 31e1 and 31e2 that are positioned at a certain distance from each other and engage with the guided portion 31d3. A gap G exists in one of the rails 31e2 (the lower rail in Figure 9) so that when the second arm 21 faces in a direction intersecting the first direction, one of the guided portions 31d3 (the left guided portion 31d3 in Figure 9) moves out from between the two rails 31e1 and 31e2. However, the length of the gap G may be set so that at least one of the two guided portions 31d3 is located between the two rails 31e1 and 31e2, regardless of the position of the second arm 21 in the second direction.

[0037] Figure 10 is a flowchart illustrating a method for receiving luggage using the luggage receiving device 10 according to the first embodiment. This luggage receiving method comprises steps S1 to S10.

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

[0039] In step S2, the unmanned aircraft flies to above the cargo loading surface 3 while gripping the cargo 1, based on the position information of the cargo loading surface 3, and places the cargo 1 at any position on the cargo loading surface 3. At this time, if the unmanned aircraft recognizes a mark drawn on the cargo loading surface 3 with a camera or other means installed on it, it may release the cargo 1 it is gripping and place it on the cargo loading surface 3.

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

[0041] Furthermore, in step S2, when the unmanned aircraft places luggage 1 on the luggage loading surface 3 (for example, at the moment luggage 1 is placed on the luggage loading surface 3 or immediately thereafter), it transmits authentication information corresponding to luggage 1, which is stored in its own memory, to the control device 33. As a result, the control device 33 receives the authentication information and stores it in its own memory. Alternatively, step S2 may be performed upon receipt of the authentication information. In this case, the process of inputting the luggage signal to the control device 33 described above does not need to be performed.

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

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

[0044] In step S5, each second arm 21 moves to the center of the load-carrying surface 3 in the second direction while facing the first direction. Regardless of its position in either the first or second direction, the load 1 is pushed in the second direction by one of the second arms 21 in step S5 within the area on the load-carrying surface 3 sandwiched between the two first arms 19 (i.e., the center of the load-carrying surface 3 in the first direction), and moves to the center of the load-carrying surface 3 in the second direction. As a result, the load 1 enters the opening 3a in the center and rests on the upper surface of the door 15. In Figure 13, the second arms 21 and load 1 at the start of step S5 are shown by dashed lines, and the second arms 21 and load 1 at the end of step S5 are shown by solid lines. Steps S4 and S5 may be performed by rotating the sprocket 31b.

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

[0046] In step S7, the control device 33 controls the transport device 20 to transport the luggage 1 on the luggage receiving unit 11 to one of the storage spaces P. At this time, the control device 33 associates the location information indicating the location of the storage space P with the authentication information received from the unmanned aircraft in step S2 and stores them in its memory.

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

[0048] After that, the process returns to step S1, and steps S1 to S7 are repeated as described above. When returning to step S1 and putting the cargo receiving device 10 into the standby state described above, empty pallets from among the pallets in the multiple storage spaces P on the storage floor are placed on the lift 8 and positioned at the aforementioned raised height.

[0049] On the other hand, when authentication information is input to the control device 33 from the consignee, and the authentication information matches the authentication information held by the control device 33, the control device 33 controls the transport device 20 to transport the cargo 1 in the storage space P at the location indicated by the location information associated with the authentication information to the cargo exit 7a, and controls the drive device (not shown) for the exit door 7b to move the exit door 7b to a position that opens the cargo exit 7a.

[0050] The input of such authentication information and the control of the control device 33 based on this input may be carried out, for example, as in the next steps S8 and S9. The recipient (consignee) of the package 1 stored on the storage floor inputs authentication information, such as a PIN, into the control device 33 installed in the package receiving device 10. The authentication number is notified to the consignee, for example, by the company that transports the package 1 by unmanned aircraft. The consignee inputs the authentication information into the control device 33 wirelessly by operating a mobile terminal, by operating an appropriate input device installed outside the package receiving device 10 (for example, on the outer wall 7), or by other means.

