Unmanned aerial vehicle management system and program

Abstract

To reduce the operational costs associated with transporting container boxes. [Solution] The unmanned aerial vehicle management device of the embodiment comprises a storage unit and a control unit. The storage unit stores container box management information for each of a plurality of container boxes, including the planar coordinates of the storage compartment of the container box in a storage area having a plurality of storage compartments with defined planar coordinates, and identification information and quantity that identify the articles stored in the container box. The control unit controls an unmanned aerial vehicle configured to fly and transport the container boxes. In response to a work request for the storage and / or retrieval of articles, which includes at least identification information of the articles to be stored and / or retrieved from the container box, the control unit searches for the target container box to be worked on based on the identification information and the container box management information, and causes the unmanned aerial vehicle to transport the searched target container box from the storage compartment to the work execution area where the work will be performed.

Description

Technical Field

[0001] Embodiments relate to an unmanned aircraft management device and a program.

Background Art

[0002] A drone is an unmanned aircraft capable of autonomous flight. In recent years, drones have been used in various applications.

[0003] As one method of using such a drone, for example, as disclosed in Patent Document 1, it may be used to transport a container box stored in a warehouse. Such a drone can eliminate the need for an operator to patrol the warehouse for picking. As a result, the drone can suppress the working cost required for transporting the container box.

[0004] In such an automatic transport system, it is necessary to notify the drone of the transport start position where the container box to be transported is placed and the transport end position which is the destination position of the container box. The position of the container box and information about its stored items can be managed by a management device. However, when performing the work of taking in and out items from the container box, the operator has to view the managed information, determine the container box to be transported according to the type and quantity of the items to be worked on, and set the transport start position and the transport end position for the drone.

[0005] Therefore, even if the working cost required for the transport work of the container box itself can be suppressed, since the working cost required for the setting work of the drone related to the transport is incurred, from the perspective of the overall working cost of the transport, the suppression is still insufficient.

Prior Art Documents

Patent Documents

[0006]

Patent Document 1

Summary of the Invention

[0007] The present invention was made to solve the above problems and aims to provide an unmanned aerial vehicle management device and program that can reduce the operational costs associated with transporting container boxes. [Means for solving the problem]

[0008] The unmanned aerial vehicle management device of this embodiment comprises a storage unit and a control unit. The storage unit stores container box management information for each of a plurality of container boxes, including the planar coordinates of the storage compartment of the container box in a storage area having a plurality of storage compartments with defined planar coordinates, and identification information and quantity that identify the articles stored in the container box. The control unit controls an unmanned aerial vehicle configured to fly and transport the container boxes. In response to a work request for the storage and / or retrieval of articles, which includes at least identification information of the articles to be stored and / or retrieved from the container box, the control unit searches for the target container box to be worked on based on the identification information and the container box management information, and causes the unmanned aerial vehicle to transport the searched target container box from the storage compartment to the work execution area where the work will be performed. [Brief explanation of the drawing]

[0009] [Figure 1] Figure 1 is a schematic diagram showing an example of the overall configuration of a transport system equipped with an unmanned aircraft management device according to the first embodiment. [Figure 2] Figure 2 is a schematic diagram showing an example of how the transport system can be used. [Figure 3] Figure 3 is a perspective view showing an example of the shape of a container box according to the first embodiment. [Figure 4] Figure 4 is a plan view showing an example of the configuration of the top surface of a container box. [Figure 5] Figure 5 is a schematic diagram showing an example of the planar coordinates of a container box storage area in a drone-dedicated warehouse area according to the first embodiment. [Figure 6] Figure 6 is a plan view showing an example of the state of a storage area before and after the storage of container boxes. [Figure 7] Figure 7 is a block diagram showing an example of the hardware configuration of an unmanned aerial vehicle management system. [Figure 8] Figure 8 is a block diagram showing an example of a program stored in the ROM of an unmanned aerial vehicle management device. [Figure 9] Figure 9 is a block diagram showing an example of the functional configuration of an unmanned aerial vehicle management system. [Figure 10] Figure 10 shows an example of the database record structure of box information stored in the storage of the unmanned aerial vehicle management device. [Figure 11] Figure 11 shows an example of the database record structure of component information stored in the storage of an unmanned aerial vehicle management device. [Figure 12] Figure 12 is a front view showing an example of the external appearance of an unmanned aerial vehicle according to the first embodiment. [Figure 13] Figure 13 is a bottom view showing an example of the external appearance of an unmanned aerial vehicle. [Figure 14] Figure 14 is a block diagram showing an example of the hardware configuration of an unmanned aerial vehicle. [Figure 15] Figure 15 is a block diagram showing an example of a program stored in the ROM of an unmanned aerial vehicle. [Figure 16] Figure 16 is a block diagram showing an example of the functional configuration of an unmanned aerial vehicle. [Figure 17] Figure 17 is a flowchart showing an example of a landing sequence for an unmanned aerial vehicle. [Figure 18] Figure 18 is a flowchart showing an example of a takeoff sequence for an unmanned aerial vehicle. [Figure 19] Figure 19 is a front view showing the relationship between the open-position holding jig and the container box when the unmanned aerial vehicle is in a landing state. [Figure 20] Figure 20 is a front view showing the relationship between the closed holding jig and the container box in the landing state of the unmanned aerial vehicle. [Figure 21]FIG. 21 is a side view showing the relationship between the closed state holding jig and the container box in the landing state of the unmanned aerial vehicle. [Figure 22] FIG. 22 is a front view showing the detailed positional relationship between the closed state holding jig and the container box in the landing state of the unmanned aerial vehicle. [Figure 23] FIG. 23 is a front view showing the detailed positional relationship between the closed state holding jig and the container box in the flight state of the unmanned aerial vehicle. [Figure 24] FIG. 24 is a flowchart showing an example of a box management sequence in the unmanned aerial vehicle management device. [Figure 25] FIG. 25 is the first part of a flowchart showing an example of the processing sequence of the component storage process in the box management sequence of FIG. 24. [Figure 26] FIG. 26 is the second part of a flowchart showing an example of the processing sequence of the component storage process in the box management sequence of FIG. 24. [Figure 27] FIG. 27 is a schematic diagram showing an example of the plane coordinates of the storage section in the drone dedicated warehouse area where the container box for component storage before component storage is stored and the storage section for storing the container box for component storage after component storage. [Figure 28] FIG. 28 is a diagram showing the stored content of the record of the database of box information for the container box before component storage in the example of FIG. 27. [Figure 29] FIG. 29 is a diagram showing an example of the stored content of the record of the database of box information for the container box for component storage after component storage. [Figure 30] FIG. 30 is a schematic diagram showing the drone dedicated warehouse area where the container box for component storage after component storage in the example of FIG. 27 is stored. [Figure 31] FIG. 31 is a schematic diagram showing an example of the plane coordinates of the drone dedicated warehouse area when two container boxes for component storage are stored in different storage sections before and after component storage respectively. [Figure 32]Figure 32 shows an example of the contents of the database records of the box information before the parts are stored for two container boxes intended for storing parts, as in the example in Figure 31. [Figure 33] Figure 33 is a schematic diagram showing the drone-dedicated warehouse area where the first container box for storing parts is located after parts have been stored, as in the example shown in Figure 31. [Figure 34] Figure 34 shows an example of the contents of the database records for the box information of the two component storage container boxes in the situation shown in Figure 33. [Figure 35] Figure 35 is a schematic diagram showing the drone-dedicated warehouse area where the second container box for storing parts is located, as in the example shown in Figure 31. [Figure 36] Figure 36 shows an example of the contents of the database records for the box information of the two component storage container boxes in the situation shown in Figure 35. [Figure 37] Figure 37 is the first part of a flowchart showing an example of the processing sequence for the parts removal process in the box management sequence of Figure 24. [Figure 38] Figure 38 is the second part of a flowchart showing an example of the processing sequence for the parts removal process in the box management sequence of Figure 24. [Figure 39] Figure 39 shows an example of the contents of a database record of box information before parts are removed from a container box targeted for parts removal. [Figure 40] Figure 40 is a schematic diagram showing an example of planar coordinates between a storage area in a drone-dedicated warehouse where container boxes for parts to be removed are stored before parts are removed, and a storage area where the container boxes for parts to be removed are stored after parts have been removed. [Figure 41] Figure 41 shows an example of the contents of a database record of box information after parts have been removed from a container box from which parts have been extracted. [Figure 42] Figure 42 shows an example of the contents of a database record of box information before parts are removed for two container boxes from which parts are to be removed. [Figure 43]Figure 43 is a schematic diagram showing an example of the planar coordinates of a drone-dedicated warehouse area when two container boxes for parts extraction are stored in different storage areas before and after parts extraction. [Figure 44] Figure 44 shows an example of the contents of a database record of box information after parts have been removed for two container boxes from which parts were extracted. [Figure 45] Figure 45 is the first part of a flowchart showing an example of the processing sequence for garbage collection in the box management sequence of Figure 24. [Figure 46] Figure 46 is the second part of a flowchart showing an example of the processing sequence for garbage collection in the box management sequence of Figure 24. [Figure 47] Figure 47 is the second part of a flowchart showing an example of the processing sequence for garbage collection in the box management sequence of Figure 24. [Figure 48] Figure 48 shows an example of the contents of the database records of container information before garbage collection for two container boxes targeted for garbage collection. [Figure 49] Figure 49 is a schematic diagram showing an example of the planar coordinates of a drone-dedicated warehouse area when two garbage collection target container boxes are stored in different storage areas before and after garbage collection. [Figure 50] Figure 50 shows an example of the contents of the database records of container information after garbage collection for two garbage collection target container boxes. [Figure 51] Figure 51 is a flowchart showing an example of a proximity avoidance sequence between the unmanned aerial vehicle management system and each unmanned aerial vehicle. [Figure 52] Figure 52 is a schematic diagram showing an example of the planar coordinates of the initial storage area and the modified storage area in the drone-dedicated warehouse area of ​​the container box, based on the proximity avoidance sequence in Figure 51. [Figure 53]Figure 53 shows an example of the contents of the database records of the container information before and after the coordinate change of the storage compartment for the container box in the example shown in Figure 52. [Figure 54] Figure 54 is a flowchart showing an example of a processing sequence for component storage in an unmanned aircraft management device according to the second embodiment. [Figure 55] Figure 55 is a perspective view showing an example of the shape of a container box according to the first modified example. [Figure 56] Figure 56 is a side view showing the relationship between the closed holding jig and the container box in the landing state of the unmanned aerial vehicle according to the first modified example. [Figure 57] Figure 57 is a perspective view showing an example of the shape of a container box according to the second modified example. [Figure 58] Figure 58 is a side view showing the relationship between the closed-state holding jig and the container box in the landing state of the unmanned aerial vehicle according to the second modified example. [Figure 59] Figure 59 is a front view showing the relationship between the open-position holding jig and the container box in the landing state of the unmanned aerial vehicle according to the third modified example. [Modes for carrying out the invention]

[0010] Each embodiment will be described below with reference to the drawings. Each embodiment illustrates an apparatus or method for realizing the technical idea of ​​the invention. The drawings referred to below are schematic or conceptual. The dimensions and proportions shown in each drawing are not necessarily the same as those of reality. In this specification, components with the same reference numerals indicate that they have substantially the same function and configuration.

[0011] <1> First Embodiment The first embodiment relates to a transport system 1 comprising an unmanned aerial vehicle, referred to as a drone, capable of transporting container boxes on a flat floor. Details of the transport system 1 according to the first embodiment are described below.

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

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

[0014] The management device 10 is an unmanned aerial vehicle management device according to the first embodiment. The management device 10 may be, for example, a terminal such as a PC (Personal Computer) that has the function of wirelessly communicating with the unmanned aerial vehicle 20. The management device 10 manages the locations of multiple container boxes CB and the contents stored in them. 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 transport system 1 may use a device for managing the locations of the container boxes CB and a device for giving instructions to the unmanned aerial vehicle 20 as the management device 10.

[0015] The unmanned aerial vehicle 20 is a drone with 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 described as a "transportation device" that has the function of transporting the container box CB. The unmanned aerial vehicle 20 for outdoor use has the function of autonomous flight based on information from, for example, GPS (Global Positioning System). The unmanned aerial vehicle 20 for indoor use has the function of autonomous flight based on information from, for example, a camera. The unmanned aerial vehicle 20 has a battery as its power source.

[0016] The container box CB is a standard-sized, box-shaped storage container for goods based on the design of the unmanned aerial vehicle 20. When using the transport system 1, the maximum weight of the container box CB containing parts and other goods is based on the weight that the unmanned aerial vehicle 20 can transport. In other words, the maximum weight of the container box CB containing parts and other goods changes according to the performance of the unmanned aerial vehicle 20. The material of the container box CB may be cardboard or plastic.

[0017] <1-1-2> How to use the transport system 1 Before describing the specific configuration of each component of the transport system 1, we will first describe an example of how to use the transport system 1 according to the first embodiment. In the following, it will be assumed that the container box CB is configured to store the component PA. The unmanned aerial vehicle 20 according to the first embodiment can fly while holding the container box CB containing the component PA.

[0018] Figure 2 is a schematic diagram showing an example of how to use the transport system 1 according to the first embodiment. As shown in Figure 2, a facility such as a factory that uses the transport system 1 according to the first embodiment has, for example, a drone waiting area ARa, a drone-dedicated warehouse area ARb, a drone takeoff and landing area ARc, an operator work area ARd, and a collection area ARe.

[0019] The drone standby area ARa includes a floor, landing pad, etc., on which one or more unmanned aerial vehicles 20 can wait. In the drone standby area ARa, the structure of the place where the unmanned aerial vehicles 20 wait is suitable for the configuration of the unmanned aerial vehicles 20. For example, in the drone standby area ARa, the unmanned aerial vehicles 20 may be placed on a flat floor or on a non-flat structure (landing pad). The drone standby area ARa may have chargers for charging the waiting unmanned aerial vehicles 20. Chargers may be provided exclusively for each unmanned aerial vehicle 20, or there may be any number of chargers in the drone standby area ARa that is less than the number of unmanned aerial vehicles 20. Chargers may also be located in a place other than the drone standby area ARa. The unmanned aerial vehicles 20 waiting in the drone standby 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 operations based on instructions from the control device 10, the unmanned aerial vehicle 20 returns to, for example, the drone standby area ARa and waits. If necessary, the unmanned aerial vehicle 20's battery is also charged by the charger.

[0020] The drone-dedicated warehouse area ARb includes a floor, landing pad, etc., on which multiple container boxes CB can be placed. The drone-dedicated warehouse area ARb has defined planar coordinates, i.e., 2D coordinates, for the storage area where multiple container boxes CB should be placed. The management device 10 can manage the position of each container box CB using these planar coordinates. In the drone-dedicated warehouse area ARb, the structure of the place where the container boxes CB are placed is suitable for the combination of configurations of the unmanned aerial vehicle 20 and the container boxes CB. In other words, in the drone-dedicated warehouse area ARb, the container boxes CB may be placed on a flat floor or on a non-planar structure (landing pad). Furthermore, human entry is prohibited in the drone-dedicated warehouse area ARb. The unmanned aerial vehicle 20 flying in the drone-dedicated warehouse area ARb may operate to make an emergency landing if a person enters the drone-dedicated warehouse area ARb. This ensures the safety of people.

[0021] The drone landing area ARc includes a landing port DAP. The landing port DAP is the destination for the takeoff and landing of the unmanned aerial vehicle 20 in the drone landing area ARc. The structure of the landing port DAP is adapted to the combination of the configuration of the unmanned aerial vehicle 20 and the container box CB. That is, in the landing port DAP, the container box CB may be placed on a flat floor or on a non-flat structure (landing platform). The unmanned aerial vehicle 20, in response to instructions from the control device 10, holds the container box CB on the landing port DAP and transports it to its destination in the drone-dedicated warehouse area ARb. Also, the unmanned aerial vehicle 20, in response to instructions from the control device 10, holds the target container box CB in the drone-dedicated warehouse area ARb and transports it to the landing port DAP in the drone landing area ARc.

[0022] The operator work area ARd is the area where the operator OP works. The operator OP operates the management device 10 to manage the parts PA to be stored in the container boxes CB. The operator OP can identify the parts PA, for example, by their part code. The management device 10 can determine the part code of the parts PA by reading the barcode of the parts PA with a barcode reader. The management device 10 can automatically manage the location and remaining number of container boxes CB that store the parts PA. In response to a parts retrieval request presented to the management device 10, the operator OP transports the container boxes CB that have been transported to the landing port DAP in the drone landing area ARc to the operator work area ARd. The operator OP also transports the container boxes CB containing the parts PA to the landing port DAP in the drone landing area ARc before the management device 10 sends a completion signal to the unmanned aircraft 20. The operator OP can put parts PA in and take them out of the container boxes CB. Furthermore, the operator (OP) can have a ground-based automated guided vehicle (AGV) transport parts (PA) between the operator's work area (ARd) and the collection area (ARe).

[0023] The collection area ARe is the collection point for parts PA. There may be multiple collection areas ARe. In this case, the operator OP instructs the ground-based automated guided vehicle (AGV) to transport the parts PA to the collection area ARe corresponding to the destination. The entity transporting the container box CB between the drone landing / deployment area ARc and the operator work area ARd may be something other than a human. Similarly, the entity transporting the parts PA between the operator work area ARd and the collection area ARe may be something other than a ground-based automated guided vehicle (AGV).

[0024] Note that this example illustrates the case where there is one operator OP. Of course, there may be multiple operators OP. In that case, each operator OP operates an operator terminal that can communicate with the management device 10. The operator terminal includes, for example, a barcode reader for reading the barcode of the component PA and an input / output device such as a touch panel that serves as a user interface between the operator OP and the management device 10. Furthermore, when there are multiple operators OP, the drone takeoff and landing areas ARc may be provided for each operator OP, or one drone takeoff and landing area ARc may be shared by several operators OP. Also, multiple drone takeoff and landing areas ARc may be provided for a single operator OP.

[0025] <1-1-3> Container Box CB Configuration Figure 3 is a perspective view showing an example of the shape of a container box CB according to the first embodiment. As shown in Figure 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 "end surfaces EP". The sides 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".

[0026] The top surface TP of the container box CB is openable and closable. When the container box CB is open, the person who puts parts or other items into and out of the container box CB is, for example, a person. The top surface TP of the container box CB may have a configuration that allows it to be fixed with magnets or the like. Such magnets or the like can prevent the top surface TP of the container box CB from opening during transport.

[0027] 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 include, for example, four legs LP located at each of the four corners of the bottom surface BP. When the container box CB is placed on the floor, each leg LP is in 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 lifted off the floor.

[0028] In this specification, the front view, side view, perspective view, and top view each represent a Cartesian coordinate system based on the container box CB. The X direction corresponds to the direction parallel to the side SP and bottom BP of the container box CB. The Y direction corresponds to the direction parallel to the toe EP and bottom BP of the container box CB. The Z direction corresponds to the direction parallel to the toe EP and side SP of the container box CB (height direction).

[0029] Figure 4 is a plan view showing an example of the configuration of the top surface TP of a container box CB according to the first embodiment. As shown in Figure 4, the top surface TP of the container box CB displays, for example, a first position symbol PSa, a second position symbol PSb, a barcode 320, and a serial number 330. The first position symbol PSa includes, for example, position symbols 301 to 304. The second position symbol PSb includes, for example, position symbols 311 to 316.

[0030] The first position symbol PSa and the second position symbol PSb are identification symbols used to recognize the container box CB from above. The distance at which the unmanned aerial vehicle 20 can recognize the first position symbol PSa is greater than the distance at which the unmanned aerial vehicle 20 can recognize the second position symbol PSb. Furthermore, 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, as the unmanned aerial vehicle 20 approaches the container box CB, it changes the position symbol used to adjust its landing position from the first position symbol PSa to the second position symbol PSb.