[0051] In step S9, if the control device 33 has authentication information that matches the authentication information entered in step S8, it moves the pallet 11 in the storage space P at the location associated with the authentication information to the retrieval position on the cargo retrieval floor (Figure 2) as described above. For example, the control device 33 performs step S9 by controlling the operation of a device that moves the pallet 11 horizontally between the lift 8 and the storage space P (a component of the conveying device 20), a device that moves the pallet horizontally between adjacent storage spaces P (a component of the conveying device 20), and the roller 12. Next, the control device 33 controls the drive device (not shown) of the exit door 7b, which is closing the cargo exit 7a, to a position that opens the cargo exit 7a.

[0052] Subsequently, in step S10, the consignee takes the cargo 1 from the pallet 11 at the retrieval position and receives it from the retrieval position 7a. Steps S8 to S10 may be performed each time steps S1 to S7 described above are performed.

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

[0054] (Effects of the first embodiment) According to the first embodiment described above, when the unmanned aircraft places the package 1 on the package placement surface 3 of the package receiving device 10, the package 1 is moved by the package moving device 9 to the position of the opening 3a of the package placement surface 3. Therefore, the package 1 can be stored in the internal space S through the opening 3a. In this way, when the unmanned aircraft places the package 1 on the package placement surface 3, the package 1 is stored in the internal space S of the package receiving device 10, so there is no need for a recipient to be present at the delivery destination of the unmanned aircraft. Therefore, when the unmanned aircraft arrives at the delivery destination (package placement surface 3) of the package 1, the delivered package 1 can be automatically stored in the internal space S of the package receiving device 10, regardless of whether there is a recipient or not.

[0055] Furthermore, regardless of where the unmanned aircraft places the cargo 1 on the cargo loading surface 3, the cargo 1 will be moved to the position of the opening 3a by the cargo moving device 9. Therefore, since the unmanned aircraft can place the cargo 1 at any position on the cargo loading surface 3, it becomes easier to control the unmanned aircraft in placing the cargo 1.

[0056] Furthermore, if the baggage receiving device 10 is a baggage warehouse with a height of, for example, 2 meters or more, the baggage placement surface 3 is located on a safe roof 5 where people cannot easily access. Therefore, the unmanned aircraft can place the baggage 1 on the baggage placement surface 3, which is a safe location.

[0057] When the unmanned aircraft arrives at the cargo loading surface 3, it can immediately place the cargo 1 it was holding onto the cargo loading surface 3, and then immediately fly to its next destination. Therefore, the flight time of the unmanned aircraft can be reduced.

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

[0059] Furthermore, two second arms 21 may be provided on only one of the two first arms 19. In this case, the two second arms 21 may be positioned to move from both ends to the center of one of the first arms 19. Also, the orientation of the second arms 21 does not need to change. In this case, the second arms 21 may be reciprocated in the second direction within the range in which they remain facing the first direction.

[0060] [Second Embodiment] Figure 14 is a plan view showing a package receiving device 10 according to a second embodiment of the present invention. The aspects of the second embodiment that are not described below may be the same as those of the first embodiment.

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

[0062] The first arm 19 is configured to reciprocate along the load-bearing surface 3 in a first direction. In the second embodiment, this reciprocating motion is rotational motion about axis C5, and the first direction is the circumferential direction about axis C2. Axis C2 is oriented in a direction perpendicular to the load-bearing surface 3 (for example, the vertical direction). The load-bearing surface 3 is the area enclosed by the dashed line in Figure 14.

[0063] The second arm 21 is provided on the first arm 19, similar to the first embodiment, and is configured to reciprocate along the first arm 19 in a second direction intersecting the first direction.

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

[0065] The method for receiving packages according to the second embodiment includes the steps S1 to S3 and S5 to S10 described above, and differs from the first embodiment in the points described below, while the points not described below are the same as in the first embodiment.

[0066] In step S1, the luggage receiving device 10 is put into a standby state. In the standby state, the first arm 19 is positioned in the outer region of the luggage loading surface 3 on the upper surface of the roof 5, as shown in Figure 16. Alternatively, in the standby state, the first arm 19 may be positioned below the roof 5 in Figure 16 by a device (not shown).

[0067] In step S3, the first arm 19 rotates around axis C5 from the outside of the load-bearing surface 3, as shown in Figure 16. In Figure 16, the first arm 19 and load 1 at the start of step S3 are shown by a dashed line, and the first arm 19 and load 1 at the end of step S3 are shown by a solid line. Regardless of its position on the load-bearing surface 3, in step S3, the load 1 is pushed by the first arm 19 along the load-bearing surface 3 in a first direction, and moved to the end region of the load-bearing surface 3 in that first direction.

[0068] Step S5 is performed after step S3. In step S5, each second arm 21, while facing the first direction, moves in the second direction relative to the first arm 19, from one end of the luggage loading surface 3 (outside the luggage loading surface 3) to the other end of the luggage loading surface 3 (the opening). Regardless of its position in the first or second direction within the end region of the luggage loading surface 3, in step S5, the luggage 1 is pushed in the second direction by the second arm 21 and moved to the position of the opening 3a in the second direction. As a result, the luggage 1 enters the opening 3a and rests on the upper surface of the door 15. In Figure 17, the second arm 21 and luggage 1 at the start of step S5 are shown by a dashed line, and the second arm 21 and luggage 1 at the end of step S5 are shown by a solid line.

[0069] Furthermore, walls 35 (Figure 15) rising from the top surface of the roof 5 may be provided at positions adjacent to the luggage loading surface 3 in the first and second directions. The walls 23 prevent the luggage 1 from falling off the luggage loading surface 3.

[0070] [Third Embodiment] Figure 18 is a plan view showing a package receiving device 10 according to a third embodiment of the present invention. The aspects of the third embodiment that are not described below may be the same as those of the first embodiment.

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

[0072] The third embodiment of the package receiving method includes the steps S1, S2 and S6-S10 described above, and differs from the first embodiment in the points described below, while the points not described below are the same as in the first embodiment.

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

[0074] In other words, in the third embodiment, instead of steps S3 to S5 described above, the automated guided vehicle 9 responds to the command signal and moves the load 1 on the load loading surface 3 along the load loading surface 3 to the position of the opening 3a (the upper surface of the door 15).

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

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

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

[0078] A method for receiving luggage using the luggage receiving device 10 according to the fourth embodiment will be described based on Figures 21 and 22. Figures 21 and 22 are plan views showing the luggage receiving device 10. First, in Figure 21, the luggage receiving device 10 is in a standby state. In this standby state, the unmanned aircraft places the luggage 1 on the luggage loading surface 3 which is exposed to the outside. Next, when the presence of this luggage 1 on the luggage loading surface 3 is notified to the control device 33 by means similar to that of the first embodiment, the control device 33 controls the rotation of the arm 45 in the direction indicated by arrow A in Figure 22. The arm 45 moves the luggage 1 along the luggage loading surface 3 to the position of the opening 41c by pushing it, and then moves it together with the arm 45 to a predetermined position in the internal space S. After that, the control device 33 closes the opening 41c with the door 42. After that, the recipient enters the internal space S through an appropriate entrance / exit provided in the outer wall 41a of the structure 41, receives the luggage 1, and exits to the outside with the luggage 1 through the entrance / exit. Subsequently, the package receiving device 10 returns to a standby state, and the above procedure is repeated. The above entrance and exit are provided with doors, which can be locked and unlocked using keys or the like.

[0079] Furthermore, the tip of the arm 45 may be provided with an engaging portion 49 that protrudes in the rotational direction of the arm 45. When the arm 45 is pushing and moving the load 1, if the load 1 attempts to shift away from the axis C6 (radially relative to axis C), the engaging portion 49 engages with the load 1 in that direction. Therefore, it is possible to prevent the load 1 from shifting away from the arm 45 in that direction.

[0080] [Fifth Embodiment] Figure 23 is a plan view showing a package receiving device 10 according to the fifth embodiment of the present invention. Figure 24 is a view taken along the line XXIV-XXIV in Figure 23. Figure 23 is a view taken along the line XXIII-XXIII in Figure 24. The fifth embodiment may be the same as the fourth embodiment in that it is not described below.