[0031] The position symbols 301 to 304 of the first position symbol PSa are, for example, located at the four corners of the top surface TP of the container box CB. The shape of each of the position symbols 301 to 304 is, for example, a rectangle. The shapes of the position symbols that make up the first position symbol PSa may be other shapes. In the first position symbol PSa, in order for the unmanned aircraft 20 to identify the orientation of the container box CB, position symbols 301 to 304 include position symbols (for example, position symbol 304) that have a different color or shape from the other position symbols.

[0032] The position symbols 311-316 of the second position symbol PSb are located, for example, inside the first position symbol PSa. Each of the position symbols 311-314 is, for example, L-shaped. Each of the position symbols 315 and 316 is, for example, T-shaped. The shapes of the position symbols that make up the second position symbol PSb may be other shapes. The position symbols 311-314 are inside the first position symbol PSa and surround the central part of the top surface TP of the container box CB. Position symbol 315 is located between position symbols 311 and 314. Position symbol 316 is located between position symbols 312 and 313. In the second position symbol PSb, in order for the unmanned aerial vehicle 20 to identify the orientation of the container box CB, position symbols 311-316 include position symbols (for example, position symbol 314) that are different in color or shape from the other position symbols.

[0033] Barcode 320 and serial number 330 are located near the second position symbol PSb. Preferably, the positions of barcode 320 and serial number 330 are such that they are within the field of view of the camera when the camera on the unmanned aerial vehicle 20 acquires an image of the second position symbol PSb. For example, the serial number obtained by reading barcode 320 is the same as the serial number 330. Alternatively, a barcode with a box number may be attached near the second position symbol PSb. The first position symbol PSa and the second position symbol PSb may each be called a "landing marker". The first position symbol PSa may be called an "outer symbol". The second position symbol PSb may be called an "inner symbol". The serial number 330 portion may indicate other information.

[0034] <1-1-4> Configuration of the drone-dedicated warehouse area ARB Figure 5 is a schematic diagram showing an example of the planar coordinates of the storage compartments 401 of container boxes CB in the drone-dedicated warehouse area ARb according to the first embodiment. Here, the planar coordinates are expressed in (A1) format, but there is no particular limitation to the (x1, y1) format, etc. Also, Figure 5 assumes that the drone-dedicated warehouse area ARb has 10 × 10 storage compartments 401, but the number of rows and columns is not limited to this, and of course the number of rows and columns do not have to be equal.

[0035] Figure 6 is a plan view showing an example of the state of container boxes CB before and after storage in storage compartment 401. As shown in Figure 6, storage compartment 401 has storage position markers 403, barcodes 420, and coordinate values ​​430 on the floor surface 402. The storage position markers 403 include a cross-shaped position symbol 411 and a double-ring-shaped position symbol 412.

[0036] The cross-shaped position symbol 411 and the double-ring type position symbol 412 are identification symbols that allow the unmanned aerial vehicle 20 to recognize the storage compartment 401 from above. Specifically, the cross-shaped position symbol 411 is formed as line segments of different colors vertically and horizontally. These colors are different from those of the floor surface 402. The two line segments of the cross-shaped position symbol 411 intersect perpendicularly, and each line segment is positioned parallel to each axis of the planar coordinate system. This allows the unmanned aerial vehicle 20 flying overhead to determine the direction of its flight based on the direction of extension of each line segment of the cross-shaped position symbol 411, using images acquired by the camera installed on the unmanned aerial vehicle 20. The double-ring type position symbol 412 is formed as two concentric rings centered on the intersection of the line segments of the cross-shaped position symbol 411. The two rings may be the same color, but they are different from the colors of the floor surface 402 and each line segment of the cross-shaped position symbol 411. The barcode 420 and coordinate value 430 are placed within the inner ring of the double-ring type position symbol 412. For example, the coordinate value obtained by reading the barcode 420 is the same as the coordinate value 430. The coordinate value 430 represents the planar coordinate of the storage compartment 401 in the drone-dedicated warehouse area ARb. For example, "C-3" shown in Figure 6 represents the planar coordinate (C3). An unmanned aerial vehicle 20 flying overhead can determine its position within the drone-dedicated warehouse area ARb based on the barcode 420 or coordinate value 430 from the image acquired by the camera equipped on the unmanned aerial vehicle 20. Therefore, the unmanned aerial vehicle 20 can calculate a vector to the flight destination based on this determined position and the flight direction determined based on the cross-shaped position symbol 411.

[0037] Furthermore, it is desirable that the size of the floor surface 402 of the storage compartment 401 be larger than the projection area of ​​the unmanned aerial vehicle 20 onto the floor surface 402. At a minimum, it is necessary that the projection area of ​​the landed unmanned aerial vehicle 20 onto the floor surface 402 does not overlap with the container box CB placed in the adjacent storage compartment 401. In this embodiment, assuming that the container box CB is placed in the center of the floor surface 402 of the storage compartment 401 as shown in Figure 6, the size of the storage position marker 403 and the storage compartment 401 are designed so that the container box CB does not extend beyond the inner ring of the double-ring type position symbol 412. In this way, even when the container box CB is stored, the cross-shaped position symbol 411 can be confirmed from above, and the use of the cross-shaped position symbol 411 for calculating the vector to the flight objective in the autonomous flight of the unmanned aerial vehicle 20 is not hindered. The outer ring may represent the maximum distance from the center of the projection area of ​​the unmanned aerial vehicle 20 onto the floor surface 402.

[0038] Depending on the camera's placement, the autonomously flying unmanned aerial vehicle 20 may not be able to use the camera that photographs downwards when transporting the container box CB. In such cases, it flies to the destination storage compartment 401 according to the autonomous flight route and temporarily stores the container box CB in the storage compartment 401. After that, it hovers and photographs downwards with the camera to determine the positional deviation of the container box CB relative to the storage position marker 403, and then stores the container box CB in its correct position.

[0039] <1-1-5> Configuration of the control device 10 Figure 7 is a block diagram showing an example of the hardware configuration of a management device 10 as an unmanned aerial vehicle management device according to the first embodiment. As shown in Figure 7, the management device 10 according to the first embodiment includes, for example, a CPU (Central Processing Unit) 11, ROM (Read Only Memory) 12, RAM (Random Access Memory) 13, a communication device 14, storage 15, a display 16, and an input interface 17.

[0040] 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 programs stored in the ROM 12 include the unmanned aerial vehicle management program according to the first embodiment. The RAM 13 is, for example, a volatile semiconductor memory. The RAM 13 functions, for example, as a workspace for programs executed by the CPU 11. The communication device 14 is a circuit that has the function of sending and receiving data to and from external devices. The communication device 14 can communicate wirelessly with the unmanned aerial vehicle 20 by sending and receiving wireless signals via an antenna.

[0041] Storage 15 is a non-volatile storage device. Storage 15 stores, for example, application software for the management device 10, application data, system software, etc. The unmanned aerial vehicle management program according to the first embodiment may be stored in storage 15 as application software and then loaded into RAM 13 for use when executed by the CPU 11. Display 16 can display characters, images, etc. Display 16 can display, for example, a GUI (Graphical User Interface) corresponding to the application software. Input interface 17 is a device for operating the management device 10 and inputting information into the management device 10. Input interface 17 is, for example, a keyboard, mouse, barcode reader, etc.

[0042] Figure 8 is a block diagram showing an example of a program stored in the ROM 12 of the management device 10 according to the first embodiment. As shown in Figure 8, the ROM 12 stores, for example, a box management program 121 and a transport instruction program 122 as the unmanned aerial vehicle management program according to the first embodiment. The box management program 121 is a program for managing the position coordinates of the container box CB in the drone-dedicated warehouse area ARb. The box management program 121 can manage the correspondence between parts PA and container boxes CB. 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 instructions for the container box CB include, for example, information on the source of transport of the container box CB and information on the destination of transport of the container box CB.

[0043] Although not specifically shown in the diagram, ROM12 may also store an unmanned aerial vehicle management program, including an emergency response program. The emergency response program is a program for determining how to handle the situation if an abnormality occurs during the transport of the unmanned aerial vehicle 20. Abnormality detection may be performed by either the management device 10 or the unmanned aerial vehicle 20.

[0044] Figure 9 is a block diagram showing an example of the functional configuration of the management device 10 according to the first embodiment. As shown in Figure 9, the management device 10 according to the first embodiment includes, for example, a transport management unit 101, a box management unit 102, box information 103, parts information 104, a transport instruction unit 105, and a communication unit 106.

[0045] The transport management unit 101 manages the transport of container boxes CB in the transport system 1. In response to a part storage request, part retrieval request, or garbage collection request from the operator OP, the transport management unit 101 requests the box management unit 102 for the serial number and location information (location coordinates) of the container box CB from which the target part PA will be stored and / or retrieved. A part storage request is a request to store a new part PA in a container box CB and then store the container box CB containing the part PA in the drone-dedicated warehouse area ARb. In this embodiment, storing a part PA in a container box CB means newly storing a part PA in a container box CB that is currently empty. A part retrieval request is a request to retrieve a part PA from a container box CB that contains a part PA and is stored in the drone-dedicated warehouse area ARb. A garbage collection request is a request to consolidate identical part PAs, which are distributed and stored in two container boxes CB in the drone-dedicated warehouse area ARb, into one container box CB. In other words, a garbage collection request is a request to remove a component PA from one container box CB and store that removed component PA in another container box CB. The transport management unit 101 outputs the serial number and location information of the container box CB obtained from the box management unit 102 to the transport instruction unit 105.

[0046] The box management unit 102 is a functional block based on the box management program 121. The box management unit 102 accesses box information 103 and part information 104 in response to requests from the transport management unit 101. Here, box information 103 and part information 104 are databases configured in storage 15.

[0047] Figure 10 shows an example of the database record structure of box information 103. As shown in Figure 10, each record of box information 103 is associated with a box number, which is a serial number that uniquely identifies the container box CB, and includes information such as partition coordinates, content attributes, part number, and quantity. The partition coordinates are the coordinates of the storage partition 401 in the drone-dedicated warehouse area ARb where the container box CB indicated by the box number is stored. The content attributes are attributes that indicate the type of part PA stored in the container box CB, such as "small nut". The part number is a part code that uniquely identifies the part PA stored in the container box CB. The quantity is the number of part PAs stored in the container box CB.

[0048] Figure 11 shows an example of the database record structure of part information 104. As shown in Figure 11, each record of part information 104 is associated with a part number, which is a part code used to uniquely identify a part PA, and includes information on attributes, volume, weight, and box number. The attribute is an attribute that indicates the type of part PA indicated by the part number. This attribute corresponding to the part number is read and stored as a content attribute of the box information 103. The volume and weight are values ​​per unit number of part PA. Part PAs may be managed by being boxed individually, or, like small parts, they may be managed by being bagged in units of 12, for example. The unit number indicates the number of units in this management unit. The box number is the serial number of the container box CB in which the part PA of the part number is stored, and may include more than one serial number.

[0049] The box management unit 102 identifies a container box CB that contains a part PA, or a part code, or part number, included in the request from the transport management unit 101, based on the box information 103 or part information 104. In identifying a container box CB that contains a part PA, the box management unit 102 determines the maximum number of parts PAs that can be stored in one container box CB based on the volume and weight of the part PA in the part information 104, and identifies one or more container box CBs based on the result. Then, as a response to the request from the transport management unit 101, the box management unit 102 outputs the box number and compartment coordinates of the identified container box CB to the transport management unit 101.

[0050] The transport instruction unit 105 is a functional block based on the transport instruction program 122. Based on the box number and compartment coordinates of the container box CB obtained from the transport management unit 101, it generates a transport instruction for the container box CB to the unmanned aerial vehicle 20. The transport instruction unit 105 then transmits the generated transport instruction to the unmanned aerial vehicle 20 via the communication unit 106. The transport instruction unit 105 also receives the status of the transport of the container box CB via the communication unit 106. This allows the transport instruction unit 105 to notify the transport management unit 101 that the transport of the container box CB based on a parts retrieval request, parts storage request, or garbage collection request has been completed.

[0051] <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 external 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, a plurality of landing gears 22, and a plurality of holding fixtures 23. The landing gears 22 are mechanisms that support the airframe of the unmanned aerial vehicle 20 when it lands on the floor. The holding fixtures 23 are mechanisms for holding the container box CB. Hereinafter, the state in which the holding fixtures 23 are open will be referred to as the "open state". The state in which the holding fixtures 23 are closed will be referred to as the "closed state". The height of the floor will be referred to as the "floor level FL". The surface (part) on which the landing gears 22 land may also be called the "landing surface".

[0052] The chassis HO houses the control board on which electrical components such as the CPU are mounted, as well as the battery and other components. The chassis HO supports the flight mechanism 21, the landing gear 22, and a plurality of holding jigs 23. The flight mechanism 21 is located, for example, on top of the chassis HO. The flight mechanism 21 is a propulsion system that can generate lift to propel the combined weight of the container box CB containing the components and the unmanned aircraft 20. The flight mechanism 21 has, for example, a plurality of rotors and motors that drive the plurality of rotors.

[0053] The landing gear 22 comprises a plurality of legs 221. The plurality of legs 221 of the landing gear 22 make contact with the floor when the unmanned aircraft 20 is on the floor. In this specification, the portion of each leg 221 that contacts the floor is referred to as the contact area GP. The shape and number of the legs 221 and contact area GPs constituting the landing gear 22 are changeable. For example, the contact area GPs that contact the legs 221 may be plate-shaped. Also, multiple legs 221 may share a single contact area GP.

[0054] Each of the multiple holding fixtures 23 is equipped with an arm 231. The arm 231 is openable and closable to hold and release the container box CB located 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 lowest part of the landing gear 22, regardless of whether the holding fixture 23 is in the open or closed state. That is, the position of each claw portion NP is higher than the floor level FL when the unmanned aerial vehicle 20 is landed. Each claw portion NP supports the bottom surface BP of the container box CB when the holding fixture 23 is in the closed state and the unmanned aerial vehicle 20 is in flight.

[0055] Furthermore, the HO enclosure houses a mechanism for opening and closing multiple arms 231. This mechanism includes, for example, a servo motor and gears. Specifically, the servo motor first receives an opening and closing instruction for the hold jig 23 from a CPU mounted on a control board also located within the HO enclosure. The servo motor then rotates by a predetermined angle based on this instruction. The gears then convert the servo motor's rotation into opening and closing motion for the arms 231. This allows the hold jig 23 to transition between an open state and a closed state. However, the mechanism for opening and closing multiple arms 231 may be any other mechanism.

[0056] Furthermore, the housing HO incorporates a camera 243 that has the function of acquiring images of the surroundings of the unmanned aerial vehicle 20. Camera 241 is located, for example, at the front of the housing HO and photographs the front, which is the flight direction of the unmanned aerial vehicle 20. Cameras 242 and 243 are positioned to photograph the area below the housing HO. For example, camera 242 has a wide-angle lens and is used to detect the first position symbols PSa, PSc and the second position symbols PSb, PSd located on the top surface TP of the container box CB from above when the unmanned aerial vehicle 20 is descending. Camera 243 has a macro lens and is used to read the barcode 320 located on the top surface TP of the container box CB. Camera 242 can also be used to detect the cross-shaped position symbols 411 and coordinate values ​​430 of the storage position markers 403 located in each storage compartment 401 while the drone is flying within the drone-dedicated warehouse area ARb. Auxiliary lights 25 are further positioned around cameras 242 and 243 on the underside of the housing HO. This enables cameras 242 and 243 to take pictures even in dark places. Note that the placement and number of cameras 242 and 243 and auxiliary lights 25 shown in Figure 13 are just examples. For example, the housing HO may be equipped with one camera with a lens switching mechanism instead of the two cameras 242 and 243. The shape of the housing HO can be changed according to the shape of the flight mechanism 21, landing gear 22, and holding jig 23, etc.

[0057] 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, the unmanned aerial vehicle 20 according to the first embodiment includes, in addition to the configuration described above, a CPU 261, ROM 262, RAM 263, communication device 264, and sensor 27. The CPU 261, ROM 262, RAM 263, and communication device 264 can be mounted on a control board 26 inside the housing HO.

[0058] The CPU 261 is an integrated circuit capable of executing various programs. The CPU 261 controls the overall operation of the unmanned aerial vehicle 20. The ROM 262 is, for example, a non-volatile semiconductor memory. The ROM 262 stores programs and control data for controlling the unmanned aerial vehicle 20. The RAM 263 is, for example, a volatile semiconductor memory. The RAM 263 functions, for example, as a workspace for programs executed by the CPU 261. The communication device 264 is a circuit that has the function of sending and receiving data to and from external devices. The communication device 264 can communicate wirelessly with the management device 10 by sending and receiving wireless signals via an antenna. The sensor 27 has the function of acquiring the state and location information of the unmanned aerial vehicle 20. The sensor 27 is, for example, a motion sensor, a GPS receiver, a laser sensor, etc. The unmanned aerial vehicle 20 may be equipped with multiple sensors 27 depending on the information to be acquired.

[0059] Figure 15 is a block diagram showing an example of a program stored in the ROM 262 of the unmanned aerial vehicle 20 according to the third embodiment. As shown in Figure 15, the ROM 262 stores, for example, an autonomous flight control program 2621, a flight route determination program 2622, and a barcode reading program 2623.

[0060] The autonomous flight control program 2621 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 2621. The flight route determination program 2622 is a program for determining the flight route of the unmanned aerial vehicle 20. The flight route determination program 2622 can determine the flight route of the unmanned aerial vehicle 20 based on transport instructions received from the management device 10 and information from sensors 27, etc. For example, the flight route is determined so as to avoid obstacles and ensure safety in the vicinity. The barcode reading program 2623 is a program for reading barcodes. The barcodes to be read are, for example, one-dimensional barcodes and two-dimensional barcodes.

[0061] Figure 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 Figure 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, and a symbol reading unit 208.

[0062] The communication unit 201 receives transport instructions from the management device 10. The communication unit 201 then forwards the received transport instructions to the management unit 202. The communication unit 201 also notifies the management device 10 of the transport processing status received from the management unit 202. The management unit 202 manages the operation of the unmanned aerial vehicle 20 related to the transport of the container box CB. The management unit 202 obtains the destination position coordinates from the transport instructions forwarded from the communication unit 201. The management unit 202 then forwards the destination position coordinates to the flight route determination unit 203.

[0063] The flight route determination unit 203 is a functional block based on the flight route determination program 2622. The flight route determination unit 203 determines a flight route based on the current position information of the unmanned aerial vehicle 20 obtained 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 using a sensor 27 or a 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 2621. The flight control unit 205 controls the flight mechanism 21 so that it can fly along the flight route based on the information acquired by the sensor 27 and the camera 241. The flight control unit 205 may also perform control related to the takeoff and landing of the unmanned aerial vehicle 20.

[0064] Furthermore, the control unit 202 controls the arm control unit 206 when the unmanned aerial vehicle 20 holds or releases the container box CB. For example, when the arm control unit 206 receives an instruction from the control unit 202 to open the holding jig 23, it controls each arm 231 to open. Also, when the arm control unit 206 receives an instruction from the control unit 202 to close the holding jig 23, it controls each arm 231 to close.

[0065] The image acquisition unit 207 acquires an image of the barcode 320 located on the top surface TP of the container box CB from the image taken by the camera 243.

[0066] The symbol reading unit 208 is a functional block based on the barcode reading program 2623. For example, during the landing process, the symbol reading unit 208 recognizes first position symbols PSa,PSc and second position symbols PSb,PSd from images 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 to adjust the landing position based on these first position symbols PSa,PSc and second position symbols PSb,PSd. The symbol reading unit 208 also reads the barcode 320 from the image of the barcode 320 acquired from the image acquisition unit 207. The symbol reading unit 208 then notifies the management unit 202 of the information of the read barcode 320.

[0067] Furthermore, the unmanned aerial vehicle 20 is configured to adjust its landing position based on the first position symbols PSa and PSc when it recognizes them from images captured by the camera 242 during the landing process. The unmanned aerial vehicle 20 is also configured to adjust its landing position based on the second position symbols PSb and PSd when it recognizes or loses sight of the first position symbols PSa and PSc and recognizes the second position symbols PSb and PSd.