[0081] In the fifth embodiment, the first arm 19 of the second embodiment is provided instead of the arm 45 of the fourth embodiment. In addition, two second arms 21 of the second embodiment are provided on the first arm 19. The first arm 19 is rotationally driven around axis C6 by a rotary drive device 47. The second arms 21 are driven (translationally) along the first arm 19 by a device having the same configuration as the second arm drive mechanism 31 of the first embodiment.

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

[0083] A method for receiving luggage using the luggage receiving device 10 according to the fifth embodiment will be explained based on Figures 25 to 27. Figures 25 to 27 are plan views showing the luggage receiving device 10. First, in Figure 25, the luggage receiving device 10 is in a standby state. In this standby state, the two second arms 21 are located at both ends of the first arm 19. In this standby state, the unmanned aircraft places the luggage 1 on the luggage loading surface 3 and wirelessly transmits the identification information of the luggage to the control device 33. Next, upon being notified that the luggage 1 is present on the luggage loading surface 3 by means similar to that of the first embodiment, the control device 33 controls the rotary drive device 47 to rotate the first arm 19 around axis C6 (clockwise in Figure 25) in Figure 25. As a result, the first arm 19 pushes the luggage 1 along the luggage loading surface 3 around axis C6 and moves it to near the end of the luggage loading surface 3, resulting in the state shown in Figure 26.

[0084] Subsequently, the control device 33 moves the two second arms 21 along the first arm 19 (for example, with the first arm 19 stopped) in order to position the package 1 at the radial position of the sorting hole 53 corresponding to the identification information. This positions the two second arms 21 at two set positions flanking the radial position. For example, if the sorting hole 53 corresponding to the identification information is the middle sorting hole 53 in the radial direction, the two second arms 21 are positioned as shown in Figure 27. Then, with the two second arms 21 positioned at the set positions, the control device 33 further rotates the first arm 19 around axis C6. This causes the first arm 19 to push the package 1 and move it to the sorting hole 53 corresponding to the identification information, and the package 1 enters the sorting hole 53. Next, the control device 33 stops the first arm 19 at a position where it has passed through the sorting hole 53 (for example, the standby position shown in Figure 25), and moves the door of the sorting hole 53 to a position that closes the opening of the sorting hole 53.

[0085] Subsequently, the consignee enters the internal space S through the entrance / exit of the structure 41, takes out the package 1 into the sorting hole 53, and exits the internal space S with the package 1 through the entrance / exit. At this time, the consignee may open the door of the sorting hole 53 as follows. The consignee has been notified in advance by the delivery company of the package 1 of authentication information corresponding to the above identification information. The consignee inputs the authentication information into the control device 33 wirelessly by operating a mobile terminal, by operating an appropriate input device in the internal space S, or by other means. As a result, the control device 33 moves the door of the corresponding sorting hole 53 to a position that opens the opening of the sorting hole 53.

[0086] [Sixth Embodiment] Figure 28 is a plan view showing a package receiving device 10 according to the sixth embodiment of the present invention. Figure 29 is a view taken along the line XXIX-XXIX in Figure 28. Note that Figure 29 is a view taken along the line XXVIII-XXVIII in Figure 20.

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

[0088] In the sixth embodiment, the luggage receiving device 10 includes a luggage moving device 9. The luggage moving device 9 includes a rotary table 55 that is rotated around a vertically oriented axis C7, and a rotary drive device 57 that rotates the rotary table 55 around axis C7. A portion of the upper surface of the rotary table 55 serves as the luggage placement surface 3. This portion is moved from outside the luggage receiving device 10 into the internal space S and from the internal space S back to outside the luggage receiving device 10 by the rotation of the rotary table 55 around axis C7.

[0089] The upper surface of the rotating table 55 is separated from the outside and the internal space S of the luggage receiving device 10 (structure) by the outer wall 41a of the structure 41. This outer wall 41a extends vertically upward from the upper surface of the rotating table 55. There may be a small gap between the outer wall 41a and the upper surface of the rotating table 55. Due to the outer wall 41a, part of the upper surface of the rotating table 55 is located outside (i.e., it is the luggage placement surface 3), and the remaining part is located in the internal space S (i.e., it is part of the floor surface F of the internal space S). In addition, openings 41c and 41d are formed in the outer wall 41a, and luggage 1 placed on the luggage placement surface 3 passes through the opening 41c as the rotating table 55 rotates. A door 42 for opening and closing the opening 41c may also be provided. The door 42 may be driven vertically to open and close the opening 41c.