[0068] Furthermore, while the unmanned aerial vehicle 20 is flying, for example, within the drone-dedicated warehouse area ARb, the symbol reading unit 208 recognizes the cross-shaped position symbol 411 and coordinate values ​​430 placed on the floor surface 402 of the storage compartment 401 from the image captured by the camera 242. Based on the extension direction of each line segment of the recognized cross-shaped position symbol 411, the symbol reading unit 208 determines the direction in which the unmanned aerial vehicle 20 is flying, and based on the recognized coordinate values ​​430, determines the position of the unmanned aerial vehicle 20 within the drone-dedicated warehouse area ARb. Based on the determined flight direction and position, it calculates a vector to the flight destination. The symbol reading unit 208 then causes the flight control unit 205 to control the flight mechanism 21 to adjust the flight direction based on this calculated vector.

[0069] <1-2> Operation Next, the operation of the transport system 1 according to the first embodiment will be described.

[0070] First, we will explain the landing sequence and the takeoff sequence of the unmanned aerial vehicle 20 in order.

[0071] <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 first embodiment receives, for example, an instruction to transport a container box CB from the control device 10, it starts the series of processes shown in Figure 17 (start).

[0072] First, the unmanned aerial vehicle 20 acquires box information (ACT201). The box information includes the position coordinates and serial number of the target container box CB.

[0073] Next, the unmanned aerial vehicle 20 autonomously flies to the area above the box (ACT202). That is, the unmanned aerial vehicle 20 flies to the area above the target container box CB. The unmanned aerial vehicle 20 determines its flight route based on the flight route determination program 2622 and the position coordinates of the target container box. If the unmanned aerial vehicle 20 detects an obstacle in the flight route using the camera 241 or the like, it may change its flight route to avoid the obstacle.

[0074] Next, the unmanned aerial vehicle 20 opens the holding jig 23 (ACT203). Specifically, the arm control unit 206 transitions the holding jig 23 from the closed state to the open state by, for example, controlling a servo motor.

[0075] 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 its descent position. The unmanned aerial vehicle 20 can also correct its orientation (direction) by detecting a specific position symbol (for example, position symbol 304) among the first position symbols PSa.

[0076] Next, the unmanned aerial vehicle 20 reads the barcode (ACT205). Specifically, the camera 243 (image acquisition unit 207) reads the barcode 320 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 320.

[0077] Next, the unmanned aerial vehicle 20 checks whether the serial number on the box information matches the serial number on the barcode (ACT206). 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.

[0078] In the process of ACT206, if the specified serial number does not match the serial number on the barcode (ACT206:NO), the unmanned aerial vehicle 20 performs an interruption process (ACT207). In the interruption process of ACT207, the unmanned aerial vehicle 20 notifies the management device 10 that the serial number in the box information does not match the serial number of the container box CB at the location coordinates of the box information. After that, the unmanned aerial vehicle 20 returns to, for example, the drone standby area ARa and terminates the series of processes shown in Figure 17 (termination).

[0079] In the process of ACT206, if the specified serial number matches the serial number on the barcode (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 the descent position with higher accuracy than when referring to the first position symbol PSa. The unmanned aerial vehicle 20 also fine-tunes its orientation (direction) by detecting a specific position symbol (e.g., position symbol 314) within the second position symbol PSb. After that, the unmanned aerial vehicle 20 lands in a state where it can hold the target container box CB, and the series of processes shown in Figure 17 ends (end).

[0080] <1-2-2> Takeoff sequence of unmanned aerial vehicle 20 Figure 18 is a flowchart showing an example of the takeoff sequence of the unmanned aerial vehicle 20 according to the first embodiment. The unmanned aerial vehicle 20 starts the series of processes shown in Figure 18 (start) after the series of processes shown in Figure 17 are completed, for example, through the processing of ACT208.

[0081] First, the unmanned aerial vehicle 20 obtains destination information from the control device 10 (ACT211). The destination information includes the position coordinates of the destination of the container box CB. The unmanned aerial vehicle 20 determines a flight route from the received destination information.

[0082] Next, the unmanned aircraft 20 closes the holding jig 23 (ACT212).

[0083] Next, the unmanned aircraft 20 checks whether the holding jig 23 is properly closed (ACT213).

[0084] If it is confirmed during the ACT213 process that the holding jig 23 has not closed properly (ACT213:NO), the unmanned aerial vehicle 20 performs an interruption process (ACT214). In the interruption process of ACT214, the unmanned aerial vehicle 20 notifies the control device 10 that the holding jig 23 did not close properly. After that, the unmanned aerial vehicle 20 enters a waiting state for the next instruction from the control device 10, for example, and terminates the series of processes shown in Figure 18.

[0085] In the process of ACT213, if it is confirmed that the holding jig 23 is properly closed (ACT213: YES), the unmanned aerial vehicle 20 increases its lift (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 aircraft's balance (ACT216). Specifically, it checks whether there is any abnormality in the aircraft's balance based on the values ​​from the sensor 27.

[0086] If an abnormality in the aircraft's balance is detected during the ACT216 process (ACT216:NO), the unmanned aerial vehicle 20 performs an interruption process (ACT214). In this interruption process of ACT214, which proceeds from ACT216, the unmanned aerial vehicle 20 notifies the control device 10 that there is an abnormality in the balance of the aircraft (unmanned aerial vehicle 20) holding the container box CB. Subsequently, the unmanned aerial vehicle 20 descends, for example, to a state of waiting for the next instruction from the control device 10, and ends the series of processes shown in Figure 18.

[0087] If the ACT216 process confirms that there is no abnormality in the aircraft's balance (ACT216: YES), the unmanned aerial vehicle 20 begins autonomous flight toward its destination (ACT217). Then, the unmanned aerial vehicle 20 completes the series of processes shown in Figure 18.

[0088] <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 along with the operation of the unmanned aerial vehicle 20 when transporting the container box CB. In the following, the state in which the unmanned aerial vehicle 20 is on the ground will be referred to as the "landed state." The state in which the unmanned aerial vehicle 20 is flying will be referred to as the "flying state."

[0089] <1-2-3-1> Sequence for holding container box CB In the first embodiment, the unmanned aerial vehicle 20 flies to above the container box CB and opens the holding jig 23 in ACT 203. Then, the unmanned aerial vehicle 20 lands so that the container box CB is positioned below the housing HO. At this time, the unmanned aerial vehicle 20, having landed on the floor, supports its own weight with the landing gear 22. The container box CB, which is placed on the floor, also supports its own weight with its legs LP.

[0090] Figure 19 is a front view showing the relationship between the open-positioned holding fixture 23 and the container box CB in the landing state of the unmanned aerial vehicle 20 according to the first embodiment. 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 fixture 23 when it is controlled to the open position. At this time, each claw portion NP of the multiple arms 231 is located outside the container box CB when viewed from above. In this specification, “viewed from above” refers to viewing from the top surface TP side of the container box CB.

[0091] Next, in ACT212, the unmanned aircraft 20 transitions the holding jig 23 from the open state to the closed state.

[0092] Figure 20 is a front view showing the relationship between the closed-state holding jig 23 and the container box CB in the landing state of the unmanned aerial vehicle 20 according to the first embodiment. As shown in Figure 20, when the holding jig 23 transitions from the open state to the closed state, each claw portion NP of the multiple arms 231 is inserted into the space between the bottom surface BP of the container box CB and the floor. The height of this space is based on the height of the leg portion LP of the container box CB. Therefore, the height of the leg portion LP of the container box CB is greater than the thickness of the claw portion NP. At this time, each claw portion NP of the multiple arms 231 overlaps with one of the multiple leg portions LP of the container box CB, for example, when the unmanned aerial vehicle 20 is viewed from the toe surface EP side.

[0093] Figure 21 is a side view showing the relationship between the closed-state holding jig 23 and the container box CB in the landing state of the unmanned aerial vehicle 20 according to the first embodiment. As shown in Figure 21, in the closed-state holding jig 23, each claw portion NP of the plurality of arms 231 is located in the space between two adjacent leg portions LP in the X direction. Also, each claw portion NP of the plurality of arms 231 is adjacent to one of the plurality of leg portions LP in the X direction. The distance between adjacent claw portions NP and leg portions LP is preferably brought as close as possible without hindering the opening and closing of the holding jig 23, depending on the positioning accuracy of the landing of the unmanned aerial vehicle 20.

[0094] Figure 22 is a front view showing the detailed positional relationship between the closed-state holding jig 23 and the container box CB in the landing state of the unmanned aerial vehicle 20 according to the first embodiment. As shown in Figure 22, before the unmanned aerial vehicle 20 takes off, a space LS is created 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 the unmanned aerial vehicle 20 takes off, a space US is created between the upper end portion 232 of the claw portion NP and the bottom surface BP of the container box CB. Therefore, the container box CB is supported by its own weight by the leg portion LP. In other words, the weight of the container box CB is not added to the claw portion NP of the arm 231. Consequently, the unmanned aerial vehicle 20 can easily transition the holding jig 23 from the open state to the closed state. The upper end portion 232 of the claw portion NP may also have a function as an anti-slip surface. The upper end portion 232 of the claw portion NP may have a different configuration from the claw portion NP.

[0095] 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 comes into contact with one of the side SPs of the container box CB, restricting its movement. As a result, as the other unrestricted arm 231 closes, the unmanned aerial vehicle 20 slides towards 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 balanced manner. In other words, when the arms 231 are in the closed state, they eventually come into contact with both sides of the side SPs of the container box CB, restricting the movement of the container box CB in the Y direction. Furthermore, in order to facilitate the sliding movement of the unmanned aircraft 20, it is desirable that the contact surface GP of the landing gear 22 be made of a material having a coefficient of friction that allows for a certain degree of sliding.

[0096] Next, the unmanned aircraft 20 takes off in ACT215 by generating lift in the flight mechanism 21.

[0097] Figure 23 is a front view showing the detailed positional relationship between the closed-state holding jig 23 and the container box CB in the flight state of the unmanned aerial vehicle 20 according to the first embodiment. As shown in Figure 23, when the unmanned aerial vehicle 20 is in flight, the upper end portion 232 of the claw portion NP of the arm 231 comes into contact with the bottom surface BP of the container box CB. Then, the weight of the container box CB is applied to the claw portion NP of the arm 231 of the unmanned aerial vehicle 20 in flight state. The unmanned aerial vehicle 20 then generates buoyancy based on the sum of the weight of the unmanned aerial vehicle 20 and the weight of the container box CB. As a result, the unmanned aerial vehicle 20 can fly with the claw portion NP holding the container box CB due to the weight of the container box CB.

[0098] <1-2-3-2> Sequence for releasing container box CB First, the unmanned aerial vehicle 20 according to the first embodiment flies to the destination of the container box CB it is holding. The relationship between the unmanned aerial vehicle 20 and the container box CB at this time is the same as the state 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 touch the ground before the landing gear 22 of the unmanned aerial vehicle 20. As a result, the claw portion NP of the arm 231 separates 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.

[0099] Then, when the landing gear 22 touches the ground, the relationship between the unmanned aerial vehicle 20 and the container box CB according to the first embodiment becomes the same as the state described using Figures 20 to 22. That is, the container box CB supports its own weight with the legs LP. And the weight of the container box CB is not added to the claw portion NP of the arm 231. Therefore, the unmanned aerial vehicle 20 can easily transition the holding jig 23 from the closed state to the open state. After that, the unmanned aerial vehicle 20 completes the transport of the container box CB by taking off while maintaining the holding jig 23 in the open state.

[0100] Next, the operation sequence in the control device 10 will be described.

[0101] <1-2-4> Box management sequence of the management device 10 Next, the box management sequence in the control device 10 will be described. Figure 24 is a flowchart showing an example of the box management sequence in the control device 10 as an unmanned aerial vehicle control device according to the first embodiment. When the control device 10 receives a start instruction from, for example, the operator OP, it starts the series of processes shown in Figure 24 (start).

[0102] First, the management device 10 checks with the transport management unit 101 to see if it has received a parts storage request from the operator OP to store parts PA in a new container box CB that is empty (ACT11). If the management device 10 confirms that it has received a parts storage request in the process of ACT11 (ACT11:YES), it executes the parts storage process by the box management unit 102 and the transport instruction unit 105 (ACT12). Details of this parts storage process will be described later. Once the parts storage process is completed, the management device 10 returns to the process of ACT11.

[0103] If, during the processing of ACT11, it is confirmed that no parts storage request has been received (ACT11:NO), the management device 10 checks with the transport management unit 101 to see if a parts retrieval request has been received from the operator OP to retrieve parts PA stored in container box CB (ACT13). If, during the processing of ACT13, it is confirmed that a parts retrieval request has been received (ACT13:YES), the management device 10 executes the parts retrieval process by the box management unit 102 and the transport instruction unit 105 (ACT14). Details of this parts retrieval process will be described later. Once the parts retrieval process is completed, the management device 10 returns to the processing of ACT11.

[0104] If, during the processing of ACT13, it is confirmed that no part removal request has been received (ACT13:NO), the management device 10 checks with the transport management unit 101 to see if a garbage collection request has been received from the operator OP requesting that identical parts PA stored in two container boxes CB be combined into one box (ACT15). If, during the processing of ACT15, it is confirmed that a garbage collection request has been received (ACT15:YES), the management device 10 executes the garbage collection process by the box management unit 102 and the transport instruction unit 105 (ACT16). Details of this garbage collection process will be described later. Once the garbage collection process is completed, the management device 10 returns to the processing of ACT11.

[0105] If, during the processing of ACT15, it is confirmed that no garbage collection request has been received (ACT15: NO), the control device 10 performs other processing in response to other requests from the operator OP (ACT17). Once this other processing is completed, the control device 10 returns to the processing of ACT11.

[0106] <1-2-4-1> Component storage processing sequence Figures 25 and 26 are flowcharts showing an example of the processing sequence for the parts storage process performed in ACT12. The parts storage request from the operator OP includes, for example, information such as the part code and quantity of the parts PA, which are input by the operator OP. This information can be input to the management device 10, for example, by the operator OP operating the input interface 17 or via an operator terminal (not shown). The part code is information that can be input to the management device 10 by the operator OP reading the barcode of the parts PA with a barcode reader. In the case of small parts PA, multiple parts PA may be contained in a plastic bag, etc., with a barcode affixed to the bag. In this case, the barcode may include information on the part code and quantity. The operator OP may also indirectly input the quantity of parts PA by inputting the quantity of plastic bags, etc.

[0107] The transport management unit 101 of the management device 10 notifies the box management unit 102 of a parts storage request including part code and quantity information. The box management unit 102 refers to the part information 104 and calculates the number of container boxes CB required to store the requested parts PA (ACT1201). Specifically, the box management unit 102 checks the volume and weight per unit of part PA using the part code, determines how many of the part PA can be stored in one container box CB, and calculates the required number of container boxes. The box management unit 102 outputs the calculated required number N and the number that can be stored in one container box CB to the transport management unit 101.

[0108] Next, the box management unit 102 refers to the box information 103 to search for N empty container boxes CB to be used (ACT1202). For example, if 1000 container boxes CB are being managed, and 70 empty boxes are found, then N container boxes CB are selected from these 70 to be used as container boxes for storing parts. Any selection criteria or method can be used when selecting these container boxes for storing parts. For example, boxes can be selected in order from smallest to largest box number, or in reverse order from largest to smallest box number, or randomly. The box management unit 102 outputs the box numbers of the N container boxes CB selected as container boxes for storing parts to the transport management unit 101.

[0109] Furthermore, the box management unit 102 refers to the box information 103 to obtain the planar coordinates of the storage area 401 in the drone-dedicated warehouse area ARb where each of the selected N component storage target container boxes is stored, and the planar coordinates of the storage area 401 to which each component storage target container box will be returned after the component PA has been stored (ACT1203). The planar coordinates of the storage area 401 where the component storage target container box is stored can be obtained by referring to the database record of the box information 103 corresponding to the container box CB. In contrast, the storage area 401 to which the component storage target container box will be returned can be any empty storage area 401. That is, it can be the storage area 401 that originally stored the component retrieval target container box, or it can be any other empty storage area 401. An empty storage area 401 is a planar coordinate that is not registered as a section coordinate in any record other than the database record of the box information 103 corresponding to the container box CB. There are no particular limitations on the selection criteria or method for the storage area 401 to which the component storage target container box will be returned after the component PA has been stored. The box management unit 102 outputs to the transport management unit 101 the planar coordinates of the N storage compartments 401 before the storage of the parts PA, and the planar coordinates of the N storage compartments 401 after the storage of the parts PA, which were obtained for each of the N container boxes to be used for storing parts.

[0110] Figure 27 is a schematic diagram showing an example of planar coordinates between a storage section 401 in the drone-dedicated warehouse area ARb where container boxes to be stored before parts are stored, and a storage section 401 where those container boxes are stored after parts are stored. In Figure 27, the container box CB, which is the container box to be stored, is shown with right-sloping hatching, and the storage section 401 of the container box CB after parts are stored is shown with left-sloping hatching. The storage section 401 where the container box to be stored is stored is the storage section 401 of the container box CB before parts are stored. Figure 27 shows an example in which 66 container boxes CB are operated in the drone-dedicated warehouse area ARb with 10x10 storage sections 401, and one container box CB stored in storage section 401 at planar coordinate (C2) is selected as the container box to be stored, and after parts PA are stored, it is returned to the original storage section 401 at planar coordinate (C2).

[0111] Figure 28 shows an example of the contents of a database record in box information 103 for a container box CB before parts are stored. The box management unit 102 selects N records from the box information 103 that do not have a model number or quantity set, and reads the values ​​set for the box number and partition coordinates from the selected N records. This allows the box management unit 102 to obtain the box numbers of the N container boxes to be stored for parts and the planar coordinates of the storage partitions 401 in the drone-dedicated warehouse area ARb where these container boxes are stored. For example, Figure 28 shows a database record in box information 103 corresponding to the example in Figure 27, and the box management unit 102 obtains the box number "BX-1632" and the planar coordinates (C2) from this record. Similarly, the box management unit 102 can obtain the planar coordinates of the storage partitions 401 that store the container boxes to be stored for parts after parts PA have been stored. However, this does not prevent obtaining the planar coordinates of the storage partitions 401 where the container boxes to be stored for parts are stored. In this way, the box management unit 102 can determine, using the box information 103, the planar coordinates of the container box CB that does not contain the component PA, and the storage area 401 in the drone-dedicated warehouse area ARb that does not contain the container box CB.

[0112] The transport management unit 101 outputs to the transport instruction unit 105 the box numbers of the N container boxes to be used for storing parts, output from the box management unit 102, and the planar coordinates of each of the N storage compartments 401 before and after parts storage, along with information to identify the operator OP who requested the parts storage. In response, the transport instruction unit 105 first initializes the value of its internally configured counter n to "1" (ACT1204).

[0113] Furthermore, the transport instruction unit 105 searches for an unmanned aerial vehicle (UAV) 20 that is on standby to be used to transport a container box for storing parts that does not contain parts PA (ACT1205). For example, assuming that 100 UAVs 20 are managed, the unit searches for an UAV 20 that is in the drone standby area ARa. It is assumed that an UAV 20 with sufficient battery power is on standby in the drone standby area ARa. The transport instruction unit 105 obtains the processing status of each UAV 20 via the communication unit 106 and can determine which UAVs 20 are in operation and which UAVs 20 are on standby in the drone standby area ARa. For example, the transport instruction unit 105 searches for an UAV 20 with drone number MC-003 that is on standby at the standby area coordinate "WB6" in the drone standby area ARa, as one UAV 20 to transport a container box for storing parts stored in the planar coordinate (C2) of storage area 401 in the drone-dedicated warehouse area ARb.

[0114] The transport instruction unit 105 then transmits box information for the nth empty box to the searched unmanned aerial vehicle 20 via the communication unit 106 (ACT1206). Specifically, the transport instruction unit 105 transmits the box number that identifies the nth empty box, which is the container box for storing parts, and the planar coordinates of the storage section 401 of the drone-dedicated warehouse area ARb where the container box for storing parts is stored, as destination information. Upon receiving this box information, the unmanned aerial vehicle 20 determines a flight route from the destination information, as described in the takeoff sequence of the unmanned aerial vehicle 20 above, flies to the destination, and lands on the container box for storing parts stored at that destination. In addition, the transport instruction unit 105 constantly communicates with each operational unmanned aerial vehicle 20 via the communication unit 106 during the unmanned aerial vehicle status monitoring sequence (not shown), and continues to monitor the status of each unmanned aerial vehicle 20. Situation assessment includes planning the flight route, current location, presence or absence of hazards, battery level, and status of autonomous actions, but the details are not required here. Although not mandatory, the unmanned aircraft 20 may transmit an arrival signal to the management device 10 when it lands at its destination. The transport instruction unit 105 may determine the arrival of the unmanned aircraft 20 at its destination based on the presence or absence of this arrival signal.

[0115] In this unmanned aerial vehicle status assessment sequence, the transport instruction unit 105 checks whether the unmanned aerial vehicle 20, which has been instructed to fly to the container box for storing parts, has arrived at the storage section 401 of the drone-dedicated warehouse area ARb where the container box for storing parts is stored, that is, whether it has landed on the container box CB corresponding to the specified box number (ACT1207). If the ACT1207 process confirms that it has not yet arrived (ACT1207:NO), the transport instruction unit 105 repeats the ACT1207 process again. In this way, the transport instruction unit 105 waits for the unmanned aerial vehicle 20 to land on the target container box for storing parts.

[0116] In the processing of ACT1207, if the arrival of the unmanned aerial vehicle 20 is confirmed (ACT1207: YES), the transport instruction unit 105 transmits the coordinates of the take-off and landing port DAP of the drone take-off and landing area ARc corresponding to the operator OP who requested the parts storage request, within a facility such as a factory using the transport system 1, to the unmanned aerial vehicle 20 via the communication unit 106 as destination information (ACT1208). Upon receiving this destination information, the unmanned aerial vehicle 20 determines a flight route from the destination information, as described in the take-off sequence of the unmanned aerial vehicle 20 above, and, during the take-off process, grasps the container box to be stored in parts and flies to the destination, thereby transporting the container box to be stored in parts to the designated take-off and landing port DAP.

[0117] In the unmanned aerial vehicle status assessment sequence, the transport instruction unit 105 checks whether the unmanned aerial vehicle 20, which is transporting the container box for storing the parts, has arrived at and landed at the destination port DAP (ACT1209). If the ACT1209 process confirms that it has not yet arrived (ACT1209:NO), the transport instruction unit 105 repeats the ACT1209 process. In this way, the transport instruction unit 105 waits for the unmanned aerial vehicle 20 to arrive at and land at the target port DAP.

[0118] In the processing of ACT1209, if it is confirmed that the unmanned aircraft 20 has arrived at and landed at the destination departure / arrival port DAP (ACT1209: YES), the transport instruction unit 105 transmits the coordinates of the waiting area as destination information to the unmanned aircraft 20 via the communication unit 106 (ACT1210). The waiting area can be the waiting area coordinates "WB6", which is the original waiting area in the drone waiting area ARa where the unmanned aircraft 20 was waiting. Alternatively, the waiting area may be the coordinates of an empty area other than the original waiting area coordinates. Or, the waiting area may be the coordinates of a charger located outside the drone waiting area ARa.

[0119] Furthermore, when the unmanned aerial vehicle 20 lands to grasp the container box CB, it is necessary to land within a specified margin of error relative to the container box CB so that the holding jig 23 can securely grasp the container box CB. In contrast, when landing to unload a transported container box CB, it is sufficient to land within the range of the takeoff / arrival port DAP, and the accuracy of the landing position is not so important. Also, there are no particular restrictions on the orientation of the unloaded container box CB. However, if a waiting area is specified as the destination information, the unmanned aerial vehicle 20 will not transport the container box CB, and unlike the takeoff sequence of the unmanned aerial vehicle 20 described above, it is not permitted to hold the container box CB during the takeoff process. Therefore, although not specifically illustrated, in a takeoff sequence where a waiting area is the destination information, the unmanned aerial vehicle 20 will take off without closing the holding jig 23, and after ascending to a specified altitude, it will close the holding jig 23.

[0120] Thus, once the unmanned aircraft 20 drops the empty parts storage container and flies away, a human can approach, creating a safe situation. The transport instruction unit 105 then transmits the arrival of the parts storage container to the transport management unit 101. In response, the transport management unit 101 displays an arrival notification (ACT1211) to the operator OP who requested the parts storage.

[0121] Subsequently, the transport management unit 101 confirms whether the operator OP has performed the parts registration operation (ACT1212). Upon receiving the arrival notification, the operator OP goes to the drone landing area ARc, transports the container box CB, which is the container box for storing parts that has been lowered there, to the operator work area ARd, which is the work site, opens the top TP, and places the newly stored parts PA into the container box CB. At this time, the operator OP reads the barcode of the parts PA to be placed in the container box CB using a barcode reader or the like as a parts registration operation to register the parts PA stored in the container box CB with the management device 10. The transport management unit 101 determines whether or not the parts registration operation has been performed based on whether or not the parts code has been entered by reading this barcode.

[0122] In the processing of ACT1212, if it is confirmed that a part registration operation has been performed (ACT1212:YES), the transport management unit 101 registers the part according to the part code and quantity information read from the barcode (ACT1213). Specifically, the transport management unit 101 transmits the box number, part code, and quantity information of the container box CB to the box management unit 102. The box management unit 102 obtains the attributes corresponding to the part code by referring to the part information 104 and registers the content attributes, model number, and quantity in the record corresponding to the box number in the box information 103. In addition, during this part registration, the transport management unit 101 can also transmit the planar coordinates obtained as the storage area 401 in the drone-dedicated warehouse area ARb for the nth container box CB to the box management unit 102 and register them in the box information 103. Alternatively, the planar coordinates of the storage area 401 may be registered in the box information 103 when the storage of the part PA is completed and the container box CB is stored in the storage area 401. Once the registration of a part corresponding to the reading of one barcode is complete, the transport management unit 101 returns to the process of ACT1212. At this time, the transport management unit 101 may also show the operator OP how many more parts can be stored in the container box CB. In this way, by repeating the processes of ACT1212 and ACT1213, the parts PA stored in the nth container box CB, which is the container box for storing parts, are registered in the box information 103.

[0123] Furthermore, if the ACT1212 process confirms that no part registration operation has been performed (ACT1212:NO), the transport management unit 101 checks whether a completion operation has been received from the operator OP (ACT1214). If the ACT1214 process confirms that no completion operation has been performed (ACT1214:NO), the transport management unit 101 returns to the ACT1212 process.

[0124] Once the operator OP has placed the number of parts PA that can be stored in one container box CB into the parts storage container box, or once all the parts PA to be stored into the parts storage container box have been placed into the parts storage container box, the operator OP closes the top surface TP of the container box CB. Then, the operator OP transports the parts storage container box from the operator work area ARd to the drone landing area ARc and places it on the landing port DAP. After that, the operator OP returns to the operator work area ARd, that is, leaves the drone landing area ARc, and performs the completion operation on the management device 10.

[0125] Figure 29 shows an example of the stored contents of the database record for the container box CB, which is the container box for storing parts after parts have been stored. In the example of the container box 103 shown in Figure 29, compared to the example in Figure 28, the registered information for the stored items is as follows: content attribute "small nut", model number "NFS3032", and quantity "200". The planar coordinates of the storage section 401 where the container box CB should be stored are the same as the original coordinates, planar coordinates (C2).

[0126] If the processing of ACT1214 confirms that the completion operation has been performed (ACT1214:YES), the transport management unit 101 instructs the transport instruction unit 105 to search for one unmanned aerial vehicle 20 that is currently on standby (ACT1215). The transport instruction unit 105 searches for an unmanned aerial vehicle 20 in the drone standby area ARa. The transport instruction unit 105 may use an unmanned aerial vehicle 20 that was previously used to transport the container box containing the parts PA, which has been placed at the DAP landing port in the drone landing area ARc, as the unmanned aerial vehicle 20 to be used to transport the container box containing the parts PA, if it is currently on standby and has sufficient battery power remaining.

[0127] Then, the transport instruction unit 105 transmits to the unmanned aerial vehicle 20 via the communication unit 106 the coordinates of the take-off port DAP of the drone take-off area ARc where the parts storage target container box containing the parts, corresponding to the operator OP who performed the completion operation, is located (ACT1216). Upon receiving this destination information, the unmanned aerial vehicle 20 determines a flight route from the destination information and flies to the destination, landing on the parts storage target container box containing the parts, which is located at the take-off port DAP of the drone take-off area ARc, which is the destination.

[0128] In the unmanned aerial vehicle status assessment sequence, the transport instruction unit 105 checks whether the unmanned aerial vehicle 20 has arrived at and landed at its destination, the DAP (ACT1217). If the ACT1217 process confirms that it has not yet arrived (ACT1217:NO), the transport instruction unit 105 repeats the ACT127 process. In this way, the transport instruction unit 105 waits for the unmanned aerial vehicle 20 to arrive at and land at its target DAP.

[0129] In the processing of ACT1217, if it is confirmed that the unmanned aerial vehicle 20 has arrived at and landed at the destination departure / arrival port DAP (ACT1217: YES), the transport instruction unit 105 transmits destination information for the nth storage compartment to the unmanned aerial vehicle 20 via the communication unit 106 (ACT1218). Specifically, the transport instruction unit 105 transmits the planar coordinates, for example, planar coordinates (C2), of the storage compartment 401 in the drone-dedicated warehouse area ARb where the nth component storage container box is stored. Upon receiving this destination information, the unmanned aerial vehicle 20 determines a flight route from the destination information, as described in the takeoff sequence of the unmanned aerial vehicle 20 above, and transports the component storage container box to the designated storage compartment 401 in the drone-dedicated warehouse area ARb by grasping the component storage container box during the takeoff process and flying to the destination.

[0130] In the unmanned aerial vehicle status assessment sequence, the transport instruction unit 105 checks whether the unmanned aerial vehicle 20, which is transporting the container box for storing the parts after the parts have been stored, has arrived at and landed in the storage section 401 of the drone-dedicated warehouse area ARb, which is its destination (ACT1219). If the ACT1219 process confirms that it has not yet arrived (ACT1219:NO), the transport instruction unit 105 repeats the ACT1219 process. In this way, the transport instruction unit 105 waits for the unmanned aerial vehicle 20 to arrive at and land in the target storage section 401.

[0131] Furthermore, when the unmanned aerial vehicle 20 lands to store the container box for storing parts in the drone-dedicated warehouse area ARb after the parts have been stored, it adjusts the storage position and orientation of the container box CB relative to the storage compartment 401 based on the status of its autonomous flight. If the unmanned aerial vehicle 20 is equipped with a camera capable of photographing the storage position marker 403 located in the storage compartment 401 even when it is gripping the container box CB, the unmanned aerial vehicle 20 adjusts the storage position and orientation of the container box CB relative to the storage compartment 401 based on the image of the storage position marker 403 that it has photographed. In addition, when transporting the container box CB, if a camera that photographs downwards is unavailable, the unmanned aerial vehicle 20 may fly to the destination storage compartment 401 according to the autonomous flight route, temporarily store the container box CB in the storage compartment 401, then hover and photograph downwards with the camera to determine the positional deviation of the container box CB relative to the storage position marker 403, and then readjust the container box CB to its correct position and orientation.

[0132] In the processing of ACT1219, if it is confirmed that the unmanned aircraft 20 has arrived at its destination, storage compartment 401, and landed (ACT1219: YES), the transport instruction unit 105 checks whether the value of the internally configured counter n is the number N of container boxes CB required to store the requested part PA (ACT1220).

[0133] In the processing of ACT1220, if it is confirmed that the value of counter n is the required number N (ACT1220: YES), the transport instruction unit 105 transmits the coordinates of the waiting area as destination information to the unmanned aerial vehicle 20 via the communication unit 106 (ACT1221). Then, the management device 10 terminates the processing sequence for this parts storage process and returns to the processing of ACT11. For example, as shown in the example in Figure 27, if one container box CB is selected as the container box to be used for parts storage, and after storing the parts PA it is returned to the original storage area 401, the processing sequence for this parts storage process can be terminated.

[0134] In the processing of ACT1220, if it is confirmed that the value of counter n is not the required number N (ACT1220: NO), the transport instruction unit 105 increments the value of counter n by "+1" (ACT1222). After that, the management device 10 repeats the process from ACT1206. However, in this case, the unmanned aerial vehicle 20 to which the box information of the nth container box CB is transmitted in the processing of ACT1206 is not a standby unmanned aerial vehicle, but an unmanned aerial vehicle 20 that has transported the (n-1)th container box CB, which is the container box for storing parts PA, to its storage section 401 and has landed in the said storage section 401. Therefore, the unmanned aerial vehicle 20 that has received the box information including the planar coordinates of the storage section 401 of this nth container box CB will take off without closing the hold jig 23 so as not to transport the (n-1)th container box CB, and will close the hold jig 23 after ascending to the specified altitude.

[0135] Figure 31 is a schematic diagram showing an example of the planar coordinates of the drone-dedicated warehouse area ARb when two component storage containers are stored in different storage areas before and after component storage, and Figure 32 is a diagram showing an example of the stored contents of the database records of the box information 103 before component storage for the two component storage containers in the example of Figure 31.

[0136] For example, if operator OP requests storage of 1000 parts PA with part number "NFS3032", and each part PA weighs 10 grams, then 1000 parts would weigh 10 kg. In contrast, if the maximum payload capacity of the unmanned aerial vehicle 20 is 6 kg, then the management device 10 calculates in processing ACT1201 that the required number of container boxes CB N is "2".

[0137] Therefore, in processing ACT1202, the management device 10 refers to the box information 103 to search for N (=2) container boxes to be used for storing parts. For example, the management device 10 searches for container boxes CB with box numbers "BX-1632" and "BX-1729" as container boxes to be used for storing parts.

[0138] Then, in processing ACT1203, the management device 10 refers to the box information 103 and obtains the planar coordinates of the storage area 401 in the drone-dedicated warehouse area ARb where each of the two selected component storage target container boxes is stored, and the planar coordinates of the storage area 401 to which each component storage target container box is returned after the component PA has been stored. In the database records of the box information 103 for box numbers "BX-1632" and "BX-1729", as shown in Figure 32, the planar coordinates of the storage area 401 in the respective drone-dedicated warehouse area ARb are registered as area coordinates "C6" and "E10". Therefore, the management device 10 can obtain the coordinates of the storage area 401 of the container box CB, shown in Figure 31 with right-sloping hatching and vertical line hatching, as the planar coordinates where each of the two selected component storage target container boxes is stored. Furthermore, the management device 10 extracts these acquired planar coordinates and partition coordinates not registered in any record of the box information 103 database as empty storage partitions 401, and acquires any two of them as planar coordinates to return the container box CB after parts storage. For example, the management device 10 acquires partition coordinate "F6", which represents the planar coordinate (F6) shown with left-sloping hatching in Figure 31, as the planar coordinate to return container box CB with box number "BX-1632", and acquires partition coordinate "F9", which represents the planar coordinate (F9) shown with horizontal line hatching in Figure 31, as the planar coordinate to return container box CB with box number "BX-1729".

[0139] Then, in the processing of ACT1205, the management device 10 searches for the standby unmanned aerial vehicle 20 for container box CB with the first box number "BX-1632". For example, the management device 10 searches for the unmanned aerial vehicle 20 with drone number "MC-004" that is on standby at standby area coordinates "WB8".

[0140] Subsequently, through processing in ACT1206 to ACT1209, the management device 10 instructs the searched standby unmanned aerial vehicle 20, for example, drone number "MC-004", to transport container box CB, the first component storage target container box with box number "BX-1632", from its storage area 401 planar coordinate (C6) to the take-off / landing port DAP of the drone take-off / landing area ARc corresponding to operator OP. Then, in processing in ACT1210, the management device 10 transmits, for example, a different standby area coordinate "WB3" from the original standby area coordinate "WB8" as destination information to the first unmanned aerial vehicle 20 that released the transported container box CB, and instructs it to move to the standby location.

[0141] The management device 10, through processing ACT1211 to ACT1214, registers registration information in the corresponding record of the box information database 103 in response to the operator OP's operation to store parts PA in the first container box for parts storage. At this time, the management device 10 may also show the operator OP how many more parts PA can be stored in the container box CB. This may be calculated based on the maximum load capacity, or it may be determined based on some other criterion, such as distributing them evenly among N boxes. If the parts are distributed evenly among two container boxes CB, as mentioned above, if the maximum load capacity is 6g and 10kg of parts are to be stored, then 5kg of parts PA will be allocated to each container box CB, i.e., 500 pieces each. Alternatively, instead of specifically showing the remaining storage capacity, the management device 10 may notify the operator when the number of parts already stored in the container box CB reaches the maximum load capacity or a specified number based on the criterion.

[0142] Of course, if the total weight of the parts PA stored in the container box CB exceeds the maximum payload capacity of the unmanned aerial vehicle 20, it is essential to return some of the parts PA from the container box CB to prevent exceeding the maximum payload capacity. In this case, the control device 10 will issue a warning to the operator OP. The control device 10 will then prohibit the transport of the container box CB until it is confirmed that the condition of exceeding the maximum payload capacity has been resolved. By including a prohibition flag in the box information 103 for determining this transport prohibition state, it becomes possible to more reliably prevent the container box CB from being transported by mistake.

[0143] When the container box CB containing the parts PA is transported from the operator work area ARd to the drone launch / landing area ARc, and the operator OP completes the operation, the management device 10 searches for an unmanned aerial vehicle 20 to be used to transport this now-stored parts container box during the processing of ACT1215. For example, the management device 10 searches for an unmanned aerial vehicle 20 with drone number "MC-012" that is waiting at the standby area coordinates "WB4".

[0144] Subsequently, in the processing of ACT1216~ACT1219, the management device 10 instructs the second standby unmanned aerial vehicle (UAV) identified, drone number "MC-012" (UAV 20), to transport the container box containing the parts, which has already been stored, from the landing port DAP in the drone landing area ARc to the storage area 401 at planar coordinate (F6), which is its storage destination.

[0145] Figure 33 is a schematic diagram showing the drone-dedicated warehouse area where the first container box for parts storage is located after parts storage, as in the example shown in Figure 31. As shown in Figure 33, container box CB, which is the first container box for parts storage after parts storage, is stored in storage section 401 at planar coordinates (F6).

[0146] Figure 34 shows an example of the stored contents of the box information 103 database records for the two parts storage container boxes in the situation shown in Figure 33. As shown in Figure 34, in the box information 103 database record for the first parts storage container box, box number "BX-1632," after parts storage, the partition coordinate value is updated from "C6" shown in Figure 32 to "F6." Also, as shown in Figure 34, in this record, the values ​​"small nut," "NFS3032," and "500" are registered for the content attribute, part number, and quantity items, respectively. Note that this example shows the case where parts PA are evenly allocated and stored in the two container boxes CB. If allocation is performed based on the maximum load weight, the first parts storage container box, box number "BX-1632," will store 600 parts PA corresponding to 60 kg in the above example, and the quantity in the box information 103 database record will be "600." The database record for box information 103 of the second container box containing the parts, box number "BX-1729," has not been updated in any way.