[0090] A method for receiving luggage using the luggage receiving device 10 according to the sixth embodiment will be described with reference to Figures 28 and 29. The unmanned aircraft places the luggage 1 on the luggage placement surface 3 on the rotating table 55. Next, the presence of the luggage 1 on the luggage placement surface 3 is notified to the control device 33 by means similar to that of the first embodiment. The control device 33 controls the rotating table 55 to rotate in the direction indicated by arrow A in Figure 28, causing the luggage 1 on the rotating table 55 to move to the position of the opening 41c in the direction along the luggage placement surface 3 (the direction indicated by arrow A), and then to a predetermined position in the internal space S (for example, the position of the luggage drawn with a dashed line in Figures 28 and 29) by passing through the opening 41c. After that, the opening 41c is closed by the door 42. Then, the recipient enters the internal space S through an appropriate entrance / exit provided in the outer wall 41a of the structure, receives the luggage 1, and exits to the outside with the luggage 1 through the entrance / exit. After that, the luggage receiving device 10 returns to a standby state, and the above procedure is repeated. The above entrances and exits are equipped with doors, which can be locked and unlocked using keys or other means.

[0091] [Seventh Embodiment] Figure 30A is a plan view showing a package receiving device 10 according to the seventh embodiment of the present invention. Figure 30B is a view taken along the line 30B-30B in Figure 30A. Note that Figure 30A is a view taken along the line 30A-30A in Figure 30B.

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

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

[0094] Furthermore, a conveying device 63 is arranged in the internal space S to receive the cargo being transported from the belt conveyor 9. The conveying device 63 may be, for example, a roller conveyor having a plurality of rotationally driven rollers 63a.

[0095] In the outer wall 41a, an opening 41c is provided in the portion located between the belt conveyor 9 and the transport device 63 for passing the cargo 1 through. A door 42 for opening and closing the opening 41c may also be provided. The door 42 may be driven vertically to open and close the opening 41c.

[0096] Furthermore, the conveying device 63 transports the cargo 1 from the internal space S to an external location different from the belt conveyor 9. In the example shown in Figure 30A, the conveying device 63 transports the cargo 1 from the internal space S to another conveying device 65 (e.g., a belt conveyor) located outside the structure 41. In addition, an opening 41d for the cargo 1 to pass through is provided in the outer wall 41a in the portion located between the conveying device 63 and the other conveying device 65. A door 67 may also be provided to open and close the opening 41d. The door 67 may be driven vertically to open and close the opening 41d.

[0097] A method for receiving luggage using the luggage receiving device 10 according to the seventh embodiment will be explained with reference to Figures 30A and 30B. The unmanned aircraft places luggage 1 on the luggage placement surface 3 on the upper surface of the endless belt. Next, when the presence of luggage 1 on the luggage placement surface 3 is notified to the control device 33 by means similar to that of the first embodiment, the control device 33 controls the rotation of the rotating wheel 59, causing luggage 1 to move to the position of the opening 41c, and further to pass through the opening 41c and move into the internal space S as indicated by arrow A in Figure 30B. In the example of Figure 30B, the luggage is moved to a position on the conveying device (roller conveyor) in the internal space S (the position of the luggage drawn by the dashed line in this figure). After that, the control device 33 controls the opening 41c to be closed by the door 42. Note that the opening 41d is closed.

[0098] Subsequently, when the consignee approaches the opening 41d outside the structure 41 and enters authentication information into, for example, an input device (not shown), the door 67 opens the opening 41d, and the two transport devices 63 and 65 operate, transferring the cargo 1 in the internal space S to the transport device 65. The consignee receives the cargo 1 on the transport device 65.