[0147] Then, in the processing of ACT1220, the management device 10 confirms that the value of counter n is not the required number N. Therefore, the management device 10 proceeds from the processing of ACT1222 to the processing of ACT1206 and transmits the box number "BX-1729" and its planar coordinates (E10) as box information for the second container box CB to the unmanned aerial vehicle 20 with drone number "MC-012", which is the second standby unmanned aerial vehicle. Subsequently, through the processing of ACT1207 to ACT1209, the management device 10 instructs the unmanned aerial vehicle 20 with drone number "MC-012" to transport the container box CB with box number "BX-1729", which is the second container box to be stored in, from the planar coordinates (E10) of its storage section 401 to the take-off and landing port DAP of the drone take-off and landing area ARc corresponding to the operator OP. Then, in processing ACT1210, the management device 10 transmits, for example, a different standby area coordinate "WB12" from the original standby area coordinate "WB4" to the second unmanned aerial vehicle 20 that released the transported container box CB as destination information, and moves it to the standby location.

[0148] The management device 10, through the processing of ACT1211 to ACT1214, registers registration information in the corresponding record in the box information database 103 in response to the operation by operator OP to store parts PA in the second parts storage target container box.

[0149] When the container box CB containing the parts PA is transported from the operator work area ARd to the drone launch / landing area ARc, and the operator OP completes the operation, the management device 10 searches for an unmanned aerial vehicle 20 to be used to transport this now-stored parts container box during the processing of ACT1215. For example, the management device 10 searches for an unmanned aerial vehicle 20 with drone number "MC-009" that is waiting at the standby area coordinates "WB9".

[0150] Subsequently, in the processing of ACT1216 to ACT1219, the management device 10 instructs the third unmanned aerial vehicle (UAV) that was found to be on standby, drone number "MC-009" (UAV 20), to transport the container box containing the parts, which has already been stored, from the landing port DAP in the drone landing area ARc to the storage area 401 at planar coordinate (F9), which is its storage destination.

[0151] Figure 35 is a schematic diagram showing the drone-dedicated warehouse area where the second container box for storing parts, after the initial part storage, is located in the example shown in Figure 31. As shown in Figure 35, the container box CB, which is the second container box for storing parts after the initial part storage, is stored in storage section 401 at planar coordinates (F9).

[0152] Figure 36 shows an example of the stored contents of the box information 103 database records for the two parts storage container boxes in the situation shown in Figure 35. As shown in Figure 36, in the box information 103 database record for the second parts storage container box, box number "BX-1729", after parts have been stored, the partition coordinate value is updated from "E10" as shown in Figures 32 and 34 to "F9". Also, as shown in Figure 36, in this record, the values ​​"small nut", "NFS3032", and "500" are registered for the contents attribute, part number, and quantity items, respectively. Note that this example shows the case where parts PA are evenly allocated and stored in the two container boxes CB. If the allocation is based on the maximum load weight, 600 parts PA will be stored in the first parts storage container box, and the remaining 400 will be stored in the container box CB with box number "BX-17292", so the quantity in the box information 103 database record will be "400". The database record for box information 103 of the other first component storage container box, box number "BX-1632," has not been updated in any way since the situation shown in Figure 34.

[0153] Then, in the processing of ACT1220, the management device 10 confirms that the value of counter n is the required number N. Therefore, in the processing of ACT1221, the management device 10 transmits, for example, the original waiting area coordinates "WB9" as destination information to the unmanned aircraft 20 with drone number "MC-009" that has been transporting the second container box to be extracted for parts, and instructs it to move to the waiting area.

[0154] Thus, for example, if we want to store 1000 new parts PA in the drone standby area ARa, that is, if we want to put them on a shelf, one container box CB would exceed the maximum load capacity of the unmanned aerial vehicle 20. Therefore, by dividing the parts into multiple container boxes CB and reducing the weight of each box, it becomes possible to transport them using the unmanned aerial vehicle 20.

[0155] The processing sequence for component storage described above is for the case where there is one drone landing / takeoff port DAP in the drone landing / takeoff area ARc corresponding to one operator OP, and multiple unmanned aircraft 20 are operated sequentially. However, this is not limited to this case; for example, if there are multiple landing / takeoff ports DAP for one operator OP, multiple unmanned aircraft 20 may be operated simultaneously. Furthermore, as a specific example, the case where the unmanned aircraft 20 transporting the container box CB to the landing / takeoff port DAP and the unmanned aircraft 20 transporting the container box CB back from the landing / takeoff port DAP are different aircraft was described, but as mentioned above, they may be the same unmanned aircraft 20. In that case, the operation may involve hovering in the air or landing in a waiting area set up close to the landing / takeoff port DAP and waiting, without returning to the waiting area in the drone waiting area ARa.

[0156] Furthermore, while the system currently searches for the unmanned aerial vehicle (UAV) to be used from the waiting UAVs 20 each time a container box CB is transported, it is also acceptable to search for and secure the necessary UAVs 20 based on the required number of boxes N.

[0157] <1-2-4-2> Parts Removal Processing Sequence Figures 37 and 38 are flowcharts illustrating an example of the processing sequence for parts retrieval performed in ACT14. The parts retrieval request from the operator OP includes, for example, information such as the part code and quantity of parts PA, which are input by the operator OP. This information can be input to the management device 10, for example, by the operator OP operating the input interface 17 of the management device 10, or via an operator terminal (not shown).

[0158] The transport management unit 101 of the management device 10 notifies the box management unit 102 of a parts retrieval request that includes information on the part code and quantity. The box management unit 102 then refers to the box information 103 and searches for all container boxes CB containing the requested parts PA as target parts storage boxes (ACT1401). For example, if a parts retrieval request is received to retrieve 30 parts PA with part number "NFS3032", the box management unit 102 searches the database of box information 103 for all records in which part PA with part number "NFS3032" is registered.

[0159] Then, the box management unit 102 identifies N container boxes CB from the searched container boxes CB, which is the number of container boxes CB necessary to extract the requested number of parts PA, as the container boxes from which parts will be extracted (ACT1402).

[0160] Here, if all the searched container boxes for parts retrieval contain more than the requested number of parts PA, then the required number N is "1". In this case, the box management unit 102 selects one container box for parts retrieval, either with a small box number, a large box number, or randomly. The selection criteria and method used to identify the container box for parts retrieval can be anything. Figure 39 shows an example of the contents of the database record of the box information 103 before parts retrieval for the container box for parts retrieval. For example, in response to a parts retrieval request to retrieve 30 parts PA with model number "NFS3032", as shown in Figure 39, it can be determined that container box CB with box number "BX-1632" contains 200 of the parts PA, so the box management unit 102 identifies that container box CB as the container box for parts retrieval. The box management unit 102 outputs the box numbers of the N container boxes CB identified as container boxes from which parts will be removed to the transport management unit 101.

[0161] Furthermore, if the required number N is "2" or greater, the required number N will differ depending on how the parts PA stored in each of the searched container boxes CB are combined, even if the requested number is the same. The criteria and method for determining this combination can be anything. For example, the combination can be determined based on the box number, or based on the number of parts PA stored. It is also conceivable to include a part storage date and time item in the box information 103 and determine the combination based on the storage date and time. When retrieving parts PA from multiple container boxes CB, it is desirable from the perspective of effective utilization of container boxes CB to retrieve parts so that one or more container boxes CB become empty, as the empty container boxes CB can then be used to store new parts. Therefore, it is also possible to identify the container boxes from which parts can be retrieved starting with those containing the fewest parts PA.

[0162] Furthermore, the box management unit 102 obtains the planar coordinates of the storage area 401 in the drone-dedicated warehouse area ARb where each of the identified N container boxes from which parts are to be extracted is stored, and also obtains the planar coordinates of the storage area 401 to which parts PA are returned after being extracted from each container box (ACT1403). The planar coordinates of the storage area 401 in which the container boxes from which parts are to be extracted are stored can be obtained by referring to the database record of box information 103 corresponding to the container box CB. In contrast, the storage area 401 to which the container box from which parts are to be extracted is stored after parts PA have been extracted can be any empty storage area 401. That is, it can be the storage area 401 that originally stored the container box from which parts are to be extracted, or it can be any other empty storage area 401. An empty storage area 401 is a planar coordinate that is not registered as a section coordinate in any record other than the database record of box information 103 corresponding to the container box CB. There are no particular limitations on the selection criteria or selection method for the storage section 401 to which the container box for storing the part PA is returned after the part PA has been removed. The box management unit 102 outputs to the transport management unit 101 the planar coordinates of the N storage sections 401 before the part PA was removed and the planar coordinates of the N storage sections 401 after the part PA was removed, which were obtained for each of the N container boxes from which the part PA was removed.

[0163] Figure 40 is a schematic diagram showing an example of planar coordinates between a storage area 401 in the drone-dedicated warehouse area ARb where the container box to be extracted is stored before parts are removed, and a storage area 401 where the container box to be extracted is stored after parts are removed. In Figure 40, the container box CB, which is the container box from which parts are removed, is shown with right-sloping hatching, and the storage area 401 of the container box CB after parts are removed is shown with left-sloping hatching. The storage area 401 in which the container box to be extracted is stored is the storage area 401 of the container box CB before parts are removed. The example in Figure 40 corresponds to the record contents of the box information 103 shown in Figure 39. Figure 40 shows an example in which one container box CB stored in storage area 401 at planar coordinate (C2) is identified as the container box from which parts are removed, and after parts PA are removed, it is returned to the original storage area 401 at planar coordinate (F4).

[0164] The transport management unit 101 outputs to the transport instruction unit 105 the box numbers of the N container boxes from which parts are to be retrieved, output from the box management unit 102, and the planar coordinates of each of the N storage compartments 401 before and after parts retrieval, along with information to identify the operator OP who requested the parts retrieval. In response, the transport instruction unit 105 executes the same processing sequence as the parts storage process. Specifically, the transport instruction unit 105 first initializes the value of counter n to "1" (ACT1404), similar to the processing of ACT1204. Then, the transport instruction unit 105 searches for the waiting unmanned aircraft 20 (ACT1405), similar to the processing of ACT1205. For example, the transport instruction unit 105 searches for an unmanned aerial vehicle 20 with drone number "MC-004" that is waiting at the waiting area coordinate "WB8" in the drone waiting area ARa, which will be used to transport a container box for parts retrieval that is stored in the planar coordinate (C2) of the storage area 401 in the drone-dedicated warehouse area ARb.

[0165] Then, the transport instruction unit 105 transmits the box information of the nth component retrieval target container box to the searched unmanned aerial vehicle 20 via the communication unit 106 (ACT1406). That is, while ACT1206 of the component storage processing sequence transmitted the box information of the selected empty box to the unmanned aerial vehicle 20, this component retrieval processing sequence transmits the box information of the component retrieval target container box that has stored component PA and is stored in the storage section 401 of the drone standby area ARa. Upon receiving this box information, the unmanned aerial vehicle 20 determines a flight route from the destination information and flies to the destination, landing on the component retrieval target container box stored at that destination.

[0166] The transport instruction unit 105, in the same manner as the process of ACT1207, confirms whether the unmanned aircraft 20 has arrived at the designated storage section 401 in the drone-dedicated warehouse area ARb, that is, whether it has landed on the container box CB corresponding to the designated box number (ACT1407).

[0167] In the processing of ACT1407, if the arrival of the unmanned aerial vehicle 20 is confirmed (ACT1407: YES), the transport instruction unit 105 transmits the coordinates of the take-off / landing port DAP of the drone take-off / landing area ARc to the unmanned aerial vehicle 20 as destination information, similar to the processing of ACT1208 (ACT1408). Upon receiving this destination information, the unmanned aerial vehicle 20 determines a flight route from the destination information, grasps the container box to be extracted for parts during the take-off process, and flies to the destination, thereby transporting the container box to be extracted for parts to the designated take-off / landing port DAP.

[0168] The transport instruction unit 105, similar to the process in ACT1209, confirms whether the unmanned aircraft 20 transporting the container box for parts removal has arrived at and landed at the destination port DAP (ACT1409).

[0169] In the processing of ACT1409, if it is confirmed that the unmanned aircraft 20 has arrived at and landed at the destination departure / arrival port DAP (ACT1409: YES), the transport instruction unit 105 transmits the coordinates of the evacuation location to the unmanned aircraft 20 as destination information, similar to the processing of ACT1210 (ACT1410).

[0170] Once the unmanned aerial vehicle 20 has dropped the container box containing the parts PA and flown away, the situation becomes safe as humans approach, so the transport instruction unit 105 transmits the arrival of the parts container box to the transport management unit 101. In response, the transport management unit 101 presents an arrival notification (ACT1411) to the operator OP who requested the parts retrieval, similar to the process in ACT1211.

[0171] Subsequently, the transport management unit 101 confirms whether the operator OP has performed the parts retrieval operation (ACT1412). Upon receiving the arrival notification, the operator OP goes to the drone landing area ARc, transports the container box CB, which is the container box from which parts are to be retrieved, to the operator work area ARd, which is the work site, opens the top TP, and retrieves the parts PA stored inside the container box CB. For example, the operator OP retrieves 30 parts from a bag containing 200 parts PA with model number "NFS3032". The operator OP inputs to the management device 10 that 30 parts have been retrieved by operating the input interface 17 of the management device 10, or via an operator terminal (not shown). The transport management unit 101 determines whether or not the parts retrieval operation has been performed based on the presence or absence of this input.

[0172] If the ACT1412 process confirms that a parts removal operation has been performed (ACT1412: YES), the transport management unit 101 updates the registered contents of the box information 103 based on the entered quantity (ACT1413). Specifically, the transport management unit 101 notifies the box management unit 102 of the entered quantity along with the box number of the container box CB from which the parts PA were removed. The box management unit 102 rewrites the quantity information registered in the record of the container box CB in the box information 103 database. At this time, the transport management unit 101 may also indicate to the operator OP how many more parts PA to remove from the container box CB. Once the update of the registered contents is complete, the transport management unit 101 returns to the ACT1412 process.

[0173] Furthermore, if it is confirmed in the process of ACT1412 that no part removal operation has been performed (ACT1412:NO), the transport management unit 101 checks whether it has received a completion operation from the operator OP, similar to the process of ACT1214 (ACT1414). Once the operator OP has removed the part PA from the container box CB, they close the top surface TP of the container box CB. Then, the operator OP transports the container box from which the part was removed from the operator work area ARd to the drone landing area ARc and places it on the landing port DAP. After that, the operator OP returns to the operator work area ARd, that is, leaves the drone landing area ARc, and performs a completion operation to the management device 10.

[0174] Figure 41 shows an example of the stored contents of the database record for the container box CB, which is the container box from which parts have been removed. In the example of the container box 103 shown in Figure 41, the quantity has been updated from "200" to "170" because 30 parts have been removed, compared to the example before parts removal shown in Figure 39. In addition, the planar coordinates of the storage area 401 where the container box CB should be stored have been updated to the planar coordinates (F4) obtained in the processing of ACT1403. This update of the planar coordinates in the container box 103 is performed together with the update of the quantity in the processing of ACT1413. As explained in the processing of ACT1213 in the processing sequence of the parts storage process, the planar coordinates may also be updated when the container box CB is stored in the storage area 401.

[0175] In the process of ACT1414, if it is confirmed that the completion operation has been performed (ACT1414:YES), the transport management unit 101, in the same way as in the process of ACT1215, instructs the transport instruction unit 105 to search for one waiting unmanned aerial vehicle 20 (ACT1415). For example, the transport instruction unit 105 searches for an unmanned aerial vehicle 20 with drone number "MC-012" waiting at the waiting area coordinates "WB4". Then, in the same way as in the process of ACT1216, the transport instruction unit 105 transmits the coordinates of the take-off / landing port DAP of the drone take-off / landing area ARc corresponding to the operator OP who performed the completion operation as destination information (ACT1416). After that, in the same way as in the process of ACT1217, it is confirmed whether the unmanned aerial vehicle 20 has arrived at the destination take-off / landing port DAP and landed (ACT1417).

[0176] In the processing of ACT1417, if it is confirmed that the unmanned aerial vehicle 20 has arrived at and landed at the destination port DAP (ACT1417: YES), the transport instruction unit 105 transmits the nth storage compartment as destination information to the unmanned aerial vehicle 20, similar to the processing of ACT1218 (ACT1418). Specifically, the transport instruction unit 105 transmits the planar coordinates, for example, planar coordinates (F4), of the storage compartment 401 in the drone-dedicated warehouse area ARb where the nth component storage container box is stored. Upon receiving this destination information, the unmanned aerial vehicle 20 determines a flight route from the destination information, grasps the component acquisition container box during takeoff, and flies to the destination, thereby transporting the component acquisition container box to the designated storage compartment 401 in the drone-dedicated warehouse area ARb.

[0177] The transport instruction unit 105, similar to the process in ACT1219, confirms whether the unmanned aircraft 20 transporting the container box for parts removal has arrived at and landed in the storage section 401 of the drone-dedicated warehouse area ARb, which is its destination (ACT1419).

[0178] In the process of ACT1419, if it is confirmed that the unmanned aerial vehicle 20 has arrived at its destination, storage area 401, and landed (ACT1419:YES), the transport instruction unit 105, similar to the process of ACT1420, checks whether the value of counter n is the number N of container boxes CB required to retrieve the requested part PA (ACT1420). In the process of ACT1420, if it is confirmed that the value of counter n is the required number N (ACT1420:YES), the transport instruction unit 105, similar to the process of ACT1221, transmits the coordinates of the waiting area as destination information to the unmanned aerial vehicle 20 (ACT1421). Then, the management device 10 terminates the processing sequence for this part retrieval process and returns to the process of ACT11. For example, as shown in the example in Figure 27, if one container box CB is selected as the container box to be used for part storage, and the part PA is stored in it and then returned to the original storage area 401, the processing sequence for this part storage process can be terminated.

[0179] If, during the processing of ACT1420, it is confirmed that the value of counter n is not equal to the required number N (ACT1420: NO), the transport instruction unit 105 increments the value of counter n by "+1" (ACT1422), similar to the processing of ACT1222. After that, the management device 10 repeats the process from ACT1406.

[0180] Figure 42 shows an example of the contents of the database records of box information 103 before parts extraction for two container boxes from which parts are to be extracted. When a parts extraction request is received to extract 30 parts PA with part number "NFS3032" as described above, there may be cases where there is no container box CB that can extract 30 parts at once. In such cases, it is necessary to balance the numbers using multiple container boxes CB. As shown in Figure 42, container box CB with box number "BX-1632" stores 25 of the parts PA, and container box CB with box number "BX-1729" stores 28 of the parts PA. In the processing of ACT1401 and ACT1402, the management device 10 refers to the box information 103 and identifies these two container boxes CB as the N (=2) container boxes from which parts are to be extracted.

[0181] Then, in processing ACT1403, the management device 10 refers to the box information 103 and obtains the planar coordinates of the storage area 401 in the drone-dedicated warehouse area ARb where each of the two selected parts retrieval target container boxes is stored, and the planar coordinates of the storage area 401 to which each parts retrieval target container box is returned after the parts PA have been stored. In the database records of the box information 103 for box numbers "BX-1632" and "BX-1729", as shown in Figure 42, the planar coordinates of the storage area 401 in the respective drone-dedicated warehouse area ARb are registered as area coordinates "F4" and "C9". Figure 43 is a schematic diagram showing an example of the planar coordinates of the drone-dedicated warehouse area ARb when the two parts retrieval target container boxes are stored in different storage areas before and after parts storage. The management device 10 can acquire the coordinates of the storage compartments 401 of the container boxes CB, shown in Figure 43 with right-sloping hatching and vertical line hatching, as the planar coordinates in which each of the two selected container boxes from which parts are to be extracted is stored. Furthermore, the management device 10 extracts these acquired planar coordinates and compartment coordinates that are not registered in any record of the box information 103 database as empty storage compartments 401, and acquires any two of these as the planar coordinates to which the container boxes CB will be returned after parts have been extracted. For example, the management device 10 acquires the compartment coordinate "H5" representing the planar coordinate (H5) shown in Figure 43 with left-sloping hatching as the planar coordinate to which the container box CB with box number "BX-1632" will be returned, and acquires the compartment coordinate "H9" representing the planar coordinate (H9) shown in Figure 43 with horizontal line hatching as the planar coordinate to which the container box CB with box number "BX-1729" will be returned.

[0182] Then, in the processing of ACT1405, the management device 10 searches for the standby unmanned aerial vehicle 20 for container box CB with the first box number "BX-1632". For example, the management device 10 searches for the unmanned aerial vehicle 20 with drone number "MC-004" that is on standby at standby area coordinates "WB8".

[0183] Subsequently, through processing in ACT1406 to ACT1409, the management device 10 instructs the searched standby unmanned aerial vehicle 20, for example, drone number "MC-004", to transport container box CB, the first container box to be retrieved, with box number "BX-1632", from the planar coordinate (F4) of its storage compartment 401 to the take-off port DAP of the drone take-off area ARc corresponding to the operator OP. Then, in processing in ACT1410, the management device 10 transmits, for example, a different standby compartment coordinate "WB3" from the original standby compartment coordinate "WB8" as destination information to the first unmanned aerial vehicle 20 that released the transported container box CB, and instructs it to move to the standby location.

[0184] The management device 10 updates the corresponding record in the box information database 103 in response to a parts retrieval operation by operator OP indicating the retrieval of parts PA from the first parts retrieval target container box, through processing ACT1411 to ACT1414. At this time, the management device 10 may also show operator OP how many more parts PA need to be retrieved from the container box CB and other container boxes CB combined. Once all parts PA have been retrieved from the first parts retrieval target container box, the container box CB is transported from the operator work area ARd to the drone launch and landing area ARc, and the operator OP performs the completion operation.

[0185] In the processing of ACT1415, the management device 10 searches for one unmanned aerial vehicle 20 to be used to transport the empty container box from which all the parts PA have been removed. For example, the management device 10 searches for the unmanned aerial vehicle 20 with drone number "MC-012" that is waiting at the waiting area coordinate "WB4".

[0186] Subsequently, in the processing of ACT1416~ACT1419, the management device 10 instructs the second standby unmanned aerial vehicle (UAV) identified, drone number "MC-012" UAV 20, to transport the empty container box for parts removal from the DAP at the drone landing / takeoff port ARc to the storage area 401 at planar coordinate (H5), which is its storage location.

[0187] Then, in the processing of ACT1420, the management device 10 confirms that the value of counter n is not the required number N. Therefore, the management device 10 proceeds from the processing of ACT1422 to the processing of ACT1406 and transmits the box number "BX-1729" and its planar coordinates (C9) as box information for the second container box CB to the unmanned aerial vehicle 20 with drone number "MC-012", which is the second standby unmanned aerial vehicle. Subsequently, through the processing of ACT1407 to ACT1409, the management device 10 instructs the unmanned aerial vehicle 20 with drone number "MC-012" to transport the container box CB with box number "BX-1729", which is the second container box to be stored in, from the planar coordinates (C9) of its storage section 401 to the take-off and landing port DAP of the drone take-off and landing area ARc corresponding to the operator OP. Then, in processing ACT1410, the management device 10 transmits, for example, a different standby area coordinate "WB12" from the original standby area coordinate "WB4" as destination information to the second unmanned aerial vehicle 20 that released the transported container box CB, and moves it to the standby location.

[0188] The management device 10 updates the corresponding record in the box information database 103 in response to a parts retrieval operation by operator OP, which indicates the retrieval of parts PA from the second parts storage container box, through the processing of ACT1411 to ACT1414. When the remaining five parts PA (30-25) are retrieved from the second parts storage container box, the container box CB is transported from the operator work area ARd to the drone landing / takeoff area ARc, and the operator OP performs the completion operation.

[0189] As a result, in the processing of ACT1415, the management device 10 searches for one unmanned aerial vehicle 20 to be used to transport the container box containing the part from which the part PA was removed. For example, the management device 10 searches for the unmanned aerial vehicle 20 with drone number "MC-009" that is waiting at the waiting area coordinate "WB9". Then, in the processing of ACT1416 to ACT1419, the management device 10 instructs the third unmanned aerial vehicle found, the unmanned aerial vehicle 20 with drone number "MC-009", to transport the container box from which the part was removed from the launch port DAP in the drone launch area ARc to the storage area 401 at the planar coordinate (H9), which is its storage destination.

[0190] Figure 44 shows an example of the stored contents of the database records for box information 103 after parts have been removed for two container boxes from which parts were to be removed. As shown in Figure 44, in the database record for box number "BX-1632", the first container box from which parts were to be stored after parts were placed, the value of the compartment coordinate is updated from "F4" shown in Figure 42 to "H5". In addition, in this record, since all of the stored parts PA have been removed, the items for content attribute, part number, and quantity are updated to unregistered. In contrast, in the database record for box number "BX-1729", the second container box from which parts were to be stored after parts were placed, as shown in Figure 44, the value of the compartment coordinate is updated from "C9" shown in Figure 42 to "H9". In addition, in this record, the quantity is updated from "28" to "23", as 5 items have been removed.

[0191] Then, in the processing of ACT1420, the management device 10 confirms that the value of counter n is the required number N. Therefore, in the processing of ACT1421, the management device 10 transmits, for example, the original waiting area coordinates "WB9" as destination information to the unmanned aircraft 20 with drone number "MC-009" that has been transporting the second container box to be extracted for parts, and instructs it to move to the waiting area.

[0192] Thus, for example, if 30 parts PA need to be retrieved but there is no container box CB containing 30 parts PA, the unmanned aerial vehicle 20 can transport multiple container boxes CB containing those parts PA to the operator OP.

[0193] Furthermore, when removing parts PA from multiple container boxes CB, it is desirable to remove parts in such a way that one or more container boxes CB become empty, as this allows the empty container boxes CB to be used for storing new parts, thus enabling efficient use of the container boxes CB.

[0194] The processing sequence for parts retrieval described above is for the case where there is one drone landing port DAP in the drone landing area ARc corresponding to one operator OP, and also for the case where multiple unmanned aircraft 20 are operated sequentially. As with the processing sequence for parts storage described above, it is of course possible to operate multiple unmanned aircraft 20 simultaneously in parallel, to use one unmanned aircraft 20 continuously without returning it to the waiting area in the drone standby area ARa, or to reserve multiple unmanned aircraft 20 in advance.

[0195] <1-2-4-3> Garbage Collection Processing Sequence Figures 45 to 47 are flowcharts showing an example of the processing sequence for the garbage collection process performed in ACT16. As mentioned above, a garbage collection request is a request to consolidate parts PA, which are stored in two container boxes CB in the drone-dedicated warehouse area ARb, into one container box CB. The garbage collection request is input to the management device 10 by the operator OP by operating the input interface 17 of the management device 10 or via an operator terminal (not shown). The operator OP inputs this garbage collection request when, during idle time when not performing the aforementioned parts storage or parts retrieval work, they intend to consolidate small amounts of the same parts PA remaining in multiple container boxes CB into one container box CB, thereby emptying the other container boxes CB and making them available for storing other parts PA. The garbage collection request may or may not specify the parts to be worked on by the operator OP. If not specified, the management device 10 can select the parts to be worked on by searching for parts PA distributed in multiple container boxes CB based on the box information 103.

[0196] The transport management unit 101 of the management device 10 notifies the box management unit 102 of a garbage collection request, and the box management unit 102 searches all container boxes CB containing the target parts by referring to the box information 103 (ACT1601). Specifically, if the garbage collection request does not include the part code of the target part specified by the operator OP, the box management unit 102 searches the database of box information 103 for records where the quantity is less than or equal to a specified number, and obtains the part code stored as the model number in the first record found that is less than or equal to the specified number. Then, the box management unit 102 extracts all records from the database of box information 103 in which part PAs with model numbers corresponding to this obtained part code are registered. If the garbage collection request includes a part code, the box management unit 102 extracts all records from the database of box information 103 in which part PAs with model numbers corresponding to that part code are registered.

[0197] Next, the box management unit 102 identifies two garbage collection target container boxes based on the retrieved records (ACT1602). The two garbage collection target container boxes include a parts retrieval box CB from which parts PA should be retrieved, and a parts storage box CB for storing the retrieved parts. For example, the box management unit 102 identifies the container box CB corresponding to the box number of the record with the smallest quantity among the retrieved records as the parts retrieval box. The box management unit 102 also determines the maximum number of parts PA that can be stored in one container box CB from the volume and weight of the corresponding part PA in the parts information 104 database, and identifies the container box CB corresponding to the box number of the record containing the quantity of parts PA that can be stored among the retrieved records as the parts storage box. There are no particular restrictions on the method of identifying the parts storage box. For example, it could be the one that maximizes the summed quantity, or conversely, the one that minimizes it.

[0198] Figure 48 shows an example of the contents of the database records of the box information 103 before garbage collection for two garbage collection target container boxes, a parts retrieval box and a parts storage box. For example, if part PA with part number "NFS3032" is the target part, as shown in Figure 48, container box CB with box number "BX-1632", which has the smallest quantity "8" registered, is identified as the parts retrieval box, and container box CB with box number "BX-1729", which has the next smallest quantity "11" registered, is identified as the parts storage box.

[0199] The box management unit 102 then acquires the storage area 401 in the drone-dedicated warehouse area ARb where the parts retrieval boxes and parts storage boxes are stored, and the storage area 401 to which those parts retrieval boxes and parts storage boxes are returned (ACT1603). Specifically, the box management unit 102 identifies the planar coordinates of the storage area 401 in which the parts retrieval box is stored, based on the partition coordinates of the database record of the box information 103 of the identified parts retrieval box, and also identifies the planar coordinates of the storage area 401 to which the parts retrieval box is returned, based on the partition coordinates of the records of container boxes CB other than the parts retrieval box. Similarly, the box management unit 102 identifies the planar coordinates of the storage area 401 in which the parts storage box is stored, based on the partition coordinates of the database record of the box information 103 of the identified parts storage box, and also identifies the planar coordinates of the storage area 401 to which the parts storage box is returned, based on the partition coordinates of the records of container boxes CB other than the parts storage box.

[0200] Figure 49 is a schematic diagram showing an example of the planar coordinates of a drone-dedicated warehouse area when two garbage collection target container boxes, a parts retrieval box and a parts storage box, are stored in different storage compartments 401 before and after garbage collection. In Figure 49, the container box CB, which is the parts retrieval box, is shown with right-sloping hatching, and the storage compartment 401 where the empty container box CB is stored is shown with left-sloping hatching. Furthermore, the container box CB, which is the parts storage box before the parts PA retrieved from the parts retrieval box are stored, is shown with vertical line hatching, and the storage compartment 401 where the container box CB is stored after the parts PA retrieved from the parts retrieval box are stored is shown with left-sloping hatching. The example in Figure 49 corresponds to the record contents of the box information 103 shown in Figure 48. Therefore, Figure 49 shows an example in which one container box CB stored in storage area 401 at planar coordinate (C6) is identified as a parts retrieval box, and after retrieving part PA, it is returned to storage area 401 at planar coordinate (F6). Another example shows that one container box CB stored in storage area 401 at planar coordinate (E10) is identified as a parts storage box for storing the retrieved part PA, and after storing part PA, it is returned to storage area 401 at planar coordinate (F9).

[0201] Subsequently, the management device 10 performs the same processing sequence as described above for the parts retrieval box, and then performs the same processing sequence as described above for the parts storage box. However, in this case, N is "1".

[0202] In other words, the transport instruction unit 105 searches for a waiting unmanned aircraft 20, similar to the process of ACT 1405 (ACT 1604). For example, the transport instruction unit 105 searches for an unmanned aircraft 20 with drone number "MC-004" that is waiting at the waiting area coordinate "WB8" in the drone waiting area ARa, to be used as one unmanned aircraft 20 to transport a parts retrieval box stored in the planar coordinate (C6) of the storage area 401 in the drone-dedicated warehouse area ARb.

[0203] The transport instruction unit 105 then transmits the box information of the parts retrieval box to the searched unmanned aerial vehicle 20 via the communication unit 106 (ACT1605). Upon receiving this box information, the unmanned aerial vehicle 20 determines a flight route from the destination information and flies to the storage compartment 401 at the destination planar coordinate (C6), and lands on the container box CB with box number "BX-1632", which has been identified as the parts retrieval box stored at that destination.

[0204] Subsequently, the management device 10 executes the processes of ACT1606 to ACT1609, which are similar to the processes of ACT1407 to ACT1410. That is, the management device 10 instructs the unmanned aircraft 20 with drone number "MC-004" to transport the parts retrieval box to the take-off / landing port DAP in the drone take-off / landing area ARc, which is compatible with the operator OP. Then, the management device 10 executes the processes of ACT1610 to ACT1613, which are similar to the processes of ACT1411 to ACT1414. That is, the management device 10 receives a parts retrieval operation from the operator OP indicating the retrieval of parts PA from the parts retrieval box in the operator work area ARd, updates the box information 103, and receives a completion operation corresponding to the completion of the retrieval of parts PA from the parts retrieval box. In response to this completion operation, the management device 10 executes the processes of ACT1614 to ACT1618, which are similar to the processes of ACT1415 to ACT1419. In other words, the management device 10 searches for the second standby unmanned aerial vehicle 20, for example, the drone with drone number "MC-012" that is standby at standby area coordinate "WB4", and summons the unmanned aerial vehicle 20 to the take-off / arrival port DAP where the parts retrieval box, which has become empty after all the stored parts PA have been removed, is placed. The transport instruction unit 105 then instructs the unmanned aerial vehicle 20 to transport the empty parts retrieval box to the storage area 401 of the drone-dedicated warehouse area ARb. The destination information transmitted to the unmanned aerial vehicle 20 in the processing of ACT1617 is the storage area 401 to which the parts retrieval box will be returned, for example, the storage area 401 at planar coordinate (F6), which was acquired in the processing of ACT1603.

[0205] If the arrival of the unmanned aerial vehicle 20 is confirmed during the processing of ACT1618 (ACT1618: YES), in the processing sequence of this garbage collection process, the transport instruction unit 105 immediately transmits the coordinates of the evacuation location to the unmanned aerial vehicle 20 as destination information, as ACT1619, in the same manner as the processing of ACT1421.

[0206] Next, the transport instruction unit 105 searches for an unmanned aerial vehicle 20 waiting to transport a parts storage box stored in the planar coordinate (E10) of the storage section 401 in the drone-dedicated warehouse area ARb (ACT1620). For example, it searches for an unmanned aerial vehicle 20 with drone number "MC-012" waiting in the waiting section coordinate "WB4" of the drone waiting area ARa.

[0207] Then, the transport instruction unit 105 transmits the box information of the parts storage box to the searched unmanned aerial vehicle 20 via the communication unit 106 (ACT1621). Upon receiving this box information, the unmanned aerial vehicle 20 determines a flight route from the destination information and flies to the storage compartment 401 at the destination planar coordinates (E10), and lands on the container box CB with box number "BX-1729", which has been identified as a parts storage box stored at that destination.

[0208] Subsequently, the management device 10 executes the processes of ACT1621 to ACT1623, which are similar to the processes of ACT1208 to ACT1210. That is, the management device 10 instructs the unmanned aircraft 20 with drone number "MC-004" to transport the parts retrieval box to the take-off / landing port DAP in the drone take-off / landing area ARc, which is compatible with the operator OP. Then, the management device 10 executes the processes of ACT1624 to ACT1627, which are similar to the processes of ACT1211 to ACT1214. That is, the management device 10 receives a parts storage operation from the operator OP, indicating the work of storing the parts PA retrieved from the parts retrieval box in the operator work area ARd into the parts storage box, updates the box information 103, and receives a completion operation corresponding to the completion of the work of storing the parts PA into the parts storage box. In response to this completion operation, the management device 10 executes the processes of ACT1628 to ACT1630, which are similar to the processes of ACT1215 to ACT1219. In other words, the management device 10 searches for the third standby unmanned aerial vehicle 20, for example, the drone with drone number "MC-009" that is standby at standby area coordinate "WB9", and summons the unmanned aerial vehicle 20 to the take-off / arrival port DAP where the parts storage box containing the parts PA removed from the parts retrieval box is located. The transport instruction unit 105 then instructs the unmanned aerial vehicle 20 to transport the parts storage box to the storage area 401 in the drone-dedicated warehouse area ARb. The destination information transmitted to the unmanned aerial vehicle 20 in the processing of ACT1629 is the storage area 401 to which the parts storage box will be returned, for example, the storage area 401 at planar coordinate (F9), which was acquired in the processing of ACT1603.

[0209] If the arrival of the unmanned aerial vehicle 20 is confirmed during the processing of ACT1630 (ACT1630: YES), then in the processing sequence of this garbage collection process, as ACT1631, the transport instruction unit 105 immediately transmits the coordinates of the evacuation location as destination information to the unmanned aerial vehicle 20, similar to the processing of ACT1221. The management device 10 then terminates this processing sequence of the garbage collection process and returns to the processing of ACT11.

[0210] Figure 50 shows an example of the contents of the database records in box information 103 after garbage collection for two garbage collection target container boxes: a parts retrieval box and a parts storage box. As shown in Figure 50, in the database record of box information 103 for box number "BX-1632", which is a parts retrieval box from which the stored parts PAs are retrieved, the partition coordinate value is updated from "C6" as shown in Figure 48 to "F6". In addition, in this record, since all the stored parts PAs have been retrieved, the contents attribute, part number, and quantity items are updated to "unregistered". In contrast, in the database record of box information 103 for box number "BX-1729", which is a parts storage box, as shown in Figure 50, the partition coordinate value is updated from "E10" as shown in Figure 48 to "F9". In addition, in this record, the number of parts PAs retrieved from the parts retrieval box, which is 8, is added, and the quantity is updated from "11" to "19".

[0211] The garbage collection processing sequence described above is for the case where there is one drone landing port DAP in the drone landing area ARc corresponding to one operator OP, and also for the case where multiple unmanned aircraft 20 are operated sequentially. As with the parts storage and parts retrieval processing sequences described above, it is of course possible to operate multiple unmanned aircraft 20 simultaneously in parallel, to use one unmanned aircraft 20 continuously without returning it to the waiting area in the drone standby area ARa, or to reserve multiple unmanned aircraft 20 in advance.

[0212] <1-2-5> Proximity avoidance sequence of the control device 10 As mentioned above, the transport instruction unit 105 of the management device 10 constantly communicates with each operational unmanned aerial vehicle 20 via the communication unit 106 during the status awareness sequence of the unmanned aerial vehicles 20, and continues to monitor the status of each unmanned aerial vehicle 20. Based on the information gathered, such as the flight route planning, current position, and autonomous action status of each unmanned aerial vehicle 20, the transport instruction unit 105 can execute processes to avoid proximity between the unmanned aerial vehicles 20, especially within the drone-dedicated warehouse area ARb where the flight area is restricted, to prevent collisions between the unmanned aerial vehicles 20.

[0213] Figure 51 is a flowchart showing an example of a proximity avoidance sequence between the management device 10, which serves as an unmanned aerial vehicle management device according to the first embodiment, and each unmanned aerial vehicle 20. In particular, the flowchart shown on the left side of Figure 51 shows the processing sequence of the proximity avoidance process that the management device 10 performs for each unmanned aerial vehicle 20. The flowchart shown on the right side of Figure 51 shows the processing sequence of the proximity avoidance process that is initiated when each unmanned aerial vehicle 20 reaches the entrance of the drone-dedicated warehouse area ARb.

[0214] When the unmanned aerial vehicle 20 arrives at the entrance of the drone-dedicated warehouse area ARb to receive or unload the container box CB, it hovers there and sends an entrance arrival notification to the control device 10 (ACT221). The unmanned aerial vehicle 20 then remains hovering at the entrance and waits for the destination and flight route to be transmitted from the control device 10.