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

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

[0101] As the lifting section 71 is raised and lowered, the cargo loading surface 3 (i.e., the belt conveyor) is raised and lowered between a raised height that allows the unmanned aircraft to place the cargo 1 and a lowered height that is lower than the raised height in the internal space S. That is, by positioning the cargo loading surface 3 at the raised height, it is exposed to the outside so that the unmanned aircraft can place the cargo 1 on the cargo loading surface 3. In Figure 31A, the cargo loading surface 3 is at the raised height, and Figure 31B shows the state in Figure 31A where the cargo loading surface 3 has been moved from the raised height to the lowered height. The cargo loading surface 3 at the raised height may be at the same height as the top surface of the roof 41b, or it may be higher than the top surface of the roof 41b (and in some cases, it may be lower than the top surface of the roof 41b).

[0102] Furthermore, a conveying device 75 is arranged in the region including the internal space S to receive cargo being transported from the belt conveyor 69 located at the aforementioned lowered height. The conveying device 75 may be, for example, a belt conveyor or a roller conveyor (a belt conveyor in the example of Figure 31B).

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

[0104] Figure 32 is a view along the line XXXII-XXXII in Figure 31B. As shown in Figure 32, when the conveying device 75 conveys the cargo 1 from the internal space S to the opening 41d, guide members 77 may be provided to guide the cargo 1 to the position of the opening 41d. These guide members 77 are provided on both sides of the opening 41d in a horizontal direction (hereinafter referred to as the orthogonal direction) perpendicular to the conveying direction by the conveying device 75 (to the right in Figure 32), and extend so as the conveying direction is moved from the side of the belt conveyor 69, the cargo approaches the opening 41d in the orthogonal direction. As a result, when the cargo 1 is conveyed in the conveying direction by the conveying device 75, it is guided to the position of the opening 41d by the guide members 77 in the orthogonal direction. Therefore, even if the cargo 1 is misaligned from the opening 41d in the orthogonal direction, it will automatically pass through the opening 41d when conveyed by the conveying device 75.

[0105] A method for receiving luggage using the luggage receiving device 10 according to the eighth embodiment will now be described. First, with the luggage loading surface 3 at the raised height as shown in Figure 32, the unmanned aircraft places the luggage on the luggage loading surface 3 (the upper surface of the endless belt 69b). Next, when the presence of this luggage 1 on the luggage loading surface 3 is notified to the control device 33 by means similar to that of the first embodiment, the lifting unit 71 is lowered to the lowered height under the control of the control device 33. As a result, the luggage 1 on the luggage loading surface 3 moves (descends) through the opening 41c into the internal space S. Next, under the control of the control device 33, with the luggage loading surface 3 at the lowered height, the rotating wheel 69a is driven to rotate, and the luggage 1 is handed over to the conveying device 75 as shown by arrow A in Figures 31B and 32. At this time, the conveying device 75 may operate to receive the luggage 1 (for example, if the conveying device 75 is a belt conveyor, its endless belt is driven to rotate). The opening 41d is closed.

[0106] Subsequently, when the consignee approaches the opening 41d of the structure 41 from outside the structure 41 and inputs authentication information, etc., into an input device (not shown), the door 67 moves to a position that opens the opening 41d, and the transport device 75 transports the package 1 to the outside of the structure 41 through the opening 41d, as shown by arrow B in Figures 31B and 32. The consignee receives the package 1.

[0107] [Configuration for prohibiting landings based on weather conditions] Figure 33A shows an example configuration 1 of a system in which the baggage receiving device 10 communicates with the unmanned aircraft 2 or the control device 85 of the unmanned aircraft 2 based on weather values. Here, the baggage receiving device 10 may be any of the baggage receiving devices 10 described in the first to eighth embodiments above.

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

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

[0110] The determination device 83 determines whether the weather values ​​(for example, the wind speed mentioned above) obtained by the weather value acquisition device 81 are within an acceptable range. This determination may be made each time weather values ​​are measured. If the result of this determination is negative, the determination device 83 transmits a prohibition signal prohibiting the unmanned aircraft 2 from landing on the cargo loading surface 3. At this time, the determination device 83 transmits the prohibition signal to the unmanned aircraft 2 or to the control device 85 of the unmanned aircraft 2, for example, by wireless communication.