[0215] Figure 52 is a schematic diagram showing an example of planar coordinates between the initial storage area and the modified storage area in the drone-dedicated warehouse area ARb of the container box CB, based on the proximity avoidance sequence in Figure 51. The initial storage area is the storage area 401 of the destination point initially transmitted to each unmanned aircraft 20. In the example in Figure 52, the storage area 401 at planar coordinate (F6), indicated by the right-sloping hatching, is assumed to be the initial storage area. The drone-dedicated warehouse area ARb is a warehouse enclosed on all four sides (top, bottom, left, right, and ceiling) in Figure 52, and the dedicated entrance IN for the unmanned aircraft 20 to the drone-dedicated warehouse area ARb is located corresponding to the left side of, for example, planar coordinate (A1) and a part of planar coordinate (FA2) in the drone-dedicated warehouse area ARb. In Figure 52, the difference in altitude of each unmanned aircraft 20 is represented by its size. The larger the size, the higher the altitude, i.e., the closer it is to the ceiling.

[0216] The transport instruction unit 105 of the management device 10 communicates with each of the multiple unmanned aerial vehicles 20 via the communication unit 106 to understand the current position of each unmanned aerial vehicle 20 (ACT1801). For example, the transport instruction unit 105 understands that the unmanned aerial vehicle 20 has arrived at the entrance IN of the drone-dedicated warehouse area ARb by receiving an entrance arrival notification transmitted from the unmanned aerial vehicle 20.

[0217] Furthermore, the transport instruction unit 105, via the transport management unit 101, receives information from the box management unit 102 regarding which storage sections 401 in the drone-dedicated warehouse area ARb contain container boxes CB, and which storage sections 401 do not contain container boxes CB, i.e., are empty (ACT1802).

[0218] Furthermore, the transport instruction unit 105 is aware of the storage area 401 of the drone-dedicated warehouse area ARb, which is the destination point for each of the multiple unmanned aircraft 20, and which has been transmitted to each of the multiple unmanned aircraft 20 via the communication unit 106 (ACT1803). For example, the transport instruction unit 105 is aware of the planar coordinates of the storage area 401 as destination information transmitted to each unmanned aircraft 20.

[0219] The transport instruction unit 105 instructs each unmanned aircraft 20 to land in a storage area 401 without a container box CB, which is located at a distance that does not interfere with other unmanned aircraft 20.

[0220] Specifically, the transport instruction unit 105 calculates a flight route from the entrance IN of the drone-dedicated warehouse area ARb to the storage section 401, which is set as the destination point for the unmanned aircraft 20 (ACT1804). The flight route is generally a straight line from the entrance IN to the destination point, i.e., the storage section 401 which is the intended landing point.

[0221] The transport instruction unit 105 then checks whether the calculated flight route interferes with other unmanned aerial vehicles 20, that is, whether the flight route includes a distance that interferes with other unmanned aerial vehicles 20 (ACT1805). This distance includes not only the planar distance but also the altitude, i.e., the vertical distance. In checking for interference, the check should at least be based on the current position of the other unmanned aerial vehicle 20, but it is desirable to also check the other unmanned aerial vehicle 20 and its destination, i.e., the flight route of the other unmanned aerial vehicle 20.

[0222] In the processing of ACT1805, if it is confirmed that the calculated flight route does not interfere with other unmanned aircraft 20 in terms of both planar distance and vertical distance (ACT1805: NO), the transport instruction unit 105 transmits the destination point and flight route to the corresponding unmanned aircraft 20 via the communication unit 106 (ACT1806).

[0223] The unmanned aerial vehicle 20, hovering at the entrance IN of the drone-dedicated warehouse area ARb and waiting for the destination point and flight route to be transmitted, acquires the destination point and flight route from the management device 10 (ACT222). The unmanned aerial vehicle 20 flies to the destination point according to the acquired flight route (ACT223) and lands at the destination point (ACT224). Then, the unmanned aerial vehicle 20 sends a destination arrival notification to the management device 10 and waits for the next destination point and flight route to be transmitted from the management device 10 (ACT225).

[0224] Upon receiving a destination arrival notification from the unmanned aerial vehicle 20, the transport instruction unit 105 of the management device 10 updates the current position of the unmanned aerial vehicle 20, which is determined by the processing of ACT1801. Furthermore, if the unmanned aerial vehicle 20 has transported a container box CB, the transport instruction unit 105 updates the storage compartment 401 where the container box CB is stored, which is determined by the processing of ACT1802. In addition, the transport instruction unit 105 updates the destination point of the unmanned aerial vehicle 20, which is determined by the processing of ACT1803, to the next destination point, which is either a waiting area or a landing / departure port DAP in the drone landing / departure area ARc. Then, through the processing of ACT1804 to ACT1806 described above, the flight route from the landing point to the next destination point via the entrance IN of the drone-dedicated warehouse area ARb is calculated and transmitted to the unmanned aerial vehicle 20.

[0225] The unmanned aerial vehicle 20 obtains the next destination and flight route from the management device 10 (ACT226). Then, the unmanned aerial vehicle 20 takes off (ACT227) and flies to the destination according to the obtained flight route (ACT228). Along the way, when it exits the drone-dedicated warehouse area ARb from the entrance IN, it sends an exit notification to the management device 10 (ACT229).

[0226] Upon receiving an exit notification from the unmanned aerial vehicle 20, the transport instruction unit 105 of the management device 10 updates the current position of the unmanned aerial vehicle 20, which is known from the processing of ACT1801, and also updates the storage area 401 where the container boxes CB are stored, which is known from the processing of ACT1802. In this way, the transport instruction unit 105 can grasp the current position of each unmanned aerial vehicle 20 and the storage status of the container boxes CB within the drone-dedicated warehouse area ARb.

[0227] If, during the processing of ACT1805, it is confirmed that the calculated flight route interferes with another unmanned aircraft 20 in terms of at least one of the planar distance and vertical distance (ACT1805: YES), the transport instruction unit 105 checks if there are any unverified planar coordinates of the storage compartment 401 (ACT1807). There is no particular limit to the order in which these planar coordinates are checked.

[0228] An unverified storage compartment 401 is, for example, a storage compartment 401 that does not contain a container box CB if the target unmanned aerial vehicle 20 is there to return a container box CB to the drone-dedicated warehouse area ARb. Also, if the target unmanned aerial vehicle 20 comes to pick up an empty container box CB, the unverified storage compartment 401 is a storage compartment 401 that contains an empty container box CB. In contrast, if the target unmanned aerial vehicle 20 comes to pick up a specific container box CB, there is no unverified storage compartment 401.

[0229] For example, in the example shown in Figure 52, another unmanned aircraft 20 is located on the flight path from the entrance IN to storage compartment 401 at planar coordinates (F6). Furthermore, let's assume that storage compartment 401 at planar coordinates (B2) has not yet been verified.

[0230] If, during the processing of ACT1807, it is confirmed that there are unverified planar coordinates (ACT1807:YES), the transport instruction unit 105 changes the destination point to the planar coordinates of the unverified storage compartment 401 (ACT1808).

[0231] Subsequently, the transport instruction unit 105 executes the process of ACT1804 to calculate the flight route from the entrance IN of the drone-dedicated warehouse area ARb to the updated destination storage section 401. In the example in Figure 52, there are no other unmanned aircraft 20 on the flight route from the entrance IN to the storage section 401 at the changed destination point, planar coordinate (B2). Therefore, the transport instruction unit 105 confirms through the process of ACT1805 that the calculated flight route does not interfere with other unmanned aircraft 20 in terms of both planar and vertical distance (ACT1805: NO), and in the process of ACT1806, transmits the destination point (planar coordinate (B2)) and the flight route to the corresponding unmanned aircraft 20. At this time, if the unmanned aircraft 20 is transporting a container box CB for storage, the transport instruction unit 105 updates the section coordinates of the box information 103 for the container box CB via the transport management unit 101 and the box management unit 102.

[0232] Figure 53 shows an example of the contents of the database records for the box information 103 before and after the coordinate change of the storage compartment 401, which is the destination point for the container box in the example in Figure 52. As shown in Figure 53, the compartment coordinates of the box information 103 for the container box CB with box number "BX-1632" being transported by the unmanned aerial vehicle 20 are updated from (F6), which is the initial planar coordinate of the destination point, to (B2).

[0233] Furthermore, if the ACT1807 process confirms that there are no unverified planar coordinates (ACT1807:NO), the transport instruction unit 105 checks whether the other unmanned aircraft 20 have left the drone-dedicated warehouse area ARb (ACT1809). This check can be easily performed because the current position of each unmanned aircraft 20 is known from the ACT1801 process. If the departure of the other unmanned aircraft 20 cannot be confirmed (ACT1809:NO), the transport instruction unit 105 executes the ACT1809 process again. In this way, the transport instruction unit 105 waits for one of the other unmanned aircraft 20 to leave the drone-dedicated warehouse area ARb.

[0234] If the other unmanned aircraft 20 has confirmed that it has left the drone-dedicated warehouse area ARb (ACT1809: YES), the transport instruction unit 105 changes the destination point through the processing of ACT1808.

[0235] For example, if the target unmanned aircraft 20 is intended to return a container box CB to the drone-dedicated warehouse area ARb, then all storage compartments 401 that do not contain a container box CB have been verified. Therefore, the transport instruction unit 105 resets all of these verified storage compartments 401 to unverified. Then, it updates the destination point.

[0236] Furthermore, if the target unmanned aircraft 20 comes to pick up an empty container box CB, all of the storage compartments 401 containing the empty container boxes CB have already been verified. Therefore, the transport instruction unit 105 resets all of these verified storage compartments 401 to unverified. Then, it updates the destination point.

[0237] Furthermore, if the target unmanned aircraft 20 comes to pick up a specific container box CB, there are no unverified storage compartments 401. Therefore, the transport instruction unit 105 resets the verified storage compartment 401 that stores the target container box CB to unverified. Then, it updates the destination point.

[0238] Thus, even if a flight path was initially determined to interfere with another unmanned aerial vehicle 20, it may become a non-interfering flight path once the unmanned aerial vehicle 20 that was the target of the interference leaves the drone-dedicated warehouse area ARb. Therefore, the flight path verification is restarted, triggered by the departure of any other unmanned aerial vehicle 20.

[0239] <1-3> Effects of the First Embodiment The unmanned aerial vehicle management device according to the first embodiment described above makes it possible to reduce the operational costs associated with transporting the container box CB. The effects of the first embodiment will be described in detail below.

[0240] The management device 10 as an unmanned aerial vehicle management device according to the first embodiment includes a storage unit 15 that stores container box management information 103 for each of the multiple container boxes CB, which includes the planar coordinates of the storage compartment 401 of the container box CB in a drone-dedicated warehouse area ARb, which is a storage area having multiple storage compartments 401 with defined planar coordinates, and the model number (part code) and quantity, which are specific information that identifies the items, i.e., parts PA, stored in the container box CB; and a transport management unit 101, a container management unit 102, a transport instruction unit 105, and a communication unit 106 as control units for controlling an unmanned aerial vehicle 20 configured to fly and transport the container boxes CB. The transport management unit 101, in response to a work request for storing and / or retrieving a component PA, which includes at least the component code of the component PA to be stored in and / or retrieved from the container box CB, searches for the target container box CB based on the box management unit 102, the component code, and the box information 103. The transport instruction unit 105 then, via the communication unit 106, instructs the unmanned aerial vehicle 20 to transport the searched target container box CB from the storage area 401 to the take-off / landing port DAP of the drone take-off / landing area ARc, which is near the operator work area ARd, the work execution area where the work is performed. Thus, the management device 10 can automatically search for the container box CB to be used for the work in response to a work request for storing and / or retrieving a component PA, and have the unmanned aerial vehicle 20 transport that container box CB. As a result, the work cost required for setting up the unmanned aerial vehicle 20 for transporting the container box CB necessary for storing and / or retrieving a component PA can be reduced.

[0241] Furthermore, constructing an automated loading and unloading system for container boxes CB using the unmanned aerial vehicle 20 is highly beneficial. For example, while ground-based automated guided vehicles (AGVs) have the advantage of being able to carry heavy loads, they are constrained by the need to travel along ground-based pathways. Ground-based AGVs generally have slow travel speeds. Moreover, they have the disadvantage of causing congestion at intersections as they have to wait for other ground-based AGVs to pass, so overall, their transport speed is slow. In contrast, when using the unmanned aerial vehicle 20, it is not necessary to travel on ground roads and can move in a straight line towards the destination. Also, even when multiple unmanned aerial vehicles 20 intersect, congestion can be prevented by changing altitude. Therefore, the unmanned aerial vehicle 20 is relatively capable of faster processing than ground-based AGVs.

[0242] Furthermore, the transport management unit 101 of the management device 10 in the first embodiment causes the box management unit 102 to acquire the planar coordinates of the storage area 401 where the target container box CB, whose work has been completed, should be stored, based on the box information 103. In response to a work completion notification from the operator OP in the operator work area ARd, the transport instruction unit 105 causes the unmanned aerial vehicle 20 to transport the target container box CB, whose work has been completed, from the take-off / landing port DAP near the operator work area ARd to the acquired storage area 401, and also causes the box management unit 102 to update the box information 103 stored in the storage 15.Therefore, in response to a completion notification of the work of storing and / or retrieving the parts PA, the management device 10 can automatically cause the unmanned aerial vehicle 20 to transport the container box CB, whose work has been completed, to the storage area 401. Thus, the work cost required for setting up the unmanned aerial vehicle 20 related to the transport of the container box CB after the work has been completed can be reduced. Furthermore, by remembering the location of the storage compartment 401 where the container box CB is stored after the work is completed, it becomes easy to determine the location of the container box CB for its next use.

[0243] Furthermore, the storage 15 of the management device 10 in the first embodiment stores part information 104, which is item management information including the volume and weight per unit, for each part code of part PA. A work request for storing part PA further includes information on the number of part PAs to be stored in the container box CB. When the transport management unit 101 responds to a work request for storing part PA and causes the box management unit 102 to search for the target container box CB, it further searches for one or more target container box CBs capable of storing the number of part PAs to be stored in each of the multiple container box CBs based on the part information 104 and the number of part PAs that can be stored in each of the multiple container box CBs based on the box information 103. Therefore, the number of container box CBs required for the work can be calculated according to the maximum payload weight of the unmanned aerial vehicle 20, and each container box CB can be transported to the unmanned aerial vehicle 20.

[0244] Furthermore, the transport instruction unit 105 of the management device 10 in the first embodiment simultaneously controls multiple unmanned aerial vehicles 20, and the transport management unit 101, in response to a request for the storage and / or retrieval of parts PA, causes the transport instruction unit 105 to determine which unmanned aerial vehicle 20 will transport the target container box CB that has been searched from among the multiple unmanned aerial vehicles 20. Thus, the container box CB can be transported by efficiently utilizing multiple unmanned aerial vehicles 20.

[0245] Furthermore, the transport instruction unit 105 of the management device 10 in the first embodiment checks whether the unmanned aircraft 20 will interfere with other unmanned aircraft 20s flying within the drone-dedicated warehouse area ARb when instructing it to fly towards the storage compartment 401 at the destination point. If interference occurs, the unit changes the storage compartment 401 at the destination point to another storage compartment 401. Thus, collisions between multiple unmanned aircraft 20s can be prevented.

[0246] In the first embodiment, the standard-sized container box CB has legs LP of a predetermined length, and the holding jig 23 of the unmanned aerial vehicle 20 has claw portions NP that can sandwich between the legs LP of the container box CB. When the unmanned aerial vehicle 20 lands, the claw portions 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, that is, the space secured by the length of the legs LP attached to the container box CB. And when the unmanned aerial vehicle 20 holds and flies with the container box CB, the claw portions 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 the ground before the landing gear 22, so that the container box CB naturally separates from the claw portions NP of the holding jig 23. Thus, the unmanned aerial vehicle 20 has a configuration in which no friction occurs between the claw portions NP and the container box CB when the claw portions NP separate from the container box CB. For this reason, the holding jig 23 of the unmanned aerial vehicle 20 can open without friction when holding the container box CB and when releasing the container box CB, respectively. That is, the unmanned aerial vehicle 20 can easily hold the container box CB with a small torque. Similarly, the unmanned aerial vehicle 20 can easily release the container box CB with a small torque.

[0247] Thereby, the strength of the structure of the arm 231 of the holding jig 23 can be reduced. Also, the power supply mechanism for generating the release torque can be minimized. That is, since a strong opening and closing torque is not required, the opening and closing mechanism of the arm 231 of the unmanned aerial vehicle 20 can be composed of a lightweight motor and lightweight mechanical components. Therefore, the total weight of the unmanned aerial vehicle 20 can be kept low, and the size of the unmanned aerial vehicle 20 can be reduced. As a result, when transporting the container box CB using the unmanned aerial vehicle 20, a mechanism for holding and releasing the container box CB can be implemented at low cost. Also, the unmanned aerial vehicle 20 used for transporting the container box CB can be miniaturized, and an unmanned aerial vehicle 20 that can be used in a narrow space such as indoors can be provided.

[0248] In addition, the unmanned aircraft 20 can hold the container box CB without manual intervention. Similarly, the unmanned aircraft 20 can release the container box CB from the unmanned aircraft 20 without manual intervention. Therefore, the unmanned aircraft 20 can automate and streamline the holding and release of the container box CB.

[0249] Also, even if the unmanned aircraft 20 loses its balance during flight, the legs LP located at the four corners of the container box CB function as stoppers. Thereby, the risk that the container box CB detaches from the holding jig 23 of the unmanned aircraft 20 during the transportation of the container box CB can be suppressed. Furthermore, when the upper end portion 232 of the claw portion NP of the arm 231 has an anti-slip function, the unmanned aircraft 20 can hold the container box CB more reliably.

[0250] <2>Second Embodiment In the first embodiment, it was assumed that the storage of the component PA in the container box CB in the processing sequence of the component storage process is to newly store the component PA in the container box CB that contains nothing. The second embodiment is an example in which it is also stored in a non-empty container box CB. Hereinafter, the differences from the first embodiment will be mainly described in detail regarding the unmanned aircraft management device according to the second embodiment.

[0251] <2-1>Configuration [[ID=I5]] The configuration of the management device 10 as the unmanned aircraft management device according to the second embodiment and the hardware configuration of the unmanned aircraft 20 in the transportation system 1 including the same are the same as those in the first embodiment. Also, the container box CB in the second embodiment is assumed to have the same shape as that in the first embodiment.

[0252] <2-2>Operation The operation of the management device 10 as the unmanned aircraft management device according to the second embodiment is the same as that in the first embodiment except for the processing sequence of the component storage process, so the description thereof is omitted. Hereinafter, the processing sequence of the component storage process will be described.

[0253] Figure 54 is a flowchart showing an example of the processing sequence for parts storage in the management device 10. In this embodiment as well, the parts storage request from the operator OP includes, for example, information such as the part code and quantity of parts PA input by the operator OP.

[0254] The transport management unit 101 of the management device 10 notifies the box management unit 102 of a parts storage request including part code and quantity information, and the box management unit 102 refers to the box information 103 and searches for all container boxes CB that store the requested parts PA (ACT1231).

[0255] Next, the box management unit 102 checks whether there is a container box CB containing the requested part PA (ACT1232).

[0256] In the process of ACT1232, if it is confirmed that there is no container box CB containing the requested part PA (ACT1232: NO), the management device 10 executes the processes of ACT1201 to ACT1205 described in the first embodiment. That is, the box management unit 102 calculates the number N of container boxes CB required to store the requested part PA, searches for N empty container boxes CB to be used as container boxes for part storage, and obtains the planar coordinates of the storage section 401 in the drone-dedicated warehouse area ARb before and after storing the part PA for each container box for part storage. Then, the transport instruction unit 105 initializes the value of counter n to "1" and searches for an unmanned aircraft 20 waiting to pick up a container box for part storage from the drone-dedicated warehouse area ARb.

[0257] Subsequently, the transport instruction unit 105 transmits box information of the nth component storage container box to the searched unmanned aerial vehicle 20 via the communication unit 106 (ACT1233). Specifically, the transport instruction unit 105 transmits the box number that identifies the nth component storage container box, and the planar coordinates of the storage section 401 of the drone-dedicated warehouse area ARb where the component storage container box is stored, as destination information. The subsequent processing is the same as the processing from ACT1207 onwards described in the first embodiment.

[0258] On the other hand, if the ACT1232 process confirms that there is a container box CB containing the requested part PA (ACT1232: YES), the box management unit 102 checks whether it is possible to store all of the requested part PA using only the found container boxes CB (ACT1234).

[0259] If the processing in ACT1234 confirms that storage is possible (ACT1234: YES), the box management unit 102 identifies the N container boxes CB that were found as container boxes to be used for storing parts (ACT1235). After that, the management device 10 proceeds to execute the process from ACT1203 described above.

[0260] Furthermore, if the ACT1234 process confirms that the containers cannot be stored (ACT1234:NO), the box management unit 102 identifies N1 container boxes CB, which is the number of items searched, as container boxes to be used for storing parts (ACT1236).

[0261] Then, the box management unit 102 calculates the required number of empty container boxes CB N2 based on the number of parts PA that cannot be stored in N1 container boxes for parts storage (ACT1237). Specifically, the box management unit 102 checks the volume and weight per unit of part PA using the part code, determines how many of the part PA can be stored in one container box CB, and calculates the required number of empty container boxes CB.

[0262] Next, the box management unit 102 refers to the box information 103 to search for N2 empty container boxes CB to be used, and identifies the found N2 container boxes CB as container boxes to be used for storing parts (ACT1238).

[0263] Then, the box management unit 102 calculates the total number of container boxes CB identified as container boxes for storing parts, N, by N1 + N2 (ACT1239). After that, the management device 10 executes the process described in ACT1203.

[0264] <2-3> Effects of the second embodiment According to the unmanned aircraft management device of the second embodiment described above, container boxes CB that already contain parts OA are also selected as targets for storing parts, thus preventing the wasteful use of empty container boxes CB.

[0265] <3> Modifications, etc. Each embodiment described above can be modified in various ways. Modifications of each embodiment are described below.

[0266] <3-1> First variation In the first embodiment, the position of the legs LP of the container box CB may be away from the four corners of the bottom surface BP. Furthermore, the position in which the arm 231 is inserted does not have to be between two adjacent legs LP, depending on the position of the legs LP of the container box CB. This case is described below as the first modified example, and the differences from the first embodiment are explained below.

[0267] Figure 55 is a perspective view showing an example of the shape of a container box CB according to the first modified example. As shown in Figure 55, each leg LP of the container box CB according to the first modified example is positioned away from the corner portion CO of the bottom surface of the container box CB. Specifically, each of the four legs LP of the container box CB according to the first modified example is positioned away from the toe surface EP.

[0268] FIG. 56 is a side view showing the relationship between the hold jig in the closed state and the container box CB in the landing state of the unmanned aircraft 20 according to the first modification. As shown in FIG. 56, the unmanned aircraft 20 according to the first modification is configured such that when the hold jig 23 is in the closed state, the claw portion NP of the arm 231 is positioned between a pair of adjacent leg portions LP and the corner portion CO of the bottom surface BP. Specifically, the claw portion NP of the front-side arm 231 is located in the space between the front-side leg portion LP and the front-side corner portion CO of the bottom surface BP. The claw portion NP of the rear-side arm 231 may be located in the space between the rear-side leg portion LP and the corner portion CO of the front-side bottom surface BP.

[0269] The leg portion LP of the container box CB according to the first modification can function as a stopper in the same manner as the leg portion LP of the container box CB according to the first embodiment when the container box CB is displaced during the flight of the unmanned aircraft 20. As a result, the container box CB according to the first modification can improve the stability of holding the container box CB during the flight of the unmanned aircraft 20, similar to the first embodiment.

[0270] <3-2>Second Modification In the above embodiment, the holding portion of the container box CB does not have to be the bottom surface BP. In such a case, as a second modification, the differences from the first embodiment will be described below.

[0271] FIG. 57 is a perspective view showing an example of the shape of the container box CB according to the second modification. As shown in FIG. 57, the container box CB according to the second modification has a plurality of slits ST. In this example, two slits ST arranged in the X direction are located on each side surface SP. The number of the plurality of slits ST corresponds to, for example, the number of the arms 231 of the hold jig 23. The claw portion NP of the arm 231 can be inserted into the slit ST. Depending on the shape of the slit ST, the number of the arms 231 may be more than the number of the slits ST. Note that the container box CB according to the second modification may or may not have the leg portion LP.

[0272] Figure 58 is a side view showing the relationship between the closed-state holding jig 23 and the container box CB in the landing state of the unmanned aerial vehicle 20 according to the second modified example. As shown in Figure 58, the arm 231 in the second modified example is shorter than the arm 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 portion NP of each arm 231 to be inserted into the slit ST of the container box CB when transitioning from the open state to the closed state.

[0273] 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, similar to the first embodiment. Therefore, 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 a low cost, similar to the first embodiment.

[0274] <3-3>Third Variation In the above embodiment, the container box CB does not need to have legs LP. This case is presented as a third modified example, and the differences from the first embodiment are described below.

[0275] Figure 59 is a front view showing the relationship between the open holding jig 23 and the container box CB in the landing state of the unmanned aerial vehicle 20 according to the third modified example. As shown in Figure 59, in the unmanned aerial vehicle 20 according to the third modified example, the landing gear 22 is shaped to allow landing on a non-planar structure. In addition, 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-planar structure.

[0276] In other words, as shown in Figure 59, the unmanned aerial vehicle 20 according to the third modified example lands on a structure (landing platform) having 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. Hereinafter, the position of the upper part of the multiple protrusions CP is indicated as the ground contact level GL. The position of the ground contact level GL is higher than the floor level FL.

[0277] 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 contact level GL and the floor level FL. That is, in the third modified example, the height of the lower end of the closed holding jig 23 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 such that, after the unmanned aerial vehicle 20 lands, the position of the claw portion NP is lower than the position of the landing surface. The other configurations of the unmanned aerial vehicle 20 according to the third modified example are the same as in the first embodiment.

[0278] Next, the relationship between the unmanned aerial vehicle 20 and the container box CB in the third modified example will be explained along with the operation of the unmanned aerial vehicle 20 when transporting the container box CB. In the third modified example, the bottom surface BP of the container box CB is in contact with the protrusion CP of the floor before transport. Therefore, before transport, the container box CB is supported by its own weight by its bottom surface BP.

[0279] First, the unmanned aerial vehicle 20 according to the third modified example flies to above the container box CB. Then, the unmanned aerial vehicle 20 opens the holding jig 23. After that, the unmanned aerial vehicle 20 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 the protrusion CP on the floor.

[0280] As shown in Figure 59, the transport system 1 according to the third modified example aligns, for example, the height of the lowest part of the landing gear 22 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. Each claw NP of the multiple arms 231 of the holding jig 23, which is controlled to be in the open state, is located outside the container box CB in a top view.

[0281] Next, the unmanned aircraft 20 transitions the holding jig 23 from the open state to the closed state.

[0282] When the holding jig 23 transitions from the open state to the closed state, the claw portion NP of each of the multiple arms 231 is inserted into the space between the bottom surface BP of the container box CB and the floor. The height of this space is based on the difference between the floor level FL and the ground level GL.

[0283] In this way, by placing the container box CB on a floor having multiple protrusions CP, the holding jig can hold the container box.

[0284] <3-4> Others The above embodiment describes a case where the standard-sized container box CB is a rectangular parallelepiped. In this case, the holding jig 23 was a mechanism for inserting the claw portion NP of the arm 231 from the side SP side of the rectangular parallelepiped. However, it is not limited to this, and the holding jig 23 may have a mechanism for inserting the claw portion NP of the arm 231 from both the claw surface EP side and the side SP side. In other words, the holding jig 23 may be a mechanism for inserting the claw portion NP from four directions: the front, back, right side, and left side of the container box CB. In the above embodiment, the unmanned aerial vehicle 20 may have a holding jig 23 and a flight mechanism 21 that are separable.

[0285] In the above embodiment, the management device 10 and the unmanned aerial vehicle 20 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 the CPU 11 and CPU 261. The processing described in the above embodiment may be implemented by dedicated hardware. The processing described in the above embodiment may consist of a mixture of processing performed by software and processing performed by hardware, or it may consist of only one or the other. In this specification, CPU 11 and CPU 261 may each be referred to as a “processor”.

[0286] The flowchart used to describe the operation in the above embodiment is merely an example. The processes described using the flowchart may be rearranged, additional processes may be added, some processes may be omitted, or some processes may be executed in parallel, to the extent possible. For example, the order of processes ACT1204 and ACT1205 in Figure 25 may be swapped.

[0287] While several embodiments of the present invention have been described, these embodiments are presented as examples only and are not intended to limit the scope of the invention. These novel embodiments can be carried out in a variety of other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims and their equivalents.

[0288] Other embodiments are described below.

[0289] (Note 1) A storage unit stores container box management information for each of the multiple container boxes, including the planar coordinates of the storage compartment of the container box in a storage area having multiple storage compartments with defined planar coordinates, and specific information and quantities that identify the items stored in the container box. A control unit for controlling an unmanned aerial vehicle configured to fly and transport the above-mentioned container box, Equipped with, The control unit, in response to a request for the operation of storing and / or retrieving the articles, includes at least the specified information of the articles to be stored and / or retrieved from the container box. Based on the above specific information and the above container box management information, search for the target container box that is subject to the above work, The unmanned aerial vehicle is instructed to transport the target container box found above from the storage area to the work area where the above operation will be carried out. Unmanned aerial vehicle management device.

[0290] (Note 2) The above control unit, Based on the above container box management information, obtain the planar coordinates of the storage area where the above target container box, for which the above work has been completed, should be stored. In response to notification of completion of the above work in the above work area, the unmanned aerial vehicle is instructed to transport the target container box for which the above work has been completed from the above work area to the acquired storage area, and the container box management information stored in the memory unit is updated. The unmanned aircraft management device described in Appendix 1.

[0291] (Note 3) The storage area in which the above-mentioned container box, after the above work has been completed, should be stored is the storage area in which the above-mentioned container box, which was transported to the work area, was stored, as described in Appendix 2 of the unmanned aircraft management device.

[0292] (Note 4) The unmanned aerial vehicle management device as described in Appendix 2, wherein the storage area in which the above-mentioned container box, after the above work has been completed, should be stored is a different area from the storage area in which the above-mentioned container box, transported to the work area, was stored.

[0293] (Note 5) The above-mentioned storage unit further stores item management information, including the volume and weight per unit, for each specific item of the above-mentioned item. The request for the storage of the above items further includes information on the number of items to be stored in the above container box, When the control unit searches for the target container box in response to a request to store the above-mentioned items, it further searches for one or more target container boxes capable of storing the above-mentioned number of items to be stored in the container box, based on the item management information and the number of items that can be stored in each of the multiple container boxes based on the container box management information. An unmanned aerial vehicle management device as described in any of the appendices 1 to 4.

[0294] (Note 6) The control unit mentioned above controls multiple unmanned aircraft simultaneously. An unmanned aerial vehicle management device according to any one of the appendices 1 to 5, wherein the control unit determines, in response to a request for the storage and / or retrieval of the above-mentioned items, which unmanned aerial vehicle will transport the searched target container box from among the plurality of unmanned aerial vehicles.

[0295] (Note 7) The control unit, when instructing the unmanned aerial vehicle to fly within the storage area toward the storage compartment at the destination, checks whether it interferes with other unmanned aerial vehicles flying through the storage area, and if interference occurs, changes the storage compartment at the destination to another storage compartment, as described in Appendix 6 of the unmanned aerial vehicle management device.

[0296] (Note 8) The storage area is an unmanned warehouse area in which the unmanned aerial vehicle is used to load and unload the container boxes, as described in any of Appendix 1 to 7 of the unmanned aerial vehicle management device.

[0297] (Note 9) The control unit, in response to a request for the storage of the above-mentioned items, searches for an empty container box as the target container box for the above-mentioned operation, as an unmanned aerial vehicle management device according to any one of the appendices 1 to 8.

[0298] (Note 10) The control unit, in response to a request to retrieve the above-mentioned items, searches for the target container box, and based on the container box management information, searches for the container box with the smallest number of the above-mentioned items stored in each of the multiple container boxes, as described in any of Appendix 1 to 8 of the unmanned aerial vehicle management device.

[0299] (Note 11) The control unit responds to a request for a garbage collection operation, which involves consolidating items stored in multiple container boxes into a single container box, Search for the item retrieval container box that is the target of the operation to retrieve the above items, and the item storage container box that stores the above items retrieved from the item retrieval container box. An unmanned aerial vehicle management device according to any one of the appendices 1 to 8, which causes the unmanned aerial vehicle to transport the item retrieval container box and the item storage container box that were retrieved from the storage area to the work area where the above work is performed.

[0300] (Note 12) The container box to be stored in the above storage area is an unmanned aerial vehicle management device of the same shape and standard size as described in any of the appendices 1 to 11.

[0301] (Note 13) An unmanned aircraft management device as described in any of Appendix 1 to 12, A battery-powered unmanned aerial vehicle configured to fly and transport container boxes of a standard size, A transport system comprising, The above unmanned aircraft is A flight mechanism capable of generating buoyancy, An arm that can be opened and closed, A housing that supports the above-mentioned flight mechanism and the above-mentioned arm, Equipped with, The arm of the above-mentioned unmanned aircraft is During flight, the container box having the above-mentioned standard size is grasped in a closed state. Transportation system.

[0302] (Note 14) The above-mentioned unmanned aerial vehicle is further equipped with landing gear to support the housing when the unmanned aerial vehicle lands on a landing surface. The above landing gear includes a contact portion that makes contact with the above landing surface, The landing gear's contact portion is made of a material having a coefficient of friction that allows the positional relationship of the unmanned aerial vehicle with respect to the container box to be changed during the process in which the arms close to grip the container box after the unmanned aerial vehicle has landed on the landing surface. The transport system described in Appendix 13.

[0303] (Note 15) The arms of the above-mentioned unmanned aircraft are in the closed position. The bottom of the above container box is held in place during flight. During the landing process, the above container box will be released. The claw portion is configured such that a first space is formed between it and the bottom surface of the container box after landing, and a second space is formed between it and the landing surface. A transport system as described in any of the appendices 13 to 14.

[0304] (Note 16) The claw portion of the arm of the above-mentioned unmanned aerial vehicle is further configured to be inserted into the space formed between the landing surface and the bottom surface of the container box by the legs of the container box that make contact with the landing surface after landing. The transport system described in Appendix 15.

[0305] (Note 17) The claw portion of the arm of the above-mentioned unmanned aircraft is further configured such that, after landing, the position of the claw portion becomes lower than the position of the landing surface. The transport system described in Appendix 15.

[0306] (Note 18) The above unmanned aircraft further, A processor that controls the above flight mechanism, A camera capable of photographing the location symbol attached to the above container box, Equipped with, The above processor is further configured to recognize the position symbol from the image captured by the camera during the landing process, and to adjust the landing position based on the recognized position symbol. The transport system described in Appendix 15.

[0307] (Note 19) The above unmanned aircraft further, A processor that controls the above-mentioned flight mechanism and the above-mentioned arm, A camera capable of photographing the barcode attached to the above container box, Equipped with, The processor is further configured to, during the landing process, recognize the barcode from the image captured by the camera, check whether the first information indicated by the barcode matches the second information designated as the landing destination, and complete the landing if the first information and the second information match. The transport system described in Appendix 15.

[0308] (Note 20) The processor of the unmanned aerial vehicle management device comprises: a memory that stores container box management information for each of the multiple container boxes, including the planar coordinates of the storage compartment of the container box in a storage area having multiple storage compartments with defined planar coordinates, and identifying information and quantity that identify the items stored in the container box; and a processor that controls an unmanned aerial vehicle configured to fly and transport the container boxes. In response to a request for the operation of storing and / or retrieving the above-mentioned items, the above-mentioned specific information of the items to be stored and / or retrieved from the above-mentioned container box is included at least, Based on the above-mentioned specific information and the above-mentioned container box management information stored in the above-mentioned memory, the target container box for the above-mentioned operation is searched, The unmanned aerial vehicle is to transport the target container box that was searched from the storage area to the work area where the above work is to be performed. To execute Unmanned aerial vehicle management program. [Explanation of Symbols]

[0309] 1...Transportation system, 10...Management device, 11...CPU, 12...ROM, 13...RAM, 14...Communication device, 15...Storage, 16...Display, 17...Input interface, 20...Unmanned aircraft, 101...Transportation management unit, 102...Box management unit, 103...Box information, 104...Parts information, 105...Transportation instruction unit, 106...Communication unit, 121...Box management program, 122...Transportation instruction program, 401...Storage compartment, 402...Floor surface, 403...Storage position marker, 411...Cross-shaped position symbol, 412...Double-ring type position symbol, 420...Barcode, 430...Coordinate value, 2621...Autonomous flight control program, 2622...Flight route determination program, 2623...Barcode reading program, ARa...Drone standby area, ARb: Dedicated drone warehouse area, ARc: Drone launch and landing area, ARd: Operator work area, ARe: Collection area, BP: Bottom, CB: Container box, DAP: Launch and landing port, OP: Operator, PA: Parts.

Claims

1. A storage unit stores container box management information for each of the multiple container boxes, including the planar coordinates of the storage compartment of the container box in a storage area having multiple storage compartments with defined planar coordinates, and specific information and quantities that identify the items stored in the container box. A control unit for controlling an unmanned aerial vehicle configured to fly and transport the aforementioned container box, Equipped with, The control unit, in response to a request for the operation of storing and / or retrieving an article, includes at least the specific information of the article to be stored and / or retrieved from the container box. Based on the aforementioned specific information and the container box management information, search for the target container box that is the subject of the above work, The unmanned aerial vehicle is instructed to transport the searched target container box from the storage area to the work area where the work is to be performed. Unmanned aerial vehicle management device.

2. The control unit, Based on the container box management information, the planar coordinates of the storage area where the target container box for which the work has been completed should be stored are obtained. In response to notification of completion of the work in the work area, the unmanned aerial vehicle is instructed to transport the target container box for which the work has been completed from the work area to the acquired storage area, and the container box management information stored in the memory unit is updated. The unmanned aircraft management device according to claim 1.

3. The storage unit further stores item management information, including the volume and weight per unit, for each specific item of the item. The request for the storage of the aforementioned articles further includes information on the number of articles to be stored in the container box, When the control unit searches for the target container box in response to a request to store the articles, it further searches for one or more target container boxes capable of storing the number of articles to be stored in each of the plurality of container boxes based on the article management information and the number of articles that can be stored in each of the plurality of container boxes based on the container box management information. The unmanned aircraft management device according to claim 1.

4. The control unit simultaneously controls multiple unmanned aircraft, The unmanned aerial vehicle management device according to any one of claims 1 to 3, wherein the control unit, in response to a request for the storage and / or retrieval of the article, determines from among the plurality of unmanned aerial vehicles to transport the searched target container box.

5. The control unit, when instructing the unmanned aerial vehicle to fly within the storage area toward the storage compartment at the destination, checks whether the storage area interferes with other unmanned aerial vehicles flying in the area, and if interference occurs, changes the storage compartment at the destination to another storage compartment, as described in claim 4.

6. The processor of the unmanned aerial vehicle management device comprises: a memory that stores container box management information for each of the multiple container boxes, including the planar coordinates of the storage compartment of the container box in a storage area having multiple storage compartments with defined planar coordinates, and identifying information and quantity that identify the items stored in the container box; and a processor that controls an unmanned aerial vehicle configured to fly and transport the container boxes. In response to a request for the operation of storing and / or retrieving the articles, the operation includes at least the identifying information of the articles to be stored and / or retrieved from the container box, Based on the aforementioned specific information and the container box management information stored in the memory, the target container box for the operation is searched, The unmanned aerial vehicle is to transport the searched target container box from the storage area to the work area where the work is to be performed. To execute Unmanned aerial vehicle management program.

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