[0111] For example, when the unmanned aircraft 2 begins flight to place cargo 1 on the cargo loading surface 3, or during this flight, it transmits a signal to that effect to the determination device 83, for example, via radio communication. When the determination device 83 receives this signal, if the result of the latest determination is negative (for example, if the wind speed exceeds 10 m / s), it transmits a prohibition signal to the unmanned aircraft 2 as a response to this signal. As a result, the unmanned aircraft 2 interrupts its mission to place cargo 1 on the cargo loading surface 3.

[0112] In another example, if the determination device 83 determines that the above determination is negative, it transmits a prohibition signal to the control device 85. Upon receiving the prohibition signal, the control device 85 transmits a signal via radio to the relevant unmanned aircraft 2 to interrupt its mission to place the cargo 1 on the cargo loading surface 3. As a result, the unmanned aircraft 2 interrupts its mission to place the cargo 1 on the cargo loading surface 3.

[0113] The weather values ​​mentioned above are not limited to wind speed, but may include other weather values ​​(e.g., rainfall, snowfall, etc.). In this case, a weather value acquisition device 81 for measuring these other weather values ​​is provided, and other aspects may be the same as described above.

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

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

[0116] 1 Luggage, 2 Unmanned aircraft, 3 Luggage loading surface, 3a Opening, 5 Roof, 7 Outer wall, 7a Luggage exit, 7b Exit door, 8 Lift, 8a Roller, 9 Luggage moving device, 10 Luggage receiving device, 11 Luggage receiving section (pallet), 11a Top surface, 12 Roller, 13 Lifting drive mechanism, 13a Chain, 13b,13c Sprocket, 13d Guide section, 15 Door, 17 Door drive mechanism, 17a Chain, 17b,17c Sprocket, 17d Support rail, 19 First arm, 21 Second arm, 23 First arm drive mechanism, 23a Endless chain, 23b,23c Sprocket, 23d Coupling mechanism, 23d1 First coupling section, 23d2 Second coupling section, 23d3 Guided section, 23e Guide section, 24 Shaft section, 25 Part 1, 26 Part 2, 27 Slit, 28 Opening, 31 Second arm drive mechanism, 31a Endless chain, 31b, 31c Sprocket, 31d Connecting mechanism, 31d1 First connecting part, 31d2 Second connecting part, 31d3 Guided part, 31e Guide part, 31e1, 31e2 Rail, 33 Control device, 35 Wall, 37 Drive rim, 39 Arm part, 41 Structure, 41a Outer wall, 41b Roof, 41c Opening, 41d Opening, 42 Door, 43 Luggage moving device, 45 Arm, 47 Rotary drive device, 49 Engaging part, 53 Partition hole, 55 Rotary table, 57 Rotary drive device, 59 Rotating wheel, 61 Endless belt, 63 Conveying device, 63a Roller, 65 Conveying device, 67 Door, 69 Belt conveyor, 69a Rotating wheel, 69b Endless belt, 71 Lifting unit, 73 Drive unit, 75 Conveying device, 77 Guide member, 81 Weather value acquisition device, 83 Judgment device, 85 Control device, 87 Weather data source, S Internal space, P Storage space, F Floor

Claims

1. A baggage receiving device having a baggage receiving surface that is exposed to the outside or can be exposed so that an unmanned aircraft can place baggage on it, and a plurality of internal spaces for storing baggage, Each of the aforementioned openings leading from the outside to each internal space is formed therein. A luggage moving device for moving luggage placed on the luggage surface into the internal space through the opening, Doors that open and close each of the aforementioned openings, The system comprises the aforementioned luggage moving device and a control device that controls the operation of each door. The control device is When an unmanned aircraft places luggage on the luggage loading surface, the identification information of the luggage is received from the unmanned aircraft. The luggage moving device is operated to move the luggage into the internal space through the opening in the internal space corresponding to the identification information. Next, close the opening in the internal space corresponding to the identification information. A package receiving device that, when authentication information corresponding to the identification information is input by the recipient, controls the operation of the door to open the opening in the internal space corresponding to the identification information.

2. The luggage receiving device according to claim 1, wherein an unmanned aircraft can land on the luggage loading surface.

